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10th International Conference on Fuzzy systems and Data Mining, FSDM 2024

作者： Ma, Hongwei Peng, Huimin Ren, Weijie College of Intelligent Systems Science and Engineering Harbin Engineering University Harbin150001 China State Key Laboratory of Technology and Equipment for Defense against Power System Operational Risks Nari Technology Co. Ltd. Jiangsu Nanjing211106 China

ISBN: (纸本)9781643685694

Power system load forecasting is the foundation of power system operation and planning. Meteorological factors such as temperature, humidity, and wind speed have a significant impact on the load of the power system. In recent years, with the popularity of data-driven methods, power system load forecasting has developed. However, in existing research on power systems, the study of relationships between variables is predominantly based on correlation, with little mention of the concept of causality. In this paper, an adaptive time window strategy is proposed to identify time periods where causal relationships may change. Then, the Time Causal Discovery Framework (TCDF) was used at each time window to explore the causal relationship between electricity load and climate data. Finally, compared with the traditional correlation-based analysis method, the experiment shows that our method not only explains the causal relationship between power load and climate, but also effectively improves the prediction performance. © 2024 The Authors.

关键词： Wind forecasting

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Transient Stability Analysis of Multi-Parallel Grid-Forming Converters Considering Active and Reactive Power Control Coupling and Current Limiting

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IEEE Transactions on Power Electronics 2025年

作者： Wang, Zhi Guo, Li Li, Xialin Wang, Zhongguan Wu, Kaixuan Zhou, Xu Wang, Chengshan Tianjin University State key laboratory of Intelligent Power Distribution Equipment and System Tianjin300072 China

During fault recovery stage, multi-parallel grid-forming (MP-GFM) converters may re-trigger the current limiter, leading to transient synchronization instability. While most existing studies focus on the transient synchronization stability (TSS) of single converters, and the well-established TSS studies designed for synchronous generators are not directly applicable to MP-GFM converters due to two key differences: active and reactive power control loop (ARPCL) coupling and current limiting. This paper aims to address the TSS issue of MP-GFM converters during fault recovery stage, considering these two factors. Firstly, a mathematical model of a system with MP-GFM converters is developed, considering ARPCL coupling and current limiting. Then, for the first time, the current limiting constrained largest estimated domain of attraction (CL-LEDA) is defined and constructed. Specifically, unlike traditional energy function that only considers active power control dynamics, an analytical energy function that incorporates ARPCL coupling is proposed in this paper. Furthermore, considering current limiting constraint, a new idea to calculate the critical energy value is proposed based on LaSalle's invariance principle. Then, the CL-LEDA can be constructed by the obtained energy function and critical energy value. Provided that the operating state is located within this CL-LEDA at fault clearance moment, all MP-GFM converters will achieve transient stability, without triggering current limiting during faults recovery stage. Finally, experimental results based on RT-LAB hardware-in-the-loop and complete hardware-based experimental verify the analysis. © 1986-2012 IEEE.

关键词： Transient stability

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Automatic Ship Berthing Path Planning Based on Artificial Potential Field

Automatic Ship Berthing Path Planning Based on Artificial Po...

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International Conference on Artificial Intelligence and Autonomous Transportation, AIAT 2024

作者： Wen, Zhuo Tian, Wuliu Han, Bing Zhang, Jinfen Wu, Da State Key Laboratory of Maritime Technology and Safety Shanghai and Wuhan China Intelligent Transportation System Research Center Wuhan University of Technology Wuhan430070 China Academician Workstation of COSCO Shipping Group Shanghai200137 China Beibu Gulf University Qinzhou535011 China

ISBN: (纸本)9789819639601

Existing ship automatic docking technologies mainly focuses on high-fidelity simulation and testing platforms, precision positioning and navigation technology, intelligent control and decision algorithms, and environment perception and obstacle avoidance technology. However, these the still have various limitations in precise path planning. This study proposes a ship automatic docking path planning method that combines the artificial potential field method with Bezier curves. It uses Bezier curves to generate a smooth global path and integrates the artificial potential field to dynamically adjust the path to accommodate the complex environment during the docking process. The results indicate that the proposed method has strong adaptability in dynamic environments, providing theoretical support and technical assurance for the practical application of automatic ship docking. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Motion planning

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Visual Explanation of Object Detectors via Saliency Maps 18

Visual Explanation of Object Detectors via Saliency Maps

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Xiao, Jin Liu, Wenrui Hu, Xiaoguang Jiang, Hao Wang, Weipeng Yahang, Li Beihang University State Key Laboratory of Virtual Reality Technology and Systems Beijing China Beihang University Beijing China The Third Academy of Casic Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9798350312201

In recent years, rapid progress of deep learning has resulted in object detection algorithms based on deep neural networks nearly completely replacing traditional methods. This shift has led to significant improvements in both accuracy and speed of object detection. However, deep neural networks that support decision-making inobject detection are complex black boxes with hidden internal logic and operations. This lack of transparency results in deep learning models being unexplainable, which limits their practical deployment. In this paper, we analyze the current state and future trends of interpretable technology in object detection and propose an effective object detection interpretable algorithm. This algorithm aims to explain the underlying logic of AI decision-making and provide support for the high performance and credibility of object detection algorithms based on deep neural networks through quantitative evaluation indicators. © 2023 IEEE.

关键词： Object detection

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Acoustic scattering from underwater multiple cylindrical shells with acoustic black holes

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Applied Acoustics 2025年 239卷

作者： Xiong, Jianbing Zhou, Fulin Wang, Zhongkai Liu, Zihao Cai, Mujin Key Laboratory of Marine Intelligent Equipment and System Ministry of Education Shanghai Jiao Tong University Shanghai200240 China State Key Laboratory of Ocean Engineering Shanghai Jiao Tong University Shanghai200240 China

The interior of large underwater vehicles typically comprises multiple cabins, which serve as primary acoustic scatterers. Consequently, mitigating the acoustic scattering intensity of these internal shell structures is of paramount importance. In this study, we investigate the mechanisms through which acoustic black holes (ABHs) influence the acoustic scattering characteristics of underwater cylindrical shells. The influence mechanism of an ABH on wave propagation is elucidated through the phase accumulation method of flexural wave propagation. Utilizing the finite element method (FEM), we analyze the monostatic and bistatic acoustic scattering characteristics of cylindrical shells incorporating ABHs. Experimental validation in a water tank demonstrates that ABHs not only aggregate flexural waves but also significantly decelerate their propagation, resulting in a spatial redistribution of the backscattered sound field generated by elastic waves. Furthermore, we propose an innovative approach involving the strategic embedding of multiple ABHs within the cylindrical shell structure, complemented by the application of acoustic coating over the ABH regions. The effectiveness of this method in reducing the target strength is validated through numerical simulations. The proposed technique is subsequently extended to multiple shell configurations, presenting a promising strategy for achieving acoustic stealth in underwater targets through precise control of elastic wave propagation and scattering characteristics. © 2025 Elsevier Ltd

关键词： Acoustic wave backscattering

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基于细胞内应变评估的卵母细胞去核方法及在机器人化克隆中的应用

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Engineering 2023年第5期24卷 73-83,I0002页

作者： Ming-Zhu Sun Yao-Wei Liu Mao-Sheng Cui Qi-Li Zhao Xiang-Fei Zhao Yi-Di Zhang Jing-Jing Huang Gui-Zhang Lu Xin Zhao Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent RoboticsNankai UniversityTianjin 300071China Tianjin Animal Science and Veterinary Research Institute Tianjin 300201China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai UniversityShenzhen 518063China

自1996年第一只克隆羊诞生,克隆技术就由于其在动物育种方面的巨大潜力而得到了大量关注。体细胞核移植技术是动物克隆的核心,其操作过程非常复杂,不可避免地造成细胞内损伤。通常来说,只有不到1%的重构胚胎能够发育成克隆动物,克隆的... 详细信息

自1996年第一只克隆羊诞生,克隆技术就由于其在动物育种方面的巨大潜力而得到了大量关注。体细胞核移植技术是动物克隆的核心,其操作过程非常复杂,不可避免地造成细胞内损伤。通常来说,只有不到1%的重构胚胎能够发育成克隆动物,克隆的低成功率是制约其广泛应用的主要原因之一。为此,本文提出了一种基于细胞内应变评估的卵母细胞去核方法,来减少体细胞核移植中的潜在细胞内损伤,从而提高克隆成功率。首先,论文根据细胞内速度场计算细胞内应变,进而将内应变作为评价标准来优化去核操作;在此基础上,开发了一套机器人批量体细胞核移植系统,用于实现机器人化克隆。实验结果表明,本文方法将体细胞核移植后的胚胎囊胚率从10.0%提高到20.8%,并成功获得17头克隆小猪,这是世界首批由机器人完成克隆操作获得的克隆动物。对比手动核移植操作,本文将克隆成功率从平均0.73%提升到了2.50%,大幅提升了克隆效率。与此同时,基于细胞内应变的去核方法有望应用于其他生物操作,并建立一种通用的减少细胞内损伤的细胞操作规范。

关键词：动物育种去核方法体细胞核移植克隆动物卵母细胞机器人化动物克隆克隆技术

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An IMU Error Correction Method Based on Multithreshold ZV Detection and SRCKF

An IMU Error Correction Method Based on Multithreshold ZV De...

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2023 International Conference on Cyber-Physical Social Intelligence, ICCSI 2023

作者： Luo, Jialiang Chen, Shichao Lv, Yisheng Sun, Wenqiao Yang, Fan Xu, Ruijie Institute of Automation Chinese Academy of Sciences School of Information Engineering China University of Geosciences Beijing The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems China Institute of Automation Chinese Academy of Sciences The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited The State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation Chinese Academy of Sciences The State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Transportation and Economics Research Institute Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences College of Rail Transit Shan Dong JiaoTong University The State Key Laboratory for Management and Control of Complex System Jinan China The Hong Kong Polytechnic University Department of Aeronautical and Aviation Engineering Hong Kong Hong Kong

ISBN: (纸本)9798350312492

With the rapid development and widespread application of Inertial Measurement Units (IMUs), IMU-based human localization has become critically important in environments lacking Global Navigation Satellite systems (GNSS) signals. Methods such as UWB/WIFI and other anchor-based localization have been employed to enhance the positioning accuracy. However, these methods are susceptible to the environmental interference and increased costs. In contrast, SINS-based localization methods eliminate reliance on the external data. However, this method can suffer from drift errors due to cumulative integration errors. Inertial navigation error correction techniques like Zero Detection Update Technology (ZUPT) provide potential solutions to address drift errors. This paper proposes an error correction method based on the multithreshold zero-velocity detection and Square Root Cubature Kalman Filter (SRCKF) updates. Compared to the single fixed threshold detection, the multi-threshold zero-velocity detection reduces the likelihood of missed zero velocity detection and false alarms, providing accurate time intervals for error correction. Experimental results demonstrate that the SRCKF-based algorithm reduces position deviation to approximately 0.3146 meters, corresponding to an error ratio of1.14%. The proposed method enables cost-effective and accurate pedestrian localization, driving advancements in the field. © 2023 IEEE.

关键词： Cost effectiveness

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A robotic Blind Patch-Clamp system Based on Cranial Opening Localization and Micropipette Guidance

A Robotic Blind Patch-Clamp System Based on Cranial Opening ...

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IEEE International Conference on robotics and Biomimetics

作者： Zijian Guo Ruimin Li Jinyu Qiu Mingzhu Sun Xin Zhao Qili Zhao Institute of Robotics and Automatic Information System (IRAIS) Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotic (tjKLIR) Nankai University Tianjin China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

The blind patch-clamp is a powerful technique for studying ion channel function, offering crucial insights into the mechanisms underlying brain neural circuits and the factors contributing to neurological disorders of alive animals. However, existing blind patch-clamp systems usually lack an effective animal head fixation mechanism compatible with conventional in vitro patch-clamp system setup. Additionally, the random location of the craniotomy relative to the exposed skull makes manual positioning of the cranial opening time-consuming and labor-intensive. The small size of the cranial opening further increases the risk of the micropipette tip scraping against the adjacent skull during operation, leading to tip breakage and experimental failure. In this paper, we present a universal mouse head fixer and a robotic blind patch clamp operation process, including a robotic cranial opening positioning and a fast micropipette approaching trajectory generation method. In this process, the resistance value of micropipette tip is used as feedback to guide the its step-by-step operation in vivo. This method not only achieves faster operation speed, but also guarantees a success rate comparable to that of professional manual operation.

关键词： Training Brain Animals Neurons Skull Trajectory Clamps Cranial Robots Immune system

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Based on PPO Reinforcement Learning for Ship Berthing and Departure Control

Based on PPO Reinforcement Learning for Ship Berthing and De...

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International Conference on Artificial Intelligence and Autonomous Transportation, AIAT 2024

作者： Zhou, Ziyan Ma, Feng Zhou, Xuan Intelligent Transportation System Center Wuhan University of Technology Wuhan China State Key Laboratory of Maritime Technology and Safety Wuhan University of Technology Wuhan China Henan Transport Investment Group Co. LTD. Zhengzhou China

ISBN: (纸本)9789819639564

A control method based on proximal policy optimisation (PPO) algorithm is proposed to control autonomous berthing of unmanned vessels. Firstly, Bessel curves are used to generate the desired path, and the heading error, speed error, and lateral error are obtained by calculating with the current state of the ship, and then these errors are used as inputs to establish the reward function mechanism, and then the state of the ship and the reward obtained are inputted into the PPO algorithm so that the intelligent body can take behaviours according to the state and the reward, and finally, the actions of the intelligent body are inputted into the ship model to achieve bi-variable control of the ship’s rudder angle and thrust. Finally, the actions of the intelligent body are inputted into the ship model to achieve the bivariate control of the rudder angle and thrust. The experimental results show the effectiveness of PPO reinforcement learning in the automatic berthing process of unmanned vessels with low speed, interference and low rudder efficiency. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Reinforcement learning

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Fabrication and characterization of high-sensitivity,wide-range,and flexible MEMS thermal flow velocity sensors

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Microsystems & Nanoengineering 2024年第4期10卷 139-151页

作者： Min Li Guangzhao Qin Chen Jia Danyu Zhang Zhikang Li Xiangguang Han Shusheng Xu Libo Zhao Guoxi Luo Cunlang Liu Ping Yang Qijing Lin State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesXi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and SystemXi’an Jiaotong UniversityXi’an 710049China School of Instrument Science and Technology Xi’an Jiaotong UniversityXi’an 710049China Shandong Laboratory of Advanced Materials and Green Manufacturing at Yantai Yantai 264000China Brightstone Innovation(Yantai)Research Institute for Micronano Sensing Technology Yantai 264006China Xi’an Jingwei Sensing Technology Co. Ltd.Xi’an 712000China

With the rapid development of various fields,including aerospace,industrial measurement and control,and medical monitoring,the need to quantify flow velocity measurements is *** is difficult for traditional flow velocity sensors to fulfill accuracy requirements for velocity measurements due to their small ranges,susceptibility to environmental impacts,and ***,to optimize sensor performance,a flexible microelectromechanical system(MEMS)thermal flow sensor is proposed that combines the working principles of thermal loss and thermal temperature difference and utilizes a flexible cavity substrate made of a low-thermal-conductivity polyimide/SiO_(2)(PI/SiO_(2))composite porous film to broaden the measurement range and improve the *** measurement results show that the maximum measurable flow velocity can reach 30 m/s with a resolution of 5.4mm/*** average sensitivities of the sensor are 59.49 mV/(m s−1)in the medium-to-low wind velocity range of 0–2 m/s and 467.31 mV/(m s^(−1))in the wind velocity range of 2–30 m/*** sensor proposed in this work can enable new applications of flexible flow sensors and wearable devices.

关键词： flow thermal utilize

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