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arXiv 2024年

作者： Hou, Tengyu Bai, Hanming Ding, Ye Ding, Han State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China State Key Laboratory of Intelligent Manufacturing Equipment and Technology School of Mechanical Science and Engineering Huazhong University of Science and Technology Hubei Wuhan430074 China

Dynamical systems (DSs) provide a framework for high flexibility, robustness, and control reliability and are widely used in motion planning and physical human-robot interaction. The properties of the DS directly determine the robot's specific motion patterns and the performance of the closed-loop control system. In this paper, we establish a quantitative relationship between stiffness properties and DS. We propose a stiffness encoding framework to modulate DS properties by embedding specific stiffnesses. In particular, from the perspective of the closed-loop control system's passivity, a conservative DS is learned by encoding a conservative stiffness. The generated DS has a symmetric attraction behavior and a variable stiffness profile. The proposed method is applicable to demonstration trajectories belonging to different manifolds and types (e.g., closed and self-intersecting trajectories), and the closed-loop control system is always guaranteed to be passive in different cases. For controllers tracking the general DS, the passivity of the system needs to be guaranteed by the energy tank. We further propose a generic vector field decomposition strategy based on conservative stiffness, which effectively slows down the decay rate of energy in the energy tank and improves the stability margin of the control system. Finally, a series of simulations in various scenarios and experiments on planar and curved motion tasks demonstrate the validity of our theory and methodology. Copyright © 2024, The Authors. All rights reserved.

关键词： Human robot interaction

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Hybrid Active-Passive Reconfigurable intelligent Surface-Assisted URLLC Services for Energy Efficiency Optimization

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IEEE Transactions on Vehicular Technology 2025年

作者： Wang, Xiaoqing Du, Fei Zheng, Rui Zhao, Xiongwen Geng, Suiyan Zhang, Yu North China Electric Power University State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources School of Electrical and Electronic Engineering Beijing102206 China Anhui University Information Materials and Intelligent Sensing Laboratory of Anhui Province Hefei230601 China

This paper investigates a hybrid reconfigurable intelligent surface (RIS) architecture incorporating both passive and active elements, to enhance the ultra-reliable and low-latency communication (URLLC) services between a central controller (CC) and remote devices in mission-critical scenarios. Specifically, with the objective of maximizing the energy efficiency (EE) of the system under target reliability, an optimization problem in terms of the transmit precoding of CC, the reflecting coefficients of hybrid RIS, and the allocated blocklength is proposed. To deal with the intractability of the non-convex problem considering the various quality of service (QoS) issues of remote devices such as transmission latency and rate constraints, Dinkelbach's method is invoked to transform the original problem into a parameterized concave-convex function. Subsequently, efficient algorithms are developed based on alternating optimization, successive convex approximation, and Big-M formulation methods. In addition, the effects of several vital parameters on the performance of the proposed scheme are investigated. Numerical results show that compared to conventional full-passive/active RIS and no-RIS systems, the proposed hybrid RIS offers significant performance advantages. Furthermore, the optimal number and distribution of active/passive elements allocation are demonstrated. It is observed that the proposed hybrid RIS with only a few active elements can achieve higher EE than conventional passive RIS even with infinite blocklength, sufficiently revealing the potential of hybrid RIS to reduce transmission latency, guarantee rewarding reliability, and enhance EE for URLLC services © 1967-2012 IEEE.

关键词： energy efficiency finite blocklength (FBL) hybrid RIS reflecting coefficient optimization ultra-reliable and low-latency communication (URLLC)

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Dynamic Economic Dispatch Considering Transmission-Distribution Coordination and Automatic Regulation Effect

Dynamic Economic Dispatch Considering Transmission-Distribut...

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作者： Wang, Mingqiang Wu, Yuqian Yang, Ming Wang, Mengxia Jing, Linguo Shandong University Key Laboratory of Power System Intelligent Dispatch and Control Ministry of Education Jinan250002 China State Grid Tangshan Power Supply Company Tangshan063000 China State Grid Binzhou Power Supply Company Binzhou256600 China

With the rapid increase of renewable energy sources, the variability and uncertainty in power systems are significantly increased, and the power system operation is facing more and more challenges. In the traditional dynamic economic dispatch (DED) of transmission systems, the frequency and voltage regulation effects are not actively utilized. In addition, the transmission systems and distribution systems are optimized separately;the transmission-distribution coordination effect is not considered. In this article, a new DED is proposed. The optimal scheduling results are obtained by making a balance between operating cost and reliability cost. Both the automatic regulation effect and transmission-distribution coordination effect are explored and exploited in terms of the equivalent reserve, which can reduce the reserve provided by generating units, and can further enhance the security and economics of power system operation. The validity and effectiveness of the proposed model are illustrated by case studies. © 1972-2012 IEEE.

关键词： Scheduling

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Design Knowledge Perception and Representation Method for User Requirements 6

Design Knowledge Perception and Representation Method for Us...

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6th IEEE International Conference on Knowledge Innovation and Invention, ICKII 2023

作者： Fan, Guoliang Yu, Xiaoyi Gao, Yaqiong Lu, Xiaoping Jiang, Zuhua Shanghai Jiao Tong University Shanghai Key Lab of Advanced Manufacturing Environment SJTUSME-COSMOPlat Joint Research Center for New Generation Industrial Intelligent Technology School of Mechanical Engineering Shanghai200240 China Shanghai Jiao Tong University State Key Laboratory of Massive Personalized Customization System and Technology SJTUSME-COSMOPlat Joint Research Center for New Generation Industrial Intelligent Technology School of Mechanical Engineering Qingdao266100 China

ISBN: (纸本)9798350323535

The user's requirements for product design include descriptiveness, dynamics, and personalization. The insufficient mapping of User requirement knowledge seriously affects the accuracy of designers' grasp of design ideas and design knowledge. For this issue, we proposed a design knowledge perception and representation method for user requirements. Design knowledge from user requirement question and answer (Q&A) was extracted, including design theme, design content, and design evaluation to improve communication efficiency between designers and users. A representation method was proposed for User requirement knowledge based on the Q&A of the user's initiating requirements and the product provider's solutions. A design requirement framework for expressing design intent was proposed by perceiving dialogue context. Furthermore, the rule of design requirement was derived based on attributes in User requirement knowledge for designers. Finally, the knowledge perception, representation method, and knowledge framework of air conditioners were analyzed to determine the knowledge rules. The results indicated that the knowledge perception and representation method proposed in this study accurately reflected User requirement knowledge and provided sufficient knowledge for product design. At the same time, the extracted design requirement was shared among different decision-makers, providing a theoretical basis for group decision-making. © 2023 IEEE.

关键词： Knowledge representation

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Collaborative Cloud-Edge Computing with WPT for Air-Ground Integrated IoMT Network: A URLLC Aware CAFL-Based Approach

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IEEE Transactions on Communications 2025年

作者： Qin, Peng Wang, Yifei Zhang, Xianchao North China Electric Power University State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources School of Electrical and Electronic Engineering Beijing102206 China Jiaxing University Provincial Key Laboratory of Multimodal Perceiving and Intelligent Systems Jiaxing314001 China Jiaxing University Engineering Research Center of Intelligent Human Health Situation Awareness of Zhejiang Province 314001 China

The global aging process accelerates, making geriatric disease prevention and management urgent. Combining IoMT with wearable devices for health monitoring is effective, but IoMT task offloading has challenges like weak terminal processing, poor battery life, low - latency needs, and privacy protection difficulties. To address these challenges, this paper proposes a Cloud-edge Collaborative Air-ground Integrated IoMT Network (C2AI2N) that combines ground Base Stations, air-based Unmanned Aerial Vehicles (UAVs) and cloud servers to adapt to future IoMT scenarios and enhance the system capabilities. Edge servers are able to use Wireless Power Transfer (WPT) to provide energy to wearable devices. We then consider the Ultra-Reliable Low Latency Communication (URLLC) task constraints as well as power limitations, and formulate the problem of minimizing the overall system energy consumption. Next, we employ the Lyapunov optimization method to break down the problem into three sub-problems: 1) device-side task splitting, 2) task offloading as well as charging strategy, 3) server-side resource allocation, which are addressed via Lagrange multiplier method, Clustered Asynchronous Federated Learning (CAFL) based rainbow Deep Q-Network (DQN) approach, and the coati optimization algorithm, respectively. Extensive simulations demonstrate that the proposed method outperforms other baselines. Specifically, the energy consumption of the proposed method can be reduced by over 30.37% compared to the baselines. In addition, the backlog of the URLLC virtual queue can be decreased by more than 59.27%, achieving superior URLLC satisfaction rates. © 1972-2012 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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FIRE: A Dataset for Feedback Integration and Refinement Evaluation of Multimodal Models

arXiv

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arXiv 2024年

作者： Li, Pengxiang Gao, Zhi Zhang, Bofei Yuan, Tao Wu, Yuwei Harandi, Mehrtash Jia, Yunde Zhu, Song-Chun Li, Qing Beijing Key Laboratory of Intelligent Information Technology School of Computer Science & Technology Beijing Institute of Technology China State Key Laboratory of General Artificial Intelligence BIGAI China State Key Laboratory of General Artificial Intelligence Peking University China Department of Electrical and Computer System Engineering Monash University Australia Guangdong Laboratory of Machine Perception and Intelligent Computing Shenzhen MSU-BIT University China Department of Automation Tsinghua University China

Vision language models (VLMs) have achieved impressive progress in diverse applications, becoming a prevalent research direction. In this paper, we build FIRE, a feedback-refinement dataset, consisting of 1.1M multi-turn conversations that are derived from 27 source datasets, empowering VLMs to spontaneously refine their responses based on user feedback across diverse tasks. To scale up the data collection, FIRE is collected in two components: FIRE-100K and FIRE-1M, where FIRE-100K is generated by GPT-4V, and FIRE-1M is freely generated via models trained on FIRE-100K. Then, we build FIRE-Bench, a benchmark to comprehensively evaluate the feedback-refining capability of VLMs, which contains 11K feedback-refinement conversations as the test data, two evaluation settings, and a model to provide feedback for VLMs. We develop the FIRE-LLaVA model by fine-tuning LLaVA on FIRE-100K and FIRE-1M, which shows remarkable feedback-refining capability on FIRE-Bench and outperforms untrained VLMs by 50%, making more efficient user-agent interactions and underscoring the significance of the FIRE dataset. Copyright © 2024, The Authors. All rights reserved.

关键词： Fireclay

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A Real-Time Digital Twin Model Dynamically Modifying Method Based on Consistency Measurement Model 4

A Real-Time Digital Twin Model Dynamically Modifying Method ...

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4th IEEE International Conference on Electronics Technology, ICET 2021

作者： Song, Wei-Ning Li, Tan Zhou, Jun-Hua Xu, Lin East China University of Technology School of Software Nanchang China Beijing Institute of Electronic System Engineering State Key Laboratory of Intelligent Manufacturing System Technology Beijing China

ISBN: (纸本)9781728176734

The dynamically modifying method is proposed to correct digital twin model online in real-time. Firstly, the digital twin model is divided into gradual-changing model and fast-changing model based on data changing ratio. The proximity of the position and the similarity of the shape is introduced to described the consistency of gradual-changing model and Empirical Mode Decomposition is depicted to decompose fast-changing model into trend item and stationary item, so that the consistency between physical entity and digital twin can be measured. Solution of parameters is acquired by searching instead of solving for the purpose of quick adjustment. Furthermore, a searching method combined Latin Hypercube global searching and greedy local searching is studied. The validity of the proposed method is proved by simulation. © 2021 IEEE.

关键词： Shape Digital twin Simulation Shape measurement Position measurement Hypercubes Market research

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Design of Trading Adjustment Mechanism for Energy Storage in Electricity Market Based on Equivalent Net Load Fluctuation

Design of Trading Adjustment Mechanism for Energy Storage in...

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Energy, Electrical and Power Engineering (CEEPE), International Conference on

作者： Shihang Song Li Zhang Zhiqiang Qi Haibo Wang Yuxi Wang Xinyan Su Guanting Chen Fukun Wang Key Laboratory of Power System Intelligent Dispatch and Control Shandong University Jinan China State Grid Shandong Electric Power Company Jinan China

As the proportion of renewable energy connected to grid increases continuously, the volatility and uncertainty of its output affect the safe operation of the power system, so it is necessary to adjust the trading mechanism of electricity market. As a high-quality flexible resource, energy storage becomes an important means to deal with the challenge caused by renewable energy. How to improve the mechanism of electricity market to better play the role of energy storage is worthy of in-depth research. This paper proposes a trading adjustment mechanism for energy storage in electricity market based on the fluctuation degree of equivalent net load, and establishes a joint market model of energy market and frequency regulation market including storage power station. The example simulation shows that the trading adjustment mechanism proposed in this paper can effectively enhance the role of energy storage, and has a good effect on improving the fluctuation degree of net load and reducing system operating costs.

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Distributed Power Restoration Method Based on Joint Control of DGs

Distributed Power Restoration Method Based on Joint Control ...

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International Conference on Power system Technology (POWERCON)

作者： Ruimei Wang Wei Cong Yi Tang Anning Wang Yongjie Zhang Qianshuo Gu Key Laboratory of Power System Intelligent Dispatch and Control Shandong University Jinan China State Grid Shandong Electric Power Company Jinan China

As the scale of power system continues to expand, the proportion of distributed generators (DGs) in the smart distribution network has been increasing year by year. To address the problem of power restoration after DGs access, distributed power restoration method based on joint control of photovoltaic unit and pv/battery unit is proposed. Analyzing the control modes of photovoltaic unit and pv/battery unit during distributed power restoration, available capacity and adjustment range are determined based on control principles and operation constraints. Based on this method, the network is gradually converted into Thevenin equivalent circuit, and power restoration calculations are performed while considering the operating characteristics of photovoltaic unit and pv/battery unit. At the same time, power output adjustment is carried out based on voltage and frequency constraints to avoid overvoltage or frequency problems during the power restoration process. Using IEEE 33-node system as an example, then the feasibility of this method is verified.

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Mechanism and Influencing Factor Analysis of High Frequency Oscillation in PMSG-Based Wind Farm With Grid-Connected system 6

Mechanism and Influencing Factor Analysis of High Frequency ...

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6th IEEE International Conference on Energy Internet, ICEI 2022

作者： Luo, Chao Zhu, Yihua Huang, Libin Yu, Jiawei Electric Power Research Institute China Southern Power Grid State Key Laboratory of Hvdc Guangzhou China National Energy Power Grid Technology R&d Centre Guangzhou China Guangdong Provincial Key Laboratory of Intelligent Operation and Control for New Energy Power System Guangzhou China

ISBN: (纸本)9781665493277

Under the background of vigorously developing wind power, permanent magnet synchronous generator (PMSG)-based wind turbines have been widely used in offshore wind farms. However, the high frequency oscillations (HFOs) of PMSG-based wind farms with grid-connected system have occurred frequently in recent years, which have a bad impact on the safe and stable operation of the power system. And current researches only preliminarily reveal the mechanism, which are lacking in discussion on the key factors involved in HFOs. This paper establishes the high frequency impedance model of PMSG-based wind farm with grid-connected system. To identify the key factors involved in HFO, the impedance sensitivity method is used to obtain the quantitative relationship of the influence of each parameter on HFO. It can be concluded that the control delay, LCL filter parameters, collector lines parameters have the greatest influence on the HFO of the wind farm, but the characteristic of negative resistance caused by control delay is the root cause of HFO. Finally, this paper establishes the model of PMSG-based wind farm with grid-connected system on the PSCAD/EMTDC and verifies the correctness of the theoretical analysis. The conclusions of this paper can provide a reference basis for the mitigation strategies of HFOs. © 2022 IEEE.

关键词： Permanent magnets

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