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2024 OES China Ocean Acoustics, COA 2024

作者： Yueming, Ma Jie, Sun Tianze, Hu Hang, Dong Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Shenyang University of Technology School of Artificial Intelligence Shenyang110870 China

ISBN: (纸本)9798350340297

When in motion, an autonomous underwater vehicle (AUV) will yaw under the influence of marine environment, and the direction-of-arrival (DOA) performance of the passive synthesis algorithm will be degraded. This study proposed a method for DOA estimation under the yaw motion. The method employed two-dimensional multiple signal classification algorithm to jointly estimate the yaw angle and azimuth. Subsequently, phase compensation was applied using the yaw angle to achieve accurate DOA estimation after aperture synthesis. Finally, various simulations were conducted to compare the performance of DOA estimation before and after considering the yaw angle. The results reveal that the proposed method can effectively improve the performance and resolution of DOA estimation. © 2024 IEEE.

关键词： Autonomous underwater vehicles

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Parameterization, sensitivity, and uncertainty of 1-D thermodynamic thin-ice thickness retrieval

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Acta Oceanologica Sinica 2024年第7期43卷 93-111页

作者： Tianyu Zhang Mohammed Shokr Zhida Zhang Fengming Hui Xiao Cheng Zhilun Zhang Jiechen Zhao Chunlei Mi School of Geospatial Engineering and Science Sun Yat-Sen University/Southern Marine Science and Engineering Guangdong Laboratory(Zhuhai)Zhuhai 519082China Key Laboratory of Comprehensive Observation of Polar Environment(Sun Yat-Sen University) Ministry of EducationZhuhai 519082China State Key Laboratory of Remote Sensing Science College of Global Change and Earth System ScienceBeijing Normal UniversityBeijing 100875China Science and Technology Branch Environment and Climate Change CanadaToronto M3H5T4Canada Qingdao Innovation and Development Base(Centre) Harbin Engineering UniversityQingdao 266500China State Key Laboratory of Resources and Environmental Information System Institute of Geographic Sciences and Natural Resources ResearchChinese Academy of SciencesBeijing 100101China University of Chinese Academy of Sciences Beijing 100049China

Retrieval of Thin-Ice Thickness(TIT)using thermodynamic modeling is sensitive to the parameterization of the independent variables(coded in the model)and the uncertainty of the measured input *** article examines the deviation of the classical model’s TIT output when using different parameterization schemes and the sensitivity of the output to the ice ***,it estimates the uncertainty of the output in response to the uncertainties of the input *** parameterized independent variables include atmospheric longwave emissivity,air density,specific heat of air,latent heat of ice,conductivity of ice,snow depth,and snow *** input parameters include air temperature,ice surface temperature,and wind *** the independent variables,the results show that the highest deviation is caused by adjusting the parameterization of snow conductivity and depth,followed ice *** sensitivity of the output TIT to ice thickness is highest when using parameterization of ice conductivity,atmospheric emissivity,and snow conductivity and *** retrieved TIT obtained using each parameterization scheme is validated using in situ measurements and satellite-retrieved *** in situ measurements,the uncertainties of the measured air temperature and surface temperature are found to be *** resulting uncertainties of TIT are evaluated using perturbations of the input data selected based on the probability distribution of the measurement *** results show that the overall uncertainty of TIT to air temperature,surface temperature,and wind speed uncertainty is around 0.09 m,0.049 m,and−0.005 m,respectively.

关键词： Arctic sea ice 1-D thermodynamic ice model thin-ice thickness sea ice parameterization

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Underwater gas self-transportation along femtosecond laser-written open superhydrophobic surface microchannels(<100μm)for bubble/gas manipulation

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International Journal of Extreme Manufacturing 2022年第1期4卷 35-49页

作者： Jiale Yong Qing Yang Jinglan Huo Xun Hou Feng Chen State Key Laboratory for Manufacturing System Engineering and Shaanxi Key Laboratory of Photonics Technology for Information School of Electronic Science and EngineeringXi’an Jiaotong UniversityXi’an 710049People’s Republic of China School of Mechanical Engineering Xi’an Jiaotong UniversityXi’an 710049People’s Republic of China

Underwater transportation of bubbles and gases has essential applications in manipulating and using gas,but achieving this function at the microscopic level remains a significant ***,we report a strategy to self-transport gas in water along a laser-induced open superhydrophobic microchannel with a width less than 100μ*** femtosecond laser can directly write superhydrophobic and underwater superaerophilic microgrooves on the polytetrafluoroethylene(PTFE)*** water,the single laser-induced microgroove and water medium generate a hollow *** the microchannel connects two superhydrophobic regions in water,the gas spontaneously travels from the small region to the large area along this hollow *** self-transportation can be extended to laser-drilled microholes through a thin PTFE sheet,which can even achieve anti-buoyancy unidirectional *** gas can overcome the bubble’s buoyance and spontaneously travel *** Laplace pressure difference drives the processes of spontaneous gas transportation and unidirectional bubble *** believe the property of gas self-transportation in the femtosecond laser-structured open superhydrophobic and underwater superaerophilic microgrooves/microholes has significant potential applications related to manipulating underwater gas.

关键词： femtosecond laser gas transportation superhydrophobicity underwater superaerophilicity water/gas separation

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High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic system

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Journal of Bionic Engineering 2022年第2期19卷 299-313页

作者： Yinlong Zhang Wei Liang Sichao Zhang Xudong Yuan Xiaofang Xia Jindong Tan Zhibo Pang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China The School of Computer Science and Technology Xidian UniversityXi’an 710071China Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKonxville 37996USA Department of Automation Technology ABB Corporate Research Sweden72178 VästerasSweden

Inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured *** robot perception,a reliable and high-precision calibration between camera,IMU and manipulator is a critical *** paper introduces a novel calibration ***,we seek to correlate the spatial relationship between the sensing units and manipulator in a joint ***,the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw-pitch-roll rotations and x-y-z translations in a repeatable and consistent *** calibration has been evaluated on our collected visual inertial-manipulator *** systematic comparisons and analysis indicate the consistency,precision and effectiveness of our proposed calibration method.

关键词： Bio-inspired robotic system Monocular camera IMU Manipulator Calibration

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A Cooperative Level Curve Tracking Algorithm without Communications 5

A Cooperative Level Curve Tracking Algorithm without Communi...

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5th International Conference on Intelligent Autonomous systems, ICoIAS 2022

作者： Ding, Tianyi Zheng, Ronghao Zhang, Senlin Liu, Meiqin College of Electrical Engineering Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou China State Key Laboratory of Industrial Control Technology Hangzhou China Institute of Artificial Intelligence and Robotics xi'An Jiaotong University Xi'an China

ISBN: (数字)9781665498388

ISBN: (纸本)9781665498388

Algorithms for a multi-robot system to track the desired level curve of a scalar field have a wide range of applications in environmental exploration. Traditional algorithms generally require communications between robots for gradient estimation on the unknown environment. In the case where the accurate global locations and communications are limited, e.g., underwater environments, communication-based algorithms may be inapplicable. This paper proposes an improved algorithm that does not rely on communications nor global locations of robots. A distributed formation control law is designed to solve the level curve tracking problem. Each robot only uses local measurements of the field and relative positions of its neighbors to maintain formation. The dynamics and stability of the algorithm are analyzed. Additionally, the efficiency of the algorithm is validated through simulations. © 2022 IEEE.

关键词： Multipurpose robots

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The“gene”of reversible phase transformation of phase change materials:Octahedral motif

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Nano Research 2022年第2期15卷 765-772页

作者： Zhitang Song Ruobing Wang Yuan Xue Sannian Song State Key Laboratory of Functional Materials for Informatics Shanghai Institute of Micro-System and Information TechnologyChinese Academy of SciencesShanghai 200050China Center of Materials Science and Optoelectronics Engineering University of Chinese Academy of SciencesBeijing 100049China

Nonvolatile phase change random access memory(PCRAM)is regarded as one of promising candidates for next-generation memory in the era of Big *** phase transition mechanism of phase change materials is the key scientific issue to be addressed for phase change ***,obtaining homogeneous phase change materials with high speed,low power consumption,long life and good thermal stability is still the ultimate challenge for high-density three-dimensional(3D)*** this paper,starting from the octahedral structure motifs(octahedrons)which are considered as the"gene"of phase change materials,a new view on the phase transition mechanism is *** on this mechanism,a homogeneous phase change material is developed by constructing three matched octahedrons,which achieved an overall improvement in performance,showing 180℃ten-year data retention,6 ns SET speed,one order of magnitude longer life time and 75%reduced power consumption compared with traditional Ge_(2)Sb_(2)Te_(5)(GST)*** is of great significance to use it in 3D PCRAM chip and multi-level brain-inspired computing chip in the future.

关键词： phase change memory phase transition mechanism octahedral atomic motifs matching high density

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Tropical Indian Ocean drives Hadley circulation change in a warming climate

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国家科学评论（英文版） 2025年第1期12卷 84-91页

作者： Yong Sun Gilles Ramstein Alexey V.Fedorov Lin Ding Bo Liu State Key Laboratory of Tibetan Plateau Earth System Environment and Resources(TPESER)Institute of Tibetan Plateau ResearchChinese Academy of SciencesBeijing 100101China Laboratoire des Sciences du Climat et de l'Environnement LSCE/IPSLCEA-CNRS-UVSQUniversité Paris-SaclayGif-sur-Yvette 91191France Laboratoire des Sciences du Climat et de l'Environnement LSCE/IPSLCEA-CNRS-UVSQUniversité Paris-SaclayGif-sur-Yvette 91191France Department of Earth and Planetary Sciences Yale UniversityNew HavenCT 06511USA LOCEAN/IPSL Sorbonne UniversityParis 75005France State Key Laboratory of Tibetan Plateau Earth System Environment and Resources(TPESER)Institute of Tibetan Plateau ResearchChinese Academy of SciencesBeijing 100101China Plateau Atmosphere and Environment Key Laboratory of Sichuan Province School of Atmospheric SciencesChengdu University of Information TechnologyChengdu 610225China

The weakening and poleward expansion of the Hadley circulation(HC)are considered robust responses of atmospheric meridional circulation to anthropogenic *** impacts arising from these changes enhance drought conditions and reduce food production in the affected ***,understanding the mechanisms of HC changes is critical to anticipating the resultant climate ***,we demonstrate that robust future HC changes in boreal winter,and the uncertainty in their future projections,are both largely related to sea surface temperature(SST)***,we investigate the impact of anthropogenic regional ocean warming on the future ***,we conduct a large ensemble of individual ocean basin perturbation experiments at 1.5℃,2℃,and 3℃ warming thresholds(as in the Paris Agreement).These experiments highlight(ⅰ)the leading role of tropical Indian Ocean warming in HC changes and(ⅱ)inter-model differences in tropical Pacific warming as a source of uncertainty in HC projections.

关键词： Hadley circulation Paris Agreement tropical Indian Ocean tropical Pacific Ocean Robust responses and sources of uncertainty

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Robustness and Push Recovery of Humanoid Robots Using Predictive and Whole-Body Control

Robustness and Push Recovery of Humanoid Robots Using Predic...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Shaojie Zhang Fenglei Ni Xueai Li Xu Li Yi Ji Xiangyu Shao State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Key Laboratory of Autonomous Intelligent Unmanned Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798350384185

ISBN: (纸本)9798350384192

Robustness walking and recovery ability in uneven terrains and unexpected collisions are crucial for the practical application of humanoid robots. However, existing methods struggle to effectively balance stability, motion safety and walking agility. This paper proposes a hybrid control strategy combing Nonlinear Model Predictive Control (NMPC) and Whole-Body Control (WBC) to improve the robot's walking stability and reaction safety in collisions situations. The NMPC generates long-term and macroscopic movements, with capture point theory being utilized for foot placements determination under external impacts. On this foundation, the WBC regulates the robot refinedly in real-time based on task priorities and weights. Simulations verify the effectiveness of the proposed method, involving uneven terrain walking and external impacts rejection.

关键词： Legged locomotion Resistance Humanoid robots Stability analysis Robustness Real-time systems Planning Collision avoidance Motion analysis Predictive control

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Dynamic economic evaluation of hundred megawatt-scale electrochemical energy storage for auxiliary peak shaving

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Protection and Control of Modern Power systems 2023年第3期8卷 252-269页

作者： Junhui Li Gang Mu Jiahui Zhang Cuiping Li Gangui Yan Haotian Zhang Guohang Chen Key Laboratory of Modern Power System Simulation and Control and Renewable Energy Technology Ministry of Education(Northeast Electric Power University)Jilin 132012China State Grid Zhejiang Pinghu City Electric Power Supply Company.LTD. Pinghu 314200Zhejiang ProvinceChina.

With the rapid development of wind power,the pressure on peak regulation of the power grid is ***-chemical energy storage is used on a large scale because of its high efficiency and good peak shaving and valley fill-ing *** economic benefit evaluation of participating in power system auxiliary services has become the focus of attention since the development of grid-connected hundred megawatt-scale electrochemical energy storage systems(ESS).Based on the relationship between power and capacity in the process of peak shaving and valley filling,a dynamic economic benefit evaluation model of peak shaving assisted by hundred megawatt-scale electrochemi-cal ESS considering the equivalent life of the battery is *** model considers the investment cost of energy storage,power efficiency,and operation and maintenance costs,and analyzes the dynamic economic benefits of dif-ferent energy storage technologies participating in the whole life cycle of the power ***,according to the cur-rent ESS market environment,the auxiliary service compensation price,peak-valley price difference and energy stor-age cost unit price required to make the energy storage technology achieve the balance of payments are calculated,and the economic balance points of different energy storage types are ***,based on the measured data of different provincial power grids,the economies of six energy storage types applied to three provincial power grids are compared and analyzed,and the rationality and effectiveness of the relevant models proposed are *** work has theoretical guiding significance for the economic benefit evaluation of hundred megawatt-scale electro-chemical energy *** 1 A proportional relationship between grid filling power and capacity demand is *** is used to determine the energy storage configuration for auxiliary peak shaving.2 A dynamic economic evaluation model considering energy storage investment and mai

关键词： auxiliary valley electrochemical

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Reinforcement Learning Based Short Time Scale Operation of Wind-Solar-Thermal Coupling Generation system Considering Nonconvex Ramping Constraint 49

Reinforcement Learning Based Short Time Scale Operation of W...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Zou, Yao Wang, Qianggang Gu, Yi Xia, Qinqin Chi, Yuan Chang, Yiming Chongqing University State Key Laboratory of Power Transmission Equipment and System Security and New Technology Chongqing400044 China State Grid Liaoning Electric Power Company Limited Shenyang110000 China

ISBN: (纸本)9798350331820

This paper proposes a reinforcement learning (RL) based short time scale economic operation approach for wind-solar-thermal coupling generation system (WSTCGS) considering the non-convex ramping constraints of thermal power unit (TPU) with deep peak regulation (DPR) capability. The WSTCGS operation is modeled as a Markov decision process (MDP) with an agent controlling the power sources in the WSTCGS. The proposed approach utilizes Soft Actor-Critic (SAC) algorithm to train the RL agent for achieving economic power sources scheduling in WSTCGS. The established RL framework considers the non-convex ladder type ramping constraints of TPUs, short-term forecasts of RES and load to accurately formulate the WSTCGS stochastic economic operation in a short time scale. The simulation results based on a real-world WSTCGS test system demonstrate that the proposed RL framework can effectively schedules TPUs to provides basic load, tracks net load fluctuations, and achieves high RES utilization in short time scale. © 2023 IEEE.

关键词： Reinforcement learning

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