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检索条件"机构=State Key Laboratory of Robotics Technology and System"

共 13069 条记录，以下是1261-1270 订阅

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Characterizing the Bending Response of Forward Stimulated Brillouin Scattering in Photonic Crystal Fiber

Characterizing the Bending Response of Forward Stimulated Br...

引用

CLEO: Science and Innovations in CLEO 2024, CLEO: S and I 2024 - Part of Conference on Lasers and Electro-Optics

作者： Zou, Xuan Wei, Weilun Chen, Shuyan Zhao, Zhiyong Yang, Chen Tang, Ming National Engineering Laboratory for Next Generation Internet Access System School of Optical and Electronic Information Huazhong University of Science and Technology Wuhan430074 China State Key Laboratory of Optical Fiber and Cable Manufacture Technology Yangtze Optical Fibre and Cable Joint Stock Limited Company Optics Valley Laboratory Wuhan430074 China

We characterize the bending response of forward stimulated Brillouin scattering (FSBS) in photonic crystal fiber (PCF). Thanks to the unique air-core geometry, high curvature sensitivity (-1.7790 MHz/cm) and high stab... 详细信息

关键词： Stimulated Brillouin scattering

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Characterizing the Bending Response of Forward Stimulated Brillouin Scattering in Photonic Crystal Fiber

Characterizing the Bending Response of Forward Stimulated Br...

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2024 Conference on Lasers and Electro-Optics, CLEO 2024

ISBN: (纸本)9781957171395

关键词： Stimulated Brillouin scattering

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Research on Multi-sensor Fusion Localization of Wheel-Legged Robots in Dynamic Scenarios

Research on Multi-sensor Fusion Localization of Wheel-Legged...

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Automation, Control and Robots (ICACR), International Conference on

作者： Xu Li Yili Fu Zuolun Cheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Intelligent Robot Research Center Zhejiang Laboratory Hangzhou 311100 China

With the rapid development of human beings in motion control and localization perception, intelligent mobile robots are widely used in various scenarios, such as industrial production, medical care, logistics and distribution. Among them, wheel-legged robots have both the high mobility of wheeled robots and the high adaptability of legged robots, which can not only move fast on platform terrain, but also adapt to rugged and complex ground with the multiple degrees of freedom of their legs. Wheel-legged robots face the following main problems in high-precision robust localization in multiple scenarios: there are a lot of dynamic factors in daily indoor and outdoor scenarios, such as vehicles, pedestrians, etc., which require specific processing of dynamic environment in the visual front-end part to improve the effect of visual factor constraints; as ground mobile robots, the localization framework of visual inertial fusion (VIO) will show scale degeneration phenomenon, resulting in long-distance localization accuracy decline. In addition, as a two wheeled inverted pendulum robot, the ground constraint form will undergo corresponding changes. Aiming at the above problems, this paper takes the hydraulic-driven wheel-legged robot as the object and proposes a multi-sensor fusion localization method in dynamic scenarios.

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Dynamical Modeling and Numerical Simulation of Water Discharge Process of Spherical Objects

Dynamical Modeling and Numerical Simulation of Water Dischar...

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IEEE International Conference on Mechatronics and Automation

作者： Lin Zhong Jiawei Dong Jiabin Liu Wei Wang Riyue Wu Shuqi Wang Tao Zhang State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment Guangdong University of Technology Guangzhou China School of Electromechanical Engineering Guangdong University of Technology Guangzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

The process of an object leaping out of the water is very similar to the jumping process of an aquatic animal during prey or avoid predators. The study of the process of an object leaping out of the water is beneficial to the design of robots jumping out of water. In this work, the free jump of a sphere out of the water is successfully simulated based on the Computational Fluid Dynamics (CFD) software Fluent, with User-Defined Functions to control the motion of the sphere, the volume of Fluid model, dynamic meshing, and Detached Eddy Simulation. The velocity of the sphere at the water-air interface and the height of the sphere leaping out from the water surface obtained from the numerical simulation are compared with experimental results. The maximum error between the experimental and the simulated results is 2.28% in the water-discharge velocity and 2.65% in the leaping height from the water surface. In addition, this paper model the dynamics of the sphere during the water discharge process. The paper also analyses the free deformation of water surface, the water film rupture process on the surface of the sphere, the variation of fluid drag on the sphere, and the variation of the fluid velocity field during the free ascent of the sphere after acquiring an initial velocity of 2.81 m/s.

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Multi-Robot Path Planning in Narrow Warehouse Environments with Fast Feasibility Heuristics 41

Multi-Robot Path Planning in Narrow Warehouse Environments w...

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第41届中国控制会议

作者： Jiaxi Huo Ronghao Zheng Senlin Zhang Meiqin Liu College of Electrical Engineering Zhejiang University State Key Laboratory of Industrial Control Technology Zhejiang University Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we present a novel method for solving the multi-robot path planning problem in narrow warehouse *** may have to be operated in close proximity to each other in narrow lanes between pod clusters,which challenges robot-robot collision *** motivates us to consider an efficient algorithm to generate collision-free robot paths in narrow warehouse *** algorithm builds a two-stage scheme based on integer programming:(i) multirobot path planning under one-way constraints;and(ii) fast feasibility *** developed algorithm has two advantages:(i) the proposed scheme successfully avoids the situation where the robots collide in narrow lanes;and(ii) by using the fast feasibility heuristics which replaces the integer programming solver's built-in feasibility heuristics,the feasibility heuristics' running time can be effectively reduced while producing better initial feasible solutions for the integer programming model solving *** with the existing optimal,sub-optimal,and polynomial-complexity algorithms,our developed algorithm can leverage the advantage of integer programming to effectively reach a balance between running time and optimality in narrow warehouse *** point is demonstrated in the simulations.

关键词： Path planning Multi-robot or multi-agent systems Collision avoidance Logistics

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Robust Iterative Learning Control of Dual-Driven Crossbeam system 49

Robust Iterative Learning Control of Dual-Driven Crossbeam S...

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

作者： Liu, Yanbin Che, Kai Liu, Jianing Wang, Jue Pan, Huihui Sun, Weichao School of Astronautics Harbin Institute of Technology Harbin China Aeronautics Computing Technique Research Institute Aviation Industry Corporation of China Xi'an China Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China

ISBN: (纸本)9798350331820

Dual-drive crossbeam system has been an significant part of high-end equipment, whose synchronous accuracy and robustness determine the performance if equipment. Thus, a robust iterative learning control method is proposed, which is based on the cross-coupling model. Robust term is to deal with the non-repetitive disturbance and iterative learning term is to compensate the unknown dynamics by repeating the same task. Finally, different control methods are conducted to verify the effectiveness of the proposed method. © 2023 IEEE.

关键词： Robust control

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Research on the Application of Big Data in Transient Stability Simulation of Power systems 4

Research on the Application of Big Data in Transient Stabili...

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4th International Conference on Energy, Power and Electrical Engineering, EPEE 2024

作者： Zhang, Jie Guo, Haiping Zhao, Yanjun Huang, Libin Hu, Binjiang Luo, Hui Zhang, Jingyue State Key Laboratory of Hvdc Electric Power Research Institute China Southern Power Grid Guangzhou510663 China National Energy Power Grid Technology R&d Centre Guangzhou510663 China Guangdong Provincial Key Laboratory of Intelligent Operation and Control for New Energy Power System Guangzhou510663 China Csg Key Laboratory for Power System Simulation Electric Power Research Institute China Southern Power Grid Guangzhou5106633 China

ISBN: (纸本)9798331518066

With the rapid expansion of smart grids, there is a growing complexity in power system dynamics, which increases the availability of real-time operational data and underscores the need for advanced transient stability simulations. Traditional transient stability analysis methods are constrained by their computational demands and may compromise accuracy. Furthermore, deep learning-based methods often focus on the application of a single algorithm, lacking a systematic consideration of the entire simulation process. To address these challenges, this study proposes a novel approach that leverages big data to enhance transient stability simulations. By integrating deep learning and ensemble learning techniques, the model significantly improves the accuracy and efficiency of predicting transient instabilities. The methodology utilizes a multi-source data acquisition and fusion scheme to ensure data comprehensiveness and a distributed storage architecture to handle large-scale datasets effectively. Advanced visualization technologies are also employed to enhance the interpretability of the simulation results. This comprehensive framework aims to support the safe and stable operation of power systems amid increasing complexity and data availability. © 2024 IEEE.

关键词： Transient stability

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Data-driven Modeling of Nonlinear Joints in Space Structures 41

Data-driven Modeling of Nonlinear Joints in Space Structures

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第41届中国控制会议

作者： Yonglei Zhang Xiaoyu Wang Xinyuan Li Hao Wen Shidong Xu State Key Laboratory of Mechanics and Control of Mechanical Structures Nanjing University of Aeronautics and Astronautics Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The existence of nonlinear joints has a great influence on the dynamics of large flexible sapce *** a prerequisite of attitude control and vibration suppression of flexible spacecraft,it is of great importance to establish highconfidence models of joints to predict its dynamic characteristics ***,a single-degree-of-freedom model of the nonlinear joint is established based on the describing function method and harmonic balance method(HBM).In particular,the dynamic funtions of the joints with cubic stiffness and freeplay nonlinearity are derived,and the response and external excitation data are used to train surrogate models by a multi-step DNN *** validity of the data-driven modeling approach is further verified by response prediction under a different excition ***,the characteristic of an unknown nonlinearjoint is revealed by the data-driven modeling approach based on the experimental data.

关键词： Nonlinear joints space structures data-driven modeling response prediction

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A 40nm CMOS Low-Power Multi-phase 4~8 GHz Frequency Divider with <0.1° Phase Error 16

A 40nm CMOS Low-Power Multi-phase 4~8 GHz Frequency Divider ...

引用

16th IEEE International Conference on Solid-state and Integrated Circuit technology, ICSICT 2022

作者： Li, Qiaoan Li, Wei Pu, Yunyou Wang, Chuangguo Xu, Hongtao Xiao, Jianhong Fudan University State Key Laboratory of Asic & System Shanghai201203 China Xinyi Information Technology Ltd China

ISBN: (数字)9781665469067

ISBN: (纸本)9781665469067

To improve I/Q mismatch in high frequency multi-phase frequency divider, a phase error calibration scheme is proposed for a low-power multi-phase 4~8 GHz frequency divider. This frequency divider with phase calibration scheme is implemented in 40nm CMOS process. Post-simulation results show that the phase tuning range is about 1.6° with a 0.1° step with phase noise of -157.1~ -144.3dBc/Hz at 10MHz offset over band of interest. The total power consumption is 1.21~2.19mW from a 1.1V supply voltage, and core area is 0.0455 × 0.0084 mm2. © 2022 IEEE.

关键词： CMOS integrated circuits

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Characteristics of High-Frequency Resonance for Long-Distance Offshore Wind Farm Integration via MMC-HVDC system Considering the Distributed Parameter of Submarine Cable 16th

Characteristics of High-Frequency Resonance for Long-Distanc...

引用

16th Annual Conference of China Electrotechnical Society, ACCES 2021

作者： Li, Qinghe Li, Hui Tan, Hongtao Wang, Jiayao Zhou, Zhiting Zheng, Jie State Key Laboratory of Power Transmission Equipment and System Security and New Technology Chongqing University Chongqing400044 China

ISBN: (纸本)9789811918698

Recently, long-distance offshore wind farm integration via modular multilevel converter based HVDC (MMC-HVDC) system has occurred an emerging type of high-frequency resonance. The accurate description of the distribution parameter of submarine cable as well as the harmonic coupling characteristics of MMC is critical for analyzing this issue. Therefore, the wind farm impedance model considering the distribution parameter and frequency dependent characteristics of submarine cables is firstly established. Secondly, the MMC impedance model with coupling harmonic components is obtained based on the harmonic state-space theory (HSS). Then, the correctness of wind farm and MMC impedance model are verified by impedance measurement. Finally, the impedance stability analysis of the gird-connected system shows that the high-frequency dynamic model that takes into account the long-distance distribution parameters and frequency dependent characteristics of submarine cable can accurately describe the high-frequency multi-resonance and negative damping effect of the long-distance offshore wind farm, which is prone to form a negative damping resonant circuit with MMC in high-frequency band, resulting in oscillatory instability of the system. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： HVDC power transmission

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