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International Conference on Guidance, Navigation and Control, ICGNC 2022

作者： Dai, Shijie Wu, Zhengxing Tan, Min Yu, Junzhi School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9789811966125

This paper investigates the formation control problem for a multi-robotic fish system and a distributed event-triggered-based formation control framework is proposed. The framework consists of a communication topology, a distributed formation control law, and a dynamic event-triggered communication mechanism. In particular, a position-based formation control law is presented to drive the multi-robotic fish system to an anticipated configuration based on local measurements while keeping pace with a moving target. Meanwhile, a dynamic event-triggered mechanism is utilized to measure importance of the interactive information and decide the communication timing. The proposed formation control method shows its merits to greatly reduce communication consumption with a limited loss of formation control performance. Finally, simulations with quantitative comparisons are presented to verify the effectiveness of the proposed framework. This formation control framework provides a solid foundation for future marine cooperative control of the multi-robotic fish system. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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Optimal Design of Three-Dimensional Voxel Printed Multimaterial Lattice Metamaterials via Machine Learning and Evolutionary Algorithm

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Physical Review Applied 2022年第5期18卷 054050-054050页

作者： Le Dong Dong Wang Robotics Institute State Key Laboratory of Mechanical System and Vibration and Meta Robotics Institute Shanghai Jiao Tong University Shanghai 200240 China

Mechanical metamaterials could exhibit tremendous design potential through synergistic material distribution and structural design. However, the existing designs mainly focus on the structures and neglect the material distributions. We propose a digital design and optimization method for lattice metamaterials using machine learning and an evolutionary algorithm taking into account both material distributions and structural design. The machine learning model is developed to predict mechanical behaviors accurately, based on the database generated by python-assisted finite-element simulations with random material and structural parameters. The optimal design is realized by the evolutionary algorithm method, which can quickly find the target mechanical responses in a broad design space. A digital voxel model is established to three-dimensionally print the designed multimaterial lattice metamaterials. The developed framework can be used to match multiple targets, such as reproducing the stress-strain and Poisson's ratio curves of biological tissues simultaneously. Lattice metamaterials with customized lateral profiles are also demonstrated. This work expands the design space of lattice metamaterials and is of great interest in flexible electronics and soft robotics.

关键词： Mechanical metamaterials Functional materials Triangular lattice Additive manufacturing Finite-element method Genetic algorithm Machine learning Tension tests

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Transient Synchronization Stability Analysis of Grid-Following Converter Power systems Using Local Network Measurements 9th

Transient Synchronization Stability Analysis of Grid-Followi...

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9th Purple Mountain Form on Smart Grid Protection and Control, PMF 2024

作者： Wei, Xiaoqiang Liu, Naiyuan He, Zhifeng Yang, Hao Sun, Zhenglong State Grid Heilongjiang Electric Power Company Limited Harbin150000 China Key Laboratory of Modern Power System Simulation and Control & Renewable Energy Technology Ministry of Education Northeast Electric Power University Jilin132000 China

ISBN: (纸本)9789819616701

There is an urgent need to address the transient synchronization stability (TSS) problem caused by the increasing penetration of renewable resources into the power network through grid-following converters (GFL-VSCs). It is challenging to analyze the TSS in power systems with high penetration of renewable resources due to the complex interaction between a large number of GFL-VSCs and power network. Although some research has been carried out on TSS assessment of GFL-VSC systems, its application is limited because measuring the numerous internal parameters of distributed converters is hard. To fill this gap, this paper proposes a TSS analysis method using local network measurements. The present study first constructs a port energy function for PLL-controlled converters, establishing the relationship between the internal control and the transient energy of the converter. Secondly, the branch energy function is constructed using the law of energy conservation. Due to transient energy interactions between the converters and the branches, the transient instability characteristics of the converters are mapped into the network. Transient instability characteristics are extracted through PMUs in the network. On this basis, the TSS of the GFL-VSC systems is analyzed through the identified critical branches. Finally, the effectiveness of the proposed method is validated through simulations on the modified IEEE 39-BUS system and a practical power system. © state Grid Electric Power 2025.

关键词： Transient stability

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Energy partition in laser-induced cavitation bubbles near the rigid wall with a gas-containing hole

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Journal of Hydrodynamics 2024年第3期36卷 435-443页

作者： Dong-qiao He Hai-gang Wen Si-yuan Geng Chen-xi Yang Qiang Zhong Zhi-feng Yao College of Water Resources and Civil Engineering China Agricultural UniversityBeijing100083China PowerChina Beijing Engineering Corporation Limited Beijing100024China State Key Laboratory of Efficient Utilization of Agricultural Water Resources Beijing100083China Beijing Engineering Research Center of Safety and Energy Saving Technology for Water Supply Network System China Agricultural UniversityBeijing100083China

To investigate the energy partition in laser-induced cavitation bubbles near the rigid wall with a gas-containing hole,we utilized a nanosecond resolution photography system based on a Q-switched Nd:YAG laser and conventional industrial camera to carefully observe the transient process of bubble collapse near the rigid wall with a gas-containing *** analyzed the generation of collapse microjets and the emission of collapse shock *** found that the cavitation bubble near the rigid wall with a gas-containing hole collapsed at different times and space,and produced various types of shock *** on the far field pressure information of the shock waves measured by hydrophone,the energy of the shock waves generated by the bubble collapse near the rigid wall with a gas-containing hole is calculated for the first *** results show that the ratio of collapse shock wave energy to bubble energy is approximately between 0.7 and 0.8.

关键词： Energy partition bubble collapse laser-induced shock wave gas-containing hole

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Optimal Joint Bidding and Pricing of Electricity Retailers Using Multi-agent Deep Reinforcement Learning 7

Optimal Joint Bidding and Pricing of Electricity Retailers U...

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7th IEEE Conference on Energy Internet and Energy system Integration, EI2 2023

作者： Ye, Shankun Lu, Jixiang Huang, Hua Wang, Ke Xu, Hongsheng State Key Laboratory of Technology and Equipment For Defense Against Power System Operational Risks Nari Technology Co. Ltd Nanjing China College of Energy and Electrical Engineering Hohai University Nanjing China

ISBN: (纸本)9798350345094

In real electricity markets, it is more valuable and difficult to study the optimal decision-making of a price-maker entity than those of a price-taker entity. This paper concerns with the optimal joint bidding and pricing problem of a price-maker electricity retailer. After formulating the original optimization problem into a Markov decision process (MDP), a novel multi-agent deep reinforcement learning (MADRL) approach is proposed to solve for the optimal joint bidding and pricing strategy. Two agents are responsible for the bidding strategy and pricing srategy respectively. Numerical results prove the effectiveness of the proposed method. Insightful comparative analysis is also conducted for price-maker and price-taker cases. © 2023 IEEE.

关键词： Costs

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Challenges and opportunities for modeling coupled human and natural systems

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National Science Review 2023年第7期10卷 10-13页

作者： Yan Li Shan Sang Safa Mote Jorge Rivas Eugenia Kalnay State Key Laboratory of Earth Surface Processes and Resources Ecology Beijing Normal University Institute of Land Surface System and Sustainable Development Faculty of Geographical Science Beijing Normal University Department of Atmospheric and Oceanic Science University of Maryland Institute for Physical Science and Technology University of Maryland

The Earth is a very large and complex system that consists of human and natural components interacting bidirectionally with each other,thus forming coupled human and natural systems (CHANS)[1].The increasing dominance of human impacts,especially after the 1950s [2],marked a new era for the Earth,the Anthropocene,which means humans have become the main drivers of the evolution of changes in the Earth ***,modeling CHANS is essential for understanding the emergent system properties of CHANS,predicting dynamics and feedbacks (*** shift,tipping point,and resilience),and informing governance of environmental systems to ensure a path toward sustainability [2,3].

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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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PetLock:A Genderless and Standard Interface for the Future On-orbit Construction

arXiv

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arXiv 2022年

作者： Li, Yuntao Xu, Zichun Yang, Xiaohang Zhao, Zhiyuan Zhao, Jingdong Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Heilong Jiang Harbin China

Modular design is the foundation of on orbit construction technology of large space facilities in the future. Standard interface is the key technology of modular design of the future space robotic systems and space facilities. This paper presents the designed and tested of PetLock, a standard and genderless interface which can transfer mechanical loads, power and data between the future modular space robotic manipulator and spacecraft. PetLock adopts a completely genderless design, including connection face, locking mechanism, data and power interface. The connection surface provides a large translation and rotation misalignment tolerance, due to its 120-degree symmetrical and 3D shape design. The locking mechanism features the three locking pins retraction structure design, which is simple and reliable. POGO pin connectors in the center of the interface provides the power and data transfer capabilities. Due to the advantages of high locking force, large tolerance, high reliability and low cost, PetLock has the very big application potential in future on orbit construction missions. Copyright © 2022, The Authors. All rights reserved.

关键词： Fits and tolerances

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An Opensim Based Verification Method for Lower Limb sEMG Muscle Synergy Decomposition 14

An Opensim Based Verification Method for Lower Limb sEMG Mus...

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14th IEEE International Conference on Cyber technology in Automation, Control, and Intelligent systems, CYBER 2024

作者： Yu, Huiting Yang, Deguo Shi, Enming Liang, Jiawei Zhang, Bi Zhao, Xingang School of Software Shenyang University of Technology Liaoning Shenyang110870 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Liaoning Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Liaoning Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9798331506056

Complex musculoskeletal modeling of the lower extremity is critical for enhancing the understanding of the neural control of hip-knee-ankle joint movements, diagnosing lower extremity movement disorder, and making subsequent treatments. This paper proposes a strategy for analyzing the neuromuscular control of the lower limb based on muscle synergy extraction. We construct a new system suitable for the analysis of human motion characteristics by building a musculoskeletal model of multiple joints of the lower limb in Opensim. Then we realize the simulation of human walking simulation and obtain muscle activation simulation results. Meanwhile, according to the muscle synergy theory, sEMG signals are decomposed by NMF to extract real-time muscle activation components during the gait cycle. The simulation results can be used as a guide and corroboration of muscle synergy extraction to reveal the modes of modular muscle control in human lower limb. © 2024 IEEE.

关键词： Joints (anatomy)

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Catalyst-free electrochemical dearomatization of pyridine derivatives

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Green Synthesis and Catalysis 2024年第2期5卷 136-139页

作者： Kui Wang Yingjun Tian Baoying Li Ling Wang Wei Gao Xiaofei Jia Ruiming Wang Yanping Zhu Jianbin Chen Chen Shandong Provincial Key Laboratory of Molecular Engineering State Key Laboratory of Biobased Material and Green PapermakingSchool of Chemistry and Chemical EngineeringQilu University of Technology(Shandong Academy of Sciences)Jinan 250353China Key Laboratory of Optic-electric Sensing and Analytical Chemistry for Life Science MOECollege of Chemistry and Molecular EngineeringQingdao University of Science and TechnologyQingdao 266042China State Key Laboratory of Biobased Material and Green Papermaking School of BioengineeringQilu University of Technology(Shandong Academy of Sciences)Jinan 250353China School of Pharmacy Key Laboratory of Molecular Pharmacology and Drug EvaluationMinistry of EducationCollaborative Innovation Center of Advanced Drug Delivery System and Biotech Drugs in Universities of ShandongYantai UniversityYantai 264005China

We demonstrated herein an electrochemical dearomatizative alkylation of Katritzky salts,wherein Katritzky salts were harnessed as both radical acceptors and donors.A wide range of privileged dihydropyridine scaffolds was constructed with good to excellent *** voltammetry(CV)and electron paramagnetic resonance(EPR)results confirmed the key intermediates-dihydropyridine radicals and gram-scale reaction highlighted the practical and sustainable feature of the newly developed protocol.

关键词： Dearomatization Electrosynthesis Katritzky salts Dihydropyridine

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