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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Liu, Yiwen Fang, Senlin Liu, Chengliang Wang, Jingnan Mai, Ke Zhang, Yupo Yi, Zhengkun Wu, Xinyu Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China Shenzhen Institute of Artificial Intelligence and Robotics for Society Siat Branch Shenzhen518055 China City University of Macau Faculty of Data Science 999078 China

ISBN: (纸本)9798350327182

How to solve the problem of continual learning of robotic tactile perception in an open, dynamic environment is a pressing task. Although continual learning has been extensively studied in computer vision, the evaluation of those algorithms does not provide insights on whether their solutions may help continual learning in the context of tactile robotics. In this paper, we propose a continual learning scenario in the robotic tactile domain, and design experiments with tactile hardness dataset that allow us to compare the performance of many continual learning algorithms in the tactile domain. We examine the performance of regularization-based and replay methods in the tactile domain and discuss the effect of replay number on model performance. We show that regularization-based methods do not perform well on the tactile dataset. On the contrary, replay methods can maintain better anti-forgetting performance, but the number of model parameters will be larger, and the training time will be longer. We also found that the replay ratio should be higher than 0.2 to maintain the performance of the replay method on the tactile hardness dataset. © 2023 IEEE.

关键词： robotics

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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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Dynamic analysis and optimization design of in situ skin printing system

Dynamic analysis and optimization design of in situ skin pri...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Zhu, Huixuan Cui, Guangze Li, Song Gao, Feiyang Shenyang University of Technology Shenyang110870 China Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang110169 China

ISBN: (纸本)9798350327182

The treatment of large-skin wounds is an urgent clinical problem. The in situ printing of skin technology is expected to realize the treatment of large-area skin wounds. However, the skin printing system studied by our team in the early stage only has a small printing range and cannot treat large-area skin wounds. To expand of printing range, causing a significant increase in system load. Thus dynamic stability of the system is poor, and it cannot realize the stable injection of the printhead. To solve above problems, this study simulates the dynamics of the new-generation printing system based on the Lagrange method. It sets the simulating boundary conditions according to the actual printing motion process for dynamic analysis. The motion stress data of each component is obtained, and the topology of the critical elements is optimized by simulation analysis. Using the data obtained from the simulation, a set of in situ skin printing systems was built to realize 80cm*10cm skin wound treatment, and the equipment ran smoothly. The system treatment range meets the needs of large-area skin wounds, and the printhead can stably inject, laying the foundation for the large-area skin wound treatment experiment. © 2023 IEEE.

关键词： Topology

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Low Fluorescence Background Fiber-Enhanced Raman Spectroscopy for Simultaneous and Dynamic Detection of Sub-ppm Levels SF6 Decomposition Products 28

Low Fluorescence Background Fiber-Enhanced Raman Spectroscop...

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28th International Conference on Optical Fiber Sensors, OFS 2023

作者： Kong, Weiping Wan, Fu Liu, Qiang Wang, Qian Long, Yingkai Chen, Weigen State Key Laboratory of Power Transmission Equipment & System Security and New Technology Chongqing University Chongqing400044 China State Grid Electric Power Research Institute Chongqing Electric Power Company Chongqing401123 China

Detecting SF6 decomposition products can be used to analyze the defect types of SF6 gas-insulated electrical power equipment. In this paper, we propose a low fluorescence background fiber-enhanced Raman spectroscopy f... 详细信息

ISBN: (纸本)9781957171302

关键词： Sulfur hexafluoride

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The bubble formation characteristics of oil‐paper insulation and its influence on insulation performance

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High Voltage 2023年第5期8卷 1030-1040页

作者： Yiyi Zhang Qianlun Du Wenchang Wei Wenqiang Wang Gang Wang Yansong Liu Qing Xie Guangxi Power Transmission and Distribution Network Lightning Protection Engineering Technology Research Center Guangxi UniversityNanningChina Electric Power Research Institute Guangxi Power Grid Co.Ltd.NanningChina State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power University BaodingChina

Engineering experience shows that for transformers with long service life and serious moisture exposure,the inter‐turn paper insulation inside the winding will precipitate bubbles under the condition of electric field and conductor heating,which will endanger the equipment *** order to explore the influence factors of bubbles formation in the moist insulating paper of transformers,based on the existing research on the influence of moisture content and gas dissolution in transformer oil,this study further considers the influence of air pressure(AP)and electric field and establishes an experimental platform to change the air pressure and electric field,thereby studying the formation characteristics of bubbles in oil‐paper *** results show that air pressure and electric field can affect the initial temperature,volume,and shape of bubble *** 0 to−0.05 MPa for air pressure,the initial temperature of bubble generation decreased by 41℃,its maximum two‐dimensional projected area increased by 418.4%with more severe distortion,and the breakdown voltage *** the AC voltage applied on the needle plate electrode increased from 0 to 10 kV,the initial temperature of bubble formation increased by 29℃,and the maximum two‐dimensional projection area increased by 336.6%.

关键词： bubble insulation characteristics

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Research on Self-Heating Multi-Pulse Test Method of MMC Power Sub-module

Research on Self-Heating Multi-Pulse Test Method of MMC Powe...

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2023 Power Electronics and Power system Conference, PEPSC 2023

作者： Ma, Kai Tan, Lingqi Li, Ying Jiang, Huaping Li, Xinwei Electric Power Research Institute of Guangdong Power Grid Co. Ltd. Guangdong Key Laboratory of Electric Power Equipment Reliability Guangzhou China Chongqing University State Key Laboratory of Power Transmission Equipment & System Security and New Technology Chongqing China

ISBN: (纸本)9798350341294

The modular multilevel converter (MMC) in flexible HVDC transmission systems consists of a large number of power modules, and the reliability of IGBT devices in the power modules is crucial for the long-term stable operation of the system. Aiming at the half-bridge MMC power module, a self-heating multi-pulse test method for IGBT is proposed. This method can self-heat the tested IGBT and carry out multi-pulse test without disassembling the power module. In this way, dynamic parameters of IGBT can be extracted to provide a basis for analyzing the aging degree of IGBT in MMC power module. The feasibility of this test method is verified by theoretical calculation, simulation analysis and experimental verification, which will provide a new idea for the regular maintenance of modular multilevel converter system. © 2023 IEEE.

关键词： Insulated gate bipolar transistors (IGBT)

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Analysis of key technologies for UAV conflict-free four-dimensional trajectory planning in controlled airspace*

Analysis of key technologies for UAV conflict-free four-dime...

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Chinese Control and Decision Conference, CCDC

作者： Longbiao Ma Weiyu Jiang Yungang Tian Yang Zhang The State Key Laboratory of Air Traffic Management System and Technology Nanjing Chian

At present, with the development of UAV technology, its flight capability and frequency of use continue to increase, making the integration of UAV operation into manned airspace has become an inevitable trend. This paper reviews the research status of conflict-free four-dimensional trajectory planning of manned and unmanned aerial vehicles in controlled airspace. In view of the urgent need for the application of refined air traffic control in the mixed operation environment of manned aircraft and unmanned aerial vehicles, and combining with the concept of global operation of the development frontier of air traffic control technology based on four-dimensional trajectory operation, this paper focus on the analysis of the key technical issues of conflict-free four-dimensional trajectory planning in the mixed operation of manned and unmanned aerial vehicles in controlled airspace. Conflict-free 4D trajectory planning for the mixed operation of manned-aircraft/UAV in the controlled area requires the research work on calculation of the minimum safe interval for the mixed operation of manned-aircraft/UAV, the real-time prediction of 4D trajectory of UAV , and the conflict-free 4D trajectory based on 4D digital airspace grid. etc.

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Factors affecting land dissection density in geomorphological regions of China

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Journal of Mountain Science 2024年第4期21卷 1372-1387页

作者： SUN Xiaolin ZHAO Yinjun PENG Peihao CHENG Weiming WEI Yongping YANG Ronghao LI Jiaxu College of Earth Sciences Chengdu University of TechnologyChengdu 610059China School of Civil Engineering Guangxi Polytechnic of ConstructionNanning 530001China Key Laboratory of Environment Change and Resources Use in Beibu Gulf Ministry of EducationNanning Normal UniversityNanning 530001China Key Laboratory of Earth Surface Process and Intelligent Simulation(Guangxi) Nanning Normal UniversityNanning 530001China State Key Laboratory of Resources and Environmental Information System Institute of Geographic Sciences and Natural Resources ResearchCASBeijing 100101China School of Earth and Environmental Sciences The University of QueenslandBrisbane 4702Australia School of Geography and Planning Nanning Normal UniversityNanning 530001China

Land dissection density(LDD)provides morphological evidence regarding prior intense soil erosion and quantifies the distribution of land dissections.A comprehensive understanding of the potential factors influencing the spatial pattern and value of the LDD is vital in geological disasters,soil erosion,and other related *** dissection phenomena in China affects large areas with different morphological,pedological,and climatic *** studies have focused on the potential factors influencing the LDD at a watershed ***,these results are insufficient to reflect the status quo of dissection development and its primary influencing factors on a national ***’s spatial patterns and the dominant factors at a regional scale in millions of square kilometers remain to be *** study used the geomorphon-based method and the geographical detector model to quantify the spatial pattern of LDD over China and identify the dominant factors affecting this pattern in China’s six first-order geomorphological regions(GR1~GR6).The results yield the following findings:(1)LDD in China ranges from 0~4.55 km/km^(2),which is larger in central and eastern regions than in other regions of China;(2)dominant factors and their dominant risk subcategories vary with each geomorphological region’s primary internal and external forces;(3)the influence of natural factors is more significant on the large regional scale in millions of square kilometers compared to anthropogenic factors;relief degree of land surface(RDLS)is dominant in GR1,GR2,and GR5;the slope is dominant in GR6,soil type is dominant in GR3 and GR4,and lithology plays a critical role in the dominant interactions of GR3,GR4,and GR6;(4)the interactions between factors on LDD’s spatial pattern have a more significant effect than individual factors.

关键词： Land dissection density Influencing factors Regional scale Spatial pattern Geographical detector model Geomorphon-based method China

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A Flexible Antenna Array Design for Microwave Energy Transmission 17th

A Flexible Antenna Array Design for Microwave Energy Transmi...

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17th Annual Conference of China Electrotechnical Society, CES 2022

作者： Chen, Jinghan Guo, Siwei Nie, Yongjie Liu, Siyang Wang, Ping State Key Laboratory of Power Transmission Equipment and System Security and New Technology Chongqing University Chongqing China Yunnan Key Laboratory of Green Energy Electric Power Measurement Digitalization Control and Protection Yunnan Power Grid Co. Ltd. Kunming China

ISBN: (纸本)9789819904075

Microstrip antenna as a kind of receiver front-end equipment of microwave energy transmission system, which plays an important role on the overall transmission efficiency of the system. Conventional solid metal antennas have poor mechanical properties and are susceptible to plastic deformation and cracks under external forces, which will degrade their performance. Gallium-indium alloy (EGaIn), which is liquid at room temperature, has similar electrical properties to copper and can recover itself after bending, which can make up for the shortcoming of solid-state antennas;Polyethylene naphthalate two formic acid glycol ester (PEN) is an organic polymer material, which has similar electrical properties and superior mechanical properties to conventional materials. Based on the above two materials, this paper proposes a microstrip antenna array based on flexible materials, which can endure a wide range of mechanical deformation and has better ductility and mechanical toughness. The simulation results indicate that the proposed antenna array can operate at 2.45 Hz and achieve 90% efficiency of conventional antennas, which can better meet the demand of microwave energy transmission. © 2023, Beijing Paike Culture Commu. Co., Ltd.

关键词： Microstrip antennas

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Extended NNs-Based Adaptive Event-Triggered Asymptotic Control for Nonlinear systems Against Actuator Faults 7

Extended NNs-Based Adaptive Event-Triggered Asymptotic Contr...

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7th International Symposium on Autonomous systems, ISAS 2024

作者： Liu, Shanlin Zhang, Yingwei Zhao, Xudong Wang, Hesheng Northeastern University College of Information Science and Engineering Shenyang China Northeastern University State Laboratory of Synthesis Automation of Process Industry Shenyang China Dalian University of Technology Faculty of Electronic Information and Electrical Engineering Dalian China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9798350363173

In this article, an adaptive event-triggered asymp¬totically fault-tolerant control (FTC) issue for nonlinear systems with actuator faults is investigated. An extended neural networks (NNs) technique is introduced to estimate unknown functions of the system under consideration. Compared with traditional NNs that ignore approximation errors, the proposed extended NNs further processes approximation errors, reducing the conservatism of the proposed algorithm. Then, within the framework of backstepping method, a new adaptive control strategy is developed by combining event-triggered mechanism (ETM) and bound estimation (BE) approach, which ensures the asymptotic convergence of system states while also reducing the transmission of unnecessary information, thus improving the utilization of communication resources. At the same time, the designed controller eliminates the adverse effects of actuator failures and system nonlinear terms. Finally, a simulation example of a single-link robot system is provided to demonstrate that the developed control strategy can ensure that all signals are bounded and system states are asymptotically convergent. © 2024 IEEE.

关键词： Approximation algorithms

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