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2024 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2024

作者： Ma, Jixin Yu, Hongjian Du, Zhijiang Hua, Xin Li, Zibo Zhao, Hui Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China The 6th Medical Center Chinese Pla General Hospital Senior Department of Otolaryngology Head and Neck Surgery Beijing China

ISBN: (纸本)9798350386226

Deep learning-based super-resolution (SR) reconstruction is a critical approach which is used to generate high-resolution images from corresponding low-resolution images. However, the CNN-based methods are ineffective in capturing global information, whereas the Transformer-based methods have limited ability to model long-range dependencies caused by window self-attention. Besides, it is a challenging task to recover lost high-frequency information from downsampled images. In this paper, a Hybrid Information Enhanced Network (HIEN) is proposed for MRI super-resolution task. Specifically, we propose a Spatial-Channel Hybrid Attention (SCHA) to enhance specific semantics representation by combining spatial and channel self-attention together. To recover more high-frequency components, we propose a Dynamic High-Frequency Pass Filter (DHPF) to preserve high-frequency information adaptively in pixel-wise. The results of our extensive experiments indicate that HIEN outperforms other state-of-the-art methods. © 2024 IEEE.

关键词： Image reconstruction

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Data-Driven Robust Model Predictive Control for Pose Tracking of Redundant Manipulators

Data-Driven Robust Model Predictive Control for Pose Trackin...

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IEEE International Conference on robotics and Biomimetics

作者： Zhaoyang Chen Fenglei Ni Kang Min Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

In this paper, we present a data-driven robust model predictive control (DD-RMPC) method for pose tracking of redundant manipulators. Firstly, a MPC-based trajectory tracking framework is established, in which the joint limits at three different levels (angle, velocity, and acceleration) are satisfied. Secondly, to deal with the system model's uncertainty, accelerate the error convergence speed, and reduce tracking errors, a novel data-driven RMPC is proposed, in which the system's input-output data are used to compensate for the conservatism of the system. Finally, the simulation results on a seven degrees of freedoms (DOFs) redundant manipulator show that DD-RMPC provides a faster error convergence rate and achieves smaller pose tracking errors than that of the comparison methods.

关键词： Jacobian matrices Uncertainty Trajectory tracking Simulation Biomimetics Predictive models Manipulators Data models Convergence Predictive control

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Data-Driven Tracking Control of a Cushion Robot with Safe Autonomous Motion Considering Human-Machine Interaction Environment

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Journal of Dynamic systems, Measurement and Control 2025年第4期147卷 041003页

作者： Sun, Ping Shan, Rui Chang, Hongbin Wang, Shuoyu School of Artificial Intelligence Shenyang University of Technology Shenyang110870 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110169 China Department of Intelligent Mechanical Systems Engineering Kochi University of Technology Kochi7828502 Japan

This study proposes a data-driven safety controller with velocity constraints for a cushion robot. We constructed a mathematical description of the human-machine interaction environment by decomposing the generalized input force and coefficient matrix in the dynamic model. We established a new equivalent data model, which considered various human-machine interaction environments using a pseudo-Jacobian matrix. A stochastic configuration network (SCN) estimation method for variations in the human-machine interaction environment was proposed, with hidden layer nodes added at random. We designed a safe autonomous navigation path and proposed a data-driven control method that limited the actual velocity while stabilizing the tracking error system. In addition, the desired motion velocity of the robot was designed. This approach has the advantage of ensuring safety at a specified velocity. We also demonstrated and validated the effectiveness of the proposed data-driven algorithm using simulation-based comparative analysis and an experimental study. Copyright © 2024 by ASME.

关键词： Stochastic systems

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Study on the Looseness Caused by Local Slip and Load Bearing Capacity of Threaded Connections Under Transverse Cyclic Loading

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Journal of Tribology 2025年第9期147卷 091103页

作者： Sun, Yu Qin, Wenjie Zhao, Zhenlong Ba, Mingsen School of Mechanical Engineering Beijing Institute of Technology Beijing100081 China State Key Laboratory of Engine and Powertrain System Weifang261000 China Weichai Power Cooperation Limited Shandong Weifang261000 China

Under transverse cyclic loading, slip will occur on the contact surfaces in a threaded connection, causing rotational loosening of the connection. It is necessary to detect and analyze the loosening behavior of threaded connections caused by slippage. In this article, a self-driven sensor based on the principles of triboelectric nanogenerators (TENGs) was used to monitor the rotational looseness of a tight threaded stud connection subjected to transverse cyclic loads. The finite element simulation was conducted on the contact slip in the stud connection in the experiment under transverse cyclic loading to reveal the loosening phenomenon of threaded connections caused by local slip propagation with the increase of load cycles. Under a certain preload, only when the amplitude of the lateral cyclic load does not exceed a critical value, will the thread contact surface not experience local slip propagation. Therefore, a local slip influence coefficient was proposed for calculating the critical transverse cyclic load amplitude, and its influencing factors were discussed. This study provides a new approach to the anti-loosening design of threaded connections. Copyright © 2025 by ASME.

关键词： Cyclic loads

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Effect of the grain boundary character distribution on the sulfur corrosion behaviour and mechanisms of copper windings under different high temperatures

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High Voltage 2024年第3期9卷 566-580页

作者： Xu Dai Yuan Yuan Jiang Zhou Guoyong Liu Tao Zhu Huiying Xiang Qi Yu Xue Gao Ruijin Liao State Key Laboratory of Power Transmission Equipment&System Security and New Technology Chongqing UniversityChongqingChina College of Materials Science and Engineering Chongqing UniversityChongqingChina Dongfang Electric Machinery Co. LtdDeyangChina

As a typical failure phenomenon in transformers,sulfur corrosion has garnered significant attention in the field of high-voltage *** boundary character distribution(GBCD)copper windings have been introduced to enhance sulfur corrosion resistance by slowing down intergranular *** this study,the sulfur corrosion behaviour and mechanisms of the GBCD copper windings under various temperatures were experi-mentally and theoretically *** show that GBCD can enhance the corrosion resistance of copper in liquid *** the increase in temperatures,the insulating properties of oil and papers in traditional copper windings experience notable degradation,while GBCD copper windings show more stable insulating *** addition,modelling of grain boundary energy indicates that the grain boundary structure of GBCD copper windings has a lower average interface energy of 0.170 eV/Å***-culations of reaction thermodynamics show that GBCD copper windings possess a higher failure temperature(135.2℃)and inhibition degree(activation energy)of the sulfur corrosion(32,557.62 J/mol),revealing the stability and enhanced sulfur corrosion resis-tance at elevated temperatures.

关键词： corrosion grain copper

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Observation and verification of surface electrical explosion driven by radial-distributed pulsed current in laboratory lightning strike test

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High Voltage 2024年第1期9卷 137-149页

作者： Ruoyu Han Yuchen Cao Yakun Liu Xi Chen Ting Li Chen Li Pengfei Li State Key Laboratory of Explosion Science and Technology Beijing Institute of TechnologyBeijingChina School of Mechatronical Engineering Beijing Institute of TechnologyBeijingChina Department of Electrical Engineering Shanghai Jiaotong UniversityShanghaiChina Beijing Institute of Astronautical System Engineering BeijingChina Aerospace Research Institute of Materials and Processing Technology BeijingChina

The laboratory lightning test is essential for assessing the effectiveness of lightning strike protection(LSP).Particularly,direct lightning strike damage can be performed with pulsed current injection into the *** paper focuses on the dynamic process of arc plasma and shock wave behaviour in the vicinity of the‘strike’point.A rod-plate discharge load is built for testing aluminium and coated plate under 40-kA-level pulsed *** visualisation of the luminous discharge plasma and its flow field via high-speed photography(from different angles)is meticulously designed and implemented,synchronised with electro-physical *** results indicate some new mechanisms for lightning strike damage,apart from the impulse heat loading from the thermal *** transient current injection through the arc root concentrates on a thin skin layer(skin-depth effect),with the radial-attenuated current density,driving asynchronously electrical explosions on the plate *** inhomogeneous Joule heating of the plate leads to outwardly propagating phase transition and shock wave along the conductive *** addition,the electro-thermal instability is observed and regarded as the seed of irregular erosion *** information reveals two different plasma states of main discharge arc channel and adjacent surface electrical *** correspondence of the physical mechanism of electrical explosion and optical radiation is *** images for different regions depict erosion characteristics and summarise influencing factors,further confirming the mechanism *** research clarifies the role of skin-depth effect in transaction arc erosion for electrode,complements the electrical explosion theory with unevenly distributed current and helps optimise strategies of LSP.

关键词： electrical lightning radial

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Synergistic control of soft robotic hands for human-like grasp postures

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Science China(Technological Sciences) 2022年第3期65卷 553-568页

作者： ZHANG NingBin ZHAO Yi GU GuoYing ZHU XiangYang Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

Although significant advances in the design of soft robotic hands have been made to mimic the structure of the human hands,there are great challenges to control them for coordinated and human-like *** on the principle of postural synergies in the human hand,we present a synergistic approach for coordinated control of a soft robotic hand to replicate the human-like grasp *** this end,we firstly develop a kinematic model to describe the control variables and the various postures of the soft robotic *** on the postural synergies,we use the developed model and Principal Component Analysis(PCA)method to describe the various postures of the soft robotic hand in a low-dimensional space formed by the synergies of actuator ***,the coordinates of these synergies can be used as low-dimensional control inputs for the soft robotic hand with a higher-dimensional postural ***,we establish an experimental platform on a customized soft robotic hand with6 pneumatical actuators to verify the effectiveness of the *** results demonstrate that with only a 2-dimensional control input,the soft robotic hand can reliably replicate 30 grasp postures in the Feix taxonomy of the human hand.

关键词： soft robotic hand synergistic control human-like grasp postures principal component analysis pneumatic actuation

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Multi-Agent Deep Reinforcement Learning for Photovoltaics and Battery Storage Aggregators Coordinated Operation in Active Distribution Network with Incomplete Information 49

Multi-Agent Deep Reinforcement Learning for Photovoltaics an...

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

作者： Xia, Qinqin Wang, Yu Hu, Bo Shao, Changzheng Xie, Kaigui Li, Chunyan State Key Laboratory of Power Transmission Equipment and System Security and New Technology Chongqing China

ISBN: (纸本)9798350331820

To address the cost-effective voltage regulation in active distribution network (ADN), this paper proposes a multiagent deep reinforcement learning (MADRL) based photovoltaic (PV) and battery storage (BS) aggregators coordinated operation framework. The proposed framework treats PV and BS under each bus as an aggregator and enables model-free separated operation between multiple PV-BS aggregators and ADN by training the control agent of each PV-BS aggregator using MADRL. The coordinated operation only requires incomplete information from the internal information of each PV-BS aggregator and overall ADN information, thereby reducing communication overhead. A test system evaluates the performance of three model-free MADRL algorithms on the proposed PV-BS aggregators coordinated operation in ADN. It also validates the effectiveness of the MADRL for cost-effective voltage regulation in ADN with multiple PV-BS aggregators. © 2023 IEEE.

关键词： Reinforcement learning

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Coordinated Control of New Energy Stations Based on Thevenin Equivalent Parameters Identification 9th

Coordinated Control of New Energy Stations Based on Thevenin...

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

作者： Xijie, Zhao Yanhong, Bao Feng, Wu Jinlong, Zhang Xiancheng, Ren Weitao, Wang State Key Laboratory of Technology and Equipment for Defense Against Power System Operational Risks Nanjing211106 China Nanjing211106 China

ISBN: (纸本)9789819616701

In the context of a high proportion of new energy power system, the randomness and volatility of new energy output and the imbalance of spatial distribution seriously affect the voltage and frequency security and stability of the power system. Aiming at the current frequency and voltage decoupling control of new energy field station may not be able to meet the demand of safe and stable operation, this paper proposes a coordinated control method of active and reactive power of new energy field station. On the basis of considering the influencing factors such as large fluctuation of new energy output of the system and dynamic behavior of the system load, the Thevenin Equivalent Parameters (TEP) identification method based on Sage-Husa Adaptive Kalman Filtering is used to correct the TEP issued by the dispatch center to obtain the accurate TEP of the system at the current moment. Based on the system TEP and network current information, the system grid voltage value is calculated under the situation of active standby transferring out or output increasing in new energy stations, and the voltage safety requirement of Point of Common Coupling (PCC) is met by coordinating and controlling the active and reactive power of equipment in the stations. The validity of the coordinated control of active and reactive power is proved by the simulation examples. © state Grid Electric Power 2025.

关键词： Adaptive filtering

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Research on package corrosion weakness of IGBT module in high humidity application environment 6

Research on package corrosion weakness of IGBT module in hig...

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6th IEEE International Electrical and Energy Conference, CIEEC 2023

作者： Fan, Chengyi Jia, Dongqiang Du, Xiong State Key Laboratory of Power Transmission Equipment & System Security and New Technology Chongqing China

ISBN: (纸本)9798350346671

IGBT modules have been widely used in many fields such as renewable energy generation and rail transportation because of their excellent switching performance. However, the application reliability of IGBT modules is affected by many factors, among which humidity is one of the most serious factors threatening the health of IGBT modules. In high humidity applications, moisture tends to penetrate inside the module, which lead to corrosion and degradation of the module. In this paper, finite element simulation reveals that the bonding line and the solder layer are the weak points of the IGBT module packaging corrosion in high humidity application environment, which provide guidance for improving IGBT module packaging and designing reliability enhancement scheme. © 2023 IEEE.

关键词： Insulated gate bipolar transistors (IGBT)

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