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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Ruiming Hou Sheng Xu Chenguang Yang Bing Zhu Jianghua Duan Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China University of Chinese Academy of Science Beijing China Shandong Institute of Advanced Technology CAS Shandong China College of Automation Science and Engineering South China University of Technology Guangzhou China Department of Mechanical and Aerospace Engineering Hong Kong University of Science and Technology Hong Kong

This paper proposes a particular and effective online sequence planning method to help manipulators complete complex assembly tasks. In many existing studies, the workpiece is constrained to be placed at a particular initial position. To overcome this drawback, we combine the ant colony algorithm with a target detection algorithm, which could get the positions of the workpieces in real time for online sequence planning. In addition, the constraint and obstacle avoidance of different workpieces in the assembly process is also considered. According to the experiment results, an observation is found that the new method is superior to the general way in terms of efficiency and cost function value. Furthermore, the proposed method effectively solves different practical and feasible assembly sequence planning problems.

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Ultra-Short-Term Multi-Step Prediction of Wind Power Based on ModernTCN and Multi-Task Learning

Ultra-Short-Term Multi-Step Prediction of Wind Power Based o...

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IEEE International Conference on Power and Power and Renewable Energy (ICPRE)

作者： Mao Yang Xiangyu Li Zifen Han Yong Sun Xiqiang Chang Key Laboratory of Modern Power System Simulation and Control & Renewable Energy Technology Ministry of Education (Northeast Electric Power University) Jilin China State Grid Gansu Electric Power Company Gansu China State Grid Jilinsheng Economic And Technological Research Institute Jilin China State Grid Xinjiang Electric Power CO. LTD Xinjiang China

ISBN: (数字)9798350377460

ISBN: (纸本)9798350377477

The intermittent and fluctuating nature of wind energy makes it difficult to accurately predict wind power, leading to low penetration in the wind power grid. To address this problem, this paper designs ultra-short-term multi-step prediction of wind power based on ModernTCN and multi-task learning to improve the prediction accuracy. Firstly, ModernTCN's ability to have a large receptive field and capture cross-variate timing dependencies is exploited to obtain multivariate timing feature information and establish a multi-step mapping of input features to power. Then it is inputted into the MMoE multi-task learning method, and the prediction results are corrected to obtain the ultra-short-term prediction of wind power using multiple expert networks and gating units. The experimental results show that the method proposed in this paper can effectively improve the ultra-short-term prediction accuracy of wind power, and can provide a favourable reference for the scheduling centre to adjust the power generation plan in real-time response to the power demand.

关键词： Renewable energy sources Accuracy Wind energy Wind power generation Predictive models Multitasking Feature extraction Real-time systems Timing Wind forecasting

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Adsorption Properties of Calcined Modified Sepiolite on SO4^2- and Cl^-

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Journal of Wuhan University of technology(Materials Science) 2020年第1期35卷 32-41页

作者：孙凯利王彩辉 ZHANG Guanglei NIU Han FU Shifeng WU Yueze YANG Jinhui State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures Shijiazhuang Tiedao UniversityShijiazhuang 050043China Hebei Institute of Technology Co. Ltd.ShiJiaZhuang 050021China

Three different kinds of sepiolite(Type A, Type B and Sepiolite fiber) were processed by calcination and analyzed by thermogravimetric analysis(TG), X-ray diffraction diffractometer(XRD), scanning electron microscopy(SEM), BET(specific surface area from N2 adsorption isotherms), mercury intrusion porosimetry(MIP), and infrared spectroscopic analysis(IR), respectively. The results show that the adsorption performance of sepiolite can be changed by calcination and environment temperatures, especially for calcination. The adsorption capacity of sepiolite fiber is bigger than that of Type A and B, and adsorption capacity of each sepiolite to sulfate is smaller than that of the chloride ions. Especially, the maximum value for adsorption of the sepiolite fibers, calcined at 600 ℃ and water bath at 60 ℃, to chlorine ion and sulfate are 5.95 and 5.71 mg/g, respectively(mg/g : the ions quantity adsorbed by a unit of sepiolite weight). The minimum adsorption of calcined sepiolite fiber to sulfate ions increased from 5.02 to 5.55 mg/g. While microstructure analysis of sepiolite by TG indicated that its structure was, for temperature not exceeding 700 ℃, was not changed significantly. Sepiolite has a porous structure, especially for sepiolite fiber, which can be observed by SEM. BET indicates that sepiolite fiber has a larger pore volume than others and this can be increased by calcination. IR shows that the adsorption of sepiolite to Cl-and SO42- belongs to physical absorption, instead of chemisorption.

关键词： adsorption chloridion sepiolite sulfate ion temperature

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Trajectory Prediction of High-Speed Train Group Tracking Based on LSTM-KF Hybrid Model

Trajectory Prediction of High-Speed Train Group Tracking Bas...

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International Conference on Intelligent Transportation

作者： Boyu Yang Jidong Lv Hongjie Liu Ming Chai Qinglong Zhang Tao Tang Jiahui Lv National Engineering Research Center Of Rail Transportation Operation And Control System Beijing Jiaotong University Beijing China School of Civil and Resource Engineering University of Science and Technology Beijing China Beijing Jiaotong University and the Associate Director of the Rail Traffic Control and Safety State Key Laboratory

ISBN: (数字)9798331505929

ISBN: (纸本)9798331505936

Operating multiple trains as a group under Train-to-Train communication is an efficient way in sparse railway networks. However, it is a barrier to accurate tracking for follower trains with the uncertain status of the preceding trains under communication delay. Therefore, we proposed a train trajectory prediction approach, aiming to obtain an accurate state of preceeding trains in a long time horizon. Firstly, we established a hybrid prediction model combined Long Short-Term Memory (LSTM) with the Kalman Filter (KF) and using the sliding window mechanism to enhance future prediction accuracy. Secondly, to fusion LSTM prediction data and the Kalman calculation model, we proposed the Hybrid Train Trajectory Prediction algorithm by adopting real-time calculation of the covariance matrix using real data and predicted data. Finally, we apply an experiment considering network characteristics in Western China. The result shows that the Mean Absolute Error (MAE) of series prediction in the longer time domain is 44% of the Recurrent Neural Network (RNN) model and 88% of the traditional LSTM model.

关键词： Recurrent neural networks Accuracy Predictive models Prediction algorithms Real-time systems Rail transportation Data models Trajectory Kalman filters Long short term memory

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Electrical Resistance Based Residual Strength Prediction Method for Sic/Sic Mini-Composites after Stress-Free Oxidation

SSRN

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SSRN 2024年

作者： Xie, Chuyang Yu, Guoqiang Xue, Beichen Ma, Wenbing Li, Jiaming Gao, Xiguang Wang, Fang Song, Yingdong Key Laboratory of Aero-engine Thermal Environment and Structure Ministry of Industry and Information Technology College of Energy and Power Engineering Nanjing University of Aeronautics and Astronautics Nanjing210016 China Jiangsu Province Key Laboratory of Aerospace Power System College of Energy and Power Engineering Nanjing University of Aeronautics and Astronautics Nanjing210016 China State Key Laboratory of Mechanics and Control of Mechanical Structures Nanjing University of Aeronautics and Astronautics Nanjing210016 China College of Chemical Engineering Nanjing Forestry University Nanjing210016 China

A stress-free oxidation model considering the microstructural characteristics of SiC/SiC mini-composites was proposed based on the electrical resistance change before and after oxidation. The mapping relationship between the electrical resistance change of SiC/SiC mini-composites and the thickness of the internal fiber oxide layer was established. The stress-free oxidation tests of SiC/SiC mini-composites were carried out at different temperatures for different oxidation times. The results of the oxide layer thickness calculated by the model are in good agreement with that of the SEM microscopic morphology observation. Based on the microstructure of tensile fracture after stress-free oxidation, the residual strength model of SiC/SiC mini-composites during stress-free oxidation was proposed. The residual strength of the specimens after stress-free oxidation was calculated based on the oxide layer thickness data obtained from the stress-free oxidation model. The error between the calculated and experimental results is within 14.48%. © 2024, The Authors. All rights reserved.

关键词： Microstructure

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Real-time dynamic grasping force optimization of multi-fingered dextrous hand

Real-time dynamic grasping force optimization of multi-finge...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Liu, Ziqi Jiang, Li Yang, Bin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (纸本)9781728163215

A technique for real-time dynamic grasping force optimization is presented in this article. The force optimization is divided into online and offline two parts. The improved linear constrained gradient flow algorithm reduces the dimension of the description matrix based on the traditional gradient flow, and the non-negative linear combination method is introduced to optimize the initial force of the algorithm. Relatively optimal initial grasping force and dimensionality reduction gradient flow algorithm improve the calculating efficiency online. The corresponding illustrative examples are made to verify that the proposed method to obtain both optimal grasping force and faster convergence rate in the dynamic grasp process is feasible. © 2019 IEEE.

关键词： Constrained optimization

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Critical link identification of power system vulnerability based on modified graph attention network

arXiv

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arXiv 2024年

作者： Wang, Changgang Wang, Xianwei Cao, Yu Li, Yang Lü, Qi Zhang, Yaoxin Key Laboratory of Modern Power System Simulation and Control and Renewable Energy Technology Ministry of Education Northeast Electric Power University Jilin132012 China Northeast Electric Power University Jilin132012 China State Grid Tianjin Electric Power Company Tianjin300010 China

As the power grid expands and the proportion of renewable energy increases, the uncertainty and randomness of the power grid have increased, posing a threat to the security of system operation. It becomes crucial to identify the crucial links in the power grid to ensure its reliability during operation. Addressing the issues of slow identification speed and difficulty in meeting the actual operational requirements of traditional methods for identifying crucial links in the power grid, this paper proposes a method based on the Modified Graph Attention Network (MGAT) algorithm for identifying crucial link in the power grid. Firstly, combining complex network theory with actual power grid operational data, an evaluation index set is established. Subsequently, the MGAT is utilized to explore the mapping relationships between various indicators during power grid operation and the crucial links, forming a model for crucial link identification. Considering the requirements of training accuracy and efficiency, the original data is preprocessed to optimize the model. Next, through simulation, the original dataset is obtained for training, validation, and testing of the identification model. Finally, the proposed model is applied to an improved IEEE 30-node system and a real power grid. The results indicate the feasibility of the proposed method, with accuracy and speed surpassing traditional methods, demonstrating its practical engineering value. © 2024, CC BY-NC-ND.

关键词： Smart power grids

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Regulation of Soil Carbon Fractions by Microbial C Degradation Genes Under Long-Term Crop Rotation in the Loess Plateau

SSRN

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SSRN 2024年

作者： Liu, Rui Liu, Yang Wen, Mengmeng Guo, Tianqi Zhang, Shaohong Zhao, Fazhu Wang, Jun State Key Laboratory of Soil Erosion and Dryland Farming on the Loess Plateau Institute of Soil and Water Conservation Chinese Academy of Sciences Ministry of Water Resources Yangling712100 China Shaanxi Key Laboratory of Earth Surface System and Environmental Carrying Capacity College of Urban and Environmental Science Northwest University Xi’an710127 China Shaanxi Key Laboratory for Carbon Neutral Technology Northwest University Xi’an710127 China College of Chemistry and Chemical Engineering Dezhou University Dezhou253023 China

AbstractLong-term diversified crop rotations are known to alter soil carbon fractions, but the mechanisms through which soil microbial functional genes and associated communities regulate carbon fractions remain unclear. The present study examined impacts of long-term crop rotational regimes on soil carbon fractions, soil microbial carbon degradation genes, and associated communities in the Loess Plateau. Crop rotation involving corn and alfalfa-potato significantly enhanced soil carbon fractions including soil organic carbon, particulate organic carbon, potential carbon mineralization, and microbial biomass carbon. Soil total nitrogen and bulk density were identified as primary regulators of soil microbial carbon degradation genes and associated communities. Soil carbon degradation genes and microbial diversity were positively correlated with soil carbon fractions. Moreover, lignin and cellulose degradation functional genes including ligB and bglX play a key role in the formation of soil carbon fractions. This research sheds light on the vital role of long-term crop rotation in regulating soil carbon fractions by impacting soil microbial functional genes and associated communities. The findings provide valuable insights for enhancing sustainable agricultural practices and soil management strategies. © 2024, The Authors. All rights reserved.

关键词： Crop rotation

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The Stiffness of 3-PRS PM Across Parasitic and Orientational Workspace

The Stiffness of 3-PRS PM Across Parasitic and Orientational...

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ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR

作者： Hassen Nigatu Li Jihao Keqi Zhu Junhan Zhang Haotian Guo Guodong Lu Doik Kim Robot Perception and Grasp Lab School of Mechanical Engineering Zhejiang University Hangzhou China Robotics Research Center of Yuyao Yuyao Technology Innovation Center Robotics Institute of Zhejiang University Ningbo Shi Zhejiang Province China The State Key Laboratory of Fluid Power and Mechatronic Systems and the Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province School of Mechanical Engineering School of Mechanical Engineering Zhejiang University Hangzhou China xR Lab Center for Intelligent and Interactive Robotics Artificial Intelligence and Robot Institute Korea Institute of Science and Technology (KIST) South Korea

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

This study investigates the stiffness characteristics of the Sprint Z3 head, also known as 3- PRS Parallel Kinematics Machines, which are among the most extensively researched and viably successful manipulators for precision machining applications. Despite the wealth of research on these robotic manipulators, no previous work has demonstrated their stiffness performance within the parasitic motion space. Such an undesired motion influences their stiffness properties, as stiffness is configuration-dependent. Addressing this gap, this paper develops a stiffness model that accounts for both the velocity-level parasitic motion space and the regular workspace. Numerical simulations are provided to illustrate the stiffness characteristics of the manipulator across all considered spaces. The results indicate that the stiffness profile within the parasitic motion space is both shallower and the values are smaller when compared to the stiffness distribution across the orientation workspace. This implies that evaluating a manipulator's performance adequately requires assessing its ability to resist external loads during parasitic motion. Therefore, comprehending this aspect is crucial for redesigning components to enhance overall stiffness.

关键词： Simulation Resists Machining Kinematics Manipulators Numerical simulation Magnetic heads

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Revealing Energy Conversion Mechanism of a Cascade Energy Storage system

SSRN

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SSRN 2023年

作者： Cheng, Long Ming, Bo Cheng, Qiuyu Jiang, Jianhua Zhang, Hao Jurasz, Jakub Liu, Pan Li, Meicheng State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources School of New Energy North China Electric Power University Beijing102206 China State Key Laboratory of Eco–Hydraulics in Northwest Arid Region of China Xi’an University of Technology Xi’an710048 China Sichuan Hydrological and Water Resources Survey Center Chengdu610036 China Faculty of Environmental Engineering Wroclaw University of Science and Technology Wroclaw50-370 Poland State Key Laboratory of Water Resources and Hydropower Engineering Science Wuhan University Wuhan430072 China

With the increasing penetration of renewable energy in the modern power system, it is of great importance to develop large-scale and long-duration energy storage technologies to increase the power system flexibility. Deploying pump stations between adjacent cascade hydropower plants to form a cascade energy storage system (CESS) is a promising way to accommodate large-scale renewable energy sources, yet the mechanism how renewable curtailment is converted to hydroelectricity is still unclear. In this paper, we aim to clarify this mechanism by evaluating the CESS’s long-term operational efficiency, which is defined as a ratio of reduced renewable energy curtailment to increased hydropower production. A long-term operations of the CESS and cascade hydropower plants were, respectively, optimized using a simulation-based optimization framework. And the operational efficiency of the CESS was calculated by comparing the above two optimized operation results. China’s Longyangxia-Laxiwa CESS was selected as a case study. Results show that: (1) long-term operation efficiency of the CESS reached 81.6%, i.e., 81.6% of the curtailed renewable could be converted to hydroelectricity;(2) the increase in generation flow was the main factor to impact the increased hydropower production of the upper plant, although it could decrease the hydropower plant’s hydraulic head. © 2023, The Authors. All rights reserved.

关键词： Multiobjective optimization

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