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International Conference on Applied Superconductivity and Electromagnetic Devices, ASEMD

作者： Chengsi Liu Jibin Zou State Key Laboratory of Robotics and System Harbin Institute of Technology HIT Harbin China

This paper analyzed the impact of phase back electromotive force (back EMF) harmonics on torque of dual three phase permanent magnet synchronous motor (DTPPMSM) from the view of electromagnetic power, and proposed a torque ripple suppression fault-tolerant method for open-circuit fault of DTPPMSM. The proposed method can consider the phase back EMF harmonics, thus achieveing both minimum torque ripple and maximum average torque. The proposed method is verified by both finite element analysis (FEA) and prototype experiment.

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Microcosmic mechanism and correction of moisture effect on furfural diffusion and equilibrium in oil‐paper insulation

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High Voltage 2023年第4期8卷 772-780页

作者： Dawei Feng Ge Chen Yuandi Lin Ruijin Liao Dayong Yuan State Key Lab of Reliability and Intelligence of Electrical Equipment School of Electrical EngineeringHebei University of TechnologyTianjinChina The MOE Key Laboratory of Special Machine and High Voltage Apparatus School of Electrical EngineeringShenyang University of TechnologyShenyangChina State Grid Jiangsu Electric Power Company Research Institute NanjingChina State Key Laboratory of Power Transmission Equipment&System Security and New Technology School of Electrical EngineeringChongqing UniversityChongqingChina TBEA Shenyang Transformer Group Co. LtdShenyangChina

Furfural content in oil is considered as an effective parameter to evaluate the ageing state of oil-immersed *** previous thermal ageing experiments at 130℃,we found that moisture increment in oil-paper system makes more furfural distribute in ***,the microcosmic mechanism of moisture effect on furfural diffusion from paper to oil is still unknown,and the furfural equilibrium law at transformers'typical operating temperatures is also unclear,resulting in the unreliability of the existed furfural evaluation *** elucidate the above problems,molecular dynamics simulation and furfural equilibrium experiments at 60℃ were carried out at different moisture *** results show that high moisture content makes part of furfural diffuse from paper to oil *** moisture content increases from 1% to 2%,mass fraction of furfural in oil may increase from 32.98% to 49.83%,leading to furfural content in oil increases from 0.76 mg/L to 1.06 mg/L when the degree of polymerisation of insulation paper is about 524,which increased by 39.5%.The increase in moisture content makes cellulose form hydrogen bonds with H_(2)O preferentially,decreasing the hydrogen bonds interaction between cellulose and ***,partial furfural falls off cellulose and diffuses into oil,leading to an increase in furfural content in *** eliminate the moisture interference,a corrected furfural assessment model based on the moisture equilibrium curve has been constructed,which can accurately evaluate the ageing state of insulation paper regardless of the moisture influence.

关键词： equilibrium insulation diffusion

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Experimental Study on Frog-inspired Swimming Robot Based on Articulated Pneumatic Soft Actuator

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Journal of Bionic Engineering 2020年第2期17卷 270-280页

作者： Jizhuang Fan Shuqi Wang Qingguo Yu Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This paper presents a frog-inspired swimming robot based on articulated pneumatic soft *** realize the miniaturization of the robot and enhance its environmental adaptability,combined with the advantages and characteristics of soft materials,an articulated pneumatic soft actuator is designed based on analysis of a frog's propulsion characteristics.A structural model is established to analyse the mechanical properties of the soft *** the goal of making full use of the driving torque of the actuator and enhancing the propulsion efficiency of the robot,the motion trajectories of each joint of the robot are *** on the trajectory planning,the control strategy of the soft actuator is determined to realize the frog-like swimming of the *** torso size after assembly is 0.175 m×0.100 m×0.060 m,which realizes the miniaturization of the frog-inspired *** the movement of the robot,the torso moves stably and flexibly,and can realize continuous linear and turning *** rationality of the structure and trajectory planning are verified by prototype experiments.

关键词： bionic robotic frog articulated pneumatic soft actuator trajectory planning prototype experiment

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Transient Dynamic Analysis of A Variable-Length Rope-Driven Wave Energy system

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China Ocean Engineering 2022年第3期36卷 474-487页

作者： QUAN Wei-cai OU Ding-chao XU Jing-wei HUO Liang-qing XI Yi National-local Joint Engineering Laboratory for Marine Mineral Resources Exploration Equipment and Safety Technology Hunan University of Science and TechnologyXiangtan 411201China State key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110169China

A new dynamic model of a variable-length rope,which could be used for the transient analysis of a buoy-rope-generator(BRG)wave energy system,was proposed in this *** model started from the basic dynamic equations of variable mass system,and took into account the physical properties such as axial force,shear and *** to the principle of D'Alembert-Lagrange,the equivalent integral weak formulation was firstly obtained,and through consistent linearization and isoparametric discretization,the finite element model of the variable-length rope was then *** Bathe scheme was employed to solve the model numerically,based on its excellent performance in solving nonlinear dynamic problems,and an automatic time step size algorithm was designed according to the number of iterations of the two substeps of Bathe *** procedures of rope mesh regeneration were also put forward,where only one variable-length element was always located at the top end of the rope,and the rest were all fixed-length *** proposed variable-length rope model and solution schemes were verified through comparison with the results of a tank ***,the transient dynamics of a kind of BRG system was analyzed and discussed.

关键词： cable dynamics variable-length buoy-rope-generator numerical analysis

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Active Camera View Planning Based on Deep Reinforcement Learning in Indoor Exploration 42

Active Camera View Planning Based on Deep Reinforcement Lear...

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42nd Chinese Control Conference, CCC 2023

作者： Wang, Hao-Yu Meng, Qing-Hao Dai, Xu-Yang Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Tianjin300072 China

ISBN: (纸本)9789887581543

In the last decades, significant progress has been made in the field of active vSLAM (visual simultaneous localization and mapping). However, the majority of active vSLAM methods suffer from the problem of coupling the camera's viewpoint to the robot's motion, which limits the initiative during the exploration of unknown environments. To address this issue, this study proposes a camera view planning method based on deep reinforcement learning (DRL), which makes the camera rotate independently. First, feature encoding is performed on the reconstructed navigation map using a multi-layer convolutional neural network (CNN). Second, the DRL-based camera view planning method is trained through the proximal policy optimization (PPO) algorithm. Last, a significant number of tests is performed on a public dataset of indoor environments. The simulation results show that the proposed camera view planning method improves the exploration coverage by an average of 4% (33.86 m2 for traditional vs. 35.21 m2 for the suggested method). Meanwhile, the kind of semantic information newly observed in each step increases by 21% (2.9 for traditional vs. 3.5 for the proposed method) on average, indicating the improvement in the efficiency of information acquisition. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Reinforcement learning

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The Application of Acceleration-Level Quaternion Interpolation in the Visual-Servoing Process 13

The Application of Acceleration-Level Quaternion Interpolati...

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13th International Conference on Computer and Automation Engineering, ICCAE 2021

作者： Zhao, Xiaoyu Liu, Yang Xie, Zongwu Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9780738132204

Visual servoing process is widely applied in robot control. In the visual servoing process, an interpolation of the robot end pose is necessary. In the interpolation, quaternion suffers a lot for the discontinuity in trajectory velocity and acceleration. In this paper, we propose an acceleration-level continuous interpolation method and apply it to visual servoing process. In the method, we make up use of the conversion between different rotation descriptors and achieve a smooth enough trajectory. Simulations and experiments are carried out to validate the method and the results show considerable performance. © 2021 IEEE.

关键词： Visual servoing

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Photovoltaic Multi-Peak MPPT Method with Improved Particle Swarm Algorithm 9

Photovoltaic Multi-Peak MPPT Method with Improved Particle S...

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9th Asia Conference on Power and Electrical Engineering, ACPEE 2024

作者： Ma, Zun Meng, Xian Xing, Chao Hu, Binjiang Zhu, Yihua Tu, Liang System Analysis and DC Technology Research Institute Electric Power Research Institute of Yunnan Power Grid Co. Ltd Kunming China State Key Laboratory of HVDC EPRI CSG Power System Simulation and Control Technology Department Guangzhou China National Energy Power Grid Technology R&D Centre Power System Simulation and Control Technology Department Guangzhou China CSG Key Laboratory for Power System Simulation Power System Simulation and Control Technology Department Guangzhou China

ISBN: (纸本)9798350309638

An MPPT control strategy based on the combination of adaptive nonlinear mutation particle swarm optimization algorithm is proposed. The algorithm uses the tanh function to control the inertia weight, balances the ability of particles to optimize globally and locally, uses the ISRU function to control the learning factor, balances the weight relationship between individual learning and social learning, and improves the convergence speed of the algorithm. The nonlinear Cauchy mutation operation is proposed to expand the scope of optimization;Finally, the perturbation and observation method is used to track locally near the maximum power point to reduce power oscillation. The simulation validates that the photovoltaic MPPT control strategy based on the improved particle swarm algorithm can effectively get the maximum power point under shading conditions and improve the output efficiency of the PV array. © 2024 IEEE.

关键词： Maximum power point trackers

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Aerogel defect detection using terahertz waves 11

Aerogel defect detection using terahertz waves

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Infrared, Millimeter-Wave, and Terahertz Technologies XI 2024

作者： Maa, Yehao Shen, Liran Cao, Yuqi Hou, Dibo Zhang, Guangxin State Key Laboratory of Industrial Control Technology Dept. of Control Science and Engineering Zhejiang University Hangzhou310027 China Robotics Institute Ningbo University of Technology Ningbo315211 China

ISBN: (数字)9781510682238

ISBN: (纸本)9781510682221

Aerogel is known as super insulation materials and has already been applied to manufacture thermal protection parts of aerospace equipment. Terahertz (THz) wave has good penetration to non-metallic and non-polar materials. To explore its potential in aerogel defect detection, the absorption coefficient and refractive index of aerogel were studied. As a result, the absorption spectrum of aerogel has not obvious absorption peak, and THz wave has great penetration for aerogel. Additionally, two aerogel samples with different sizes of defects were imaged with two time domain parameters (pulse peak and pulse valley) and two frequency domain parameters (absorption coefficient and refractive index). In contrast to other three parameters, the refractive index presents the greatest performance in defect detection, defects in the aerogel can be observed more clearly through the refractive index. The study is of key importance for THz wave in nondestructive testing for aerogel, offering a rapid and non-destructive detection method for aerogel defects. © 2024 SPIE.

关键词： Refractive index

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Characterization Method of Thermal Stability Boundary for High Proportion New Energy Power system Based on Sensitivity Clustering 9th

Characterization Method of Thermal Stability Boundary for Hi...

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

作者： Wang, Weitao Xu, Taishan Zhang, Jinlong Bao, Yanhong Song, Jiaqi Yu, Mengjie Zhao, Xijie State Key Laboratory of Technology and Equipment for Defense Against Power System Operational Risks Nanjing211106 China NARI Technology Co. Ltd. Nanjing211106 China

ISBN: (纸本)9789819616701

Characterizing thermal stability boundary is fundamental to the operation and control of power system, directly impacting its safety and economic efficiency. With the integration of large-scale renewable energy sources, operation modes of power system have become increasingly complex and variable. The influence characteristics of multi-dimensional variables on system boundary tend toward strong nonlinearity and coupling, posing challenges for traditional characterization methods. This paper first analytically derives the thermal stability boundary manifold and its gradient vector trajectory based on a single-machine equivalent system, exploring the nonlinear nature of system boundary manifold. Secondly, considering the active-reactive power coupling characteristics of renewable energy devices, it analyzes the nonlinear and non-convex features and patterns of system boundary manifold under typical scenarios such as weak sending and weak receiving conditions. Finally, a segmented approximation method suitable for high-dimensional nonlinear boundary manifold is proposed. This method utilizes sensitivity analysis and the K-Medoids algorithm to perform clustering analysis of high-dimensional gradient vectors and segmentation of boundary manifold, followed by fitting linear approximation expressions for each segment using the least squares method. The practicality and effectiveness of the proposed method are validated through a case study of the IEEE 3-machine 9-bus system. © state Grid Electric Power 2025.

关键词： Sensitivity analysis

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Line Feature Based Visual Servo Control with TDE for Underwater Vehicle Manipulator systems Target Grasping

Line Feature Based Visual Servo Control with TDE for Underwa...

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2024 IEEE International Conference on Unmanned systems, ICUS 2024

作者： Zhang, Yunfei Bian, Xinyu Sun, Yize Zhang, Zongyu Huang, Hai Yang, Xu National Key Laboratory of Autonomous Marine Vehicle Technology Harbin Engineering University Harbin China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9798350384185

Underwater vehicle manipulator systems (UVMSs) is becoming a research hotspot in the field of marine intelligent equipment. Introducing visual feedback equipped with cameras in the loop to guide UVMS to complete the grasping has comprehensive advantages of response speed, work efficiency and intelligence. In this paper, mapping between the feature error and the motion of the UVMS generalized degrees of freedom is established to realize the suspended grasping under the coordinated motion of the vehicle body and the manipulator. Then, a UVMS motion control algorithm based on time delay estimation (TDE) is constructed for visual servo autonomous grasping process, the TDE of which is used to estimate and compensate the lumped interference in real time. The Lyapunov theory is applied to analyze its stability and its control performance is verified through simulation experiments. The simulation results shew the effectiveness of the proposed visual servo control with TED method based on line features. © 2024 IEEE.

关键词： Visual servoing

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