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Performance Analysis and Flexible control of a Novel Ball Double-screw Hydraulic Robot Knee Joint

Journal of Bionic engineering 2023年第5期20卷 2147-2163页

作者： Jie Shao Yongming Bian Meng Yang Guangjun Liu School of Mechanical Engineering Tongji UniversityShanghai201804China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou310027China Department of Control Science and Engineering Tongji UniversityShanghai201804China National Engineering Technology Research Center for Prefabrication Construction in Civil Engineering Tongji UniversityShanghai200092China

Focusing on the ball double-screw hydraulic knee joint as the research object,this paper analyzes the load driving performance of the hydraulic knee *** the posture data of the human body such as walking,squatting and landing buffer as initial learning objects,motion features are *** simplifying the trajectories of different motion actions into key feature control points and flexible trajectory fitting,the trajectory of joint actions is *** method can realize the adaptability of the hydraulic robot knee joint in different movements,and take the flexible action as the optimization goal under the condition of ensuring the movement performance,so as to reduce the damage to the knee joint caused by the foot impact in *** simulation model was built by Adams and Matlab to complete the performance analysis and motion optimization experiment of the knee *** simulation results show that the foot impact force of the experimental model decreases gradually through ***,the method is applied to the hydraulic joint experimental prototype to prove its load capacity and flexible motion control performance.

关键词： Bionic robot Ball double-screw hydraulic joint Robot knee joint Performance analysis Humanoid motion control Flexible control

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Electronic regulation to achieve efficient anaerobic digestion of organic fraction of municipal solid waste(OFMSW):strategies,challenges and potential solutions

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Frontiers of Environmental Science & engineering 2024年第4期18卷 159-165页

作者： Yongdong Chen Hong Wang Parisa Ghofrani-Isfahani Li Gu Xiaoguang Liu Xiaohu Dai State Key Laboratory of Pollution Control and Resources Reuse College of Environmental Science and EngineeringTongji UniversityShanghai 200092China Shanghai Institute of Pollution Control and Ecological Security Tongji UniversityShanghai 200092China Department of Chemical and Biochemical Engineering Technical University of DenmarkKgs Lyngby DK-2800Denmark College of Environment and Ecology Chongqing UniversityChongqing 400045China

Anaerobic digestion(AD)of organic fraction of municipal solid waste(OFMSW)is prone to system breakdown under high organic loading rates(OLRs)condition,which subsequently reduces the efficiency of digestion process and results in substantial economic *** this perspective paper,the substances metabolisms,electrons flow,as well as microbial interaction mechanisms within AD process are comprehensively discussed,and the underlying bottleneck that causes inefficient methane production is identified,which is“electrons surplus”.systems encountering severe electron surplus are at risk of process failure,making it crucial to proactively prevent this phenomenon through appropriate *** this basis,the present perspective proposes three potential electronic regulation strategies to prevent electrons surplus,namely,electron shunt,accelerating electron transfer and regulating methanogenic metabolism pathway,and presents specific methodologies for each ***,the potential solutions to challenges that may occur during the electronic regulation process are also presented in this *** perspective aims to provide innovative approaches to achieve the efficient and stable operation of OFMSW anaerobic digestion,especially under high OLRs condition.

关键词： Anaerobic digestion Electrons surplus Electronic regulation Electrons shunt Electron transfer Methanogenic metabolism pathway

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Real-Time Implementation of MEKF using VDPL Localization Algorithm by Utilizing MATLAB & ROS Communication

Real-Time Implementation of MEKF using VDPL Localization Alg...

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2024 Innovations in Intelligent systems and Applications Conference, ASYU 2024

作者： Altınpınar, Ozan Vahit Contarlı, Emre Can Sezer, Volkan Department of Mechatronics Engineering Smart and Autonomous Systems Laboratory Istanbul Technical University Istanbul Turkey Department of Control and Automation Engineering Smart and Autonomous Systems Laboratory Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9798350379433

Mobile robots, which are produced to fulfill certain tasks to make our lives easier, are becoming more and more common in our environment day by day. In the long run, these robots can be more cost-effective, faster, and more efficient than humans in accomplishing tasks. In order for mobile robots to fulfill the tasks, they need to be able to safely navigate to specific destinations without hitting obstacles. Safely reaching a given goal most accurately and shortly is the problem of autonomy. This autonomy problem is divided into sub-problems and algorithms are needed to solve each sub-problem. The main sub-problems in the field of autonomy are localization, mapping, local planning, and global planning. The main purpose of this paper is to describe how the position information computed by a MEKF (Modified Extended Kalman Filter) localization algorithm using the VDPL (Virtual Dynamic Point Landmark) algorithm, which was previously designed in MATLAB, is published to the ROS environment via a topic. This position information can be used together with the local and global planning algorithms in the navigation stack to realize fully autonomous driving capability in a real-time environment. Using these algorithms, full-autonomous driving tests were conducted on the Turtlebot3 mobile robot in a real-time environment according to a predefined scenario. The performance results of both simulation and real-world tests show that the MEKF using the VDPL algorithm outperforms the AMCL algorithm in the navigation stack in both cases. © 2024 IEEE.

关键词： Extended Kalman filters

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Energy-Saving Distributed Flexible Job Shop Scheduling Optimization with Dual Resource Constraints Based on Integrated Q-Learning Multi-Objective Grey Wolf Optimizer

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Computer Modeling in engineering & Sciences 2024年第8期140卷 1459-1483页

作者： Hongliang Zhang Yi Chen Yuteng Zhang Gongjie Xu School of Management Science and Engineering Anhui University of TechnologyMa’anshan243032China Laboratory of Multidisciplinary Management and Control of Complex Systems of Anhui Higher Education Institutes Anhui University of TechnologyMa’anshan243032China Department of Industrial Engineering School of Mechanical EngineeringNorthwestern Polytechnical UniversityXi’an710072China

The distributed flexible job shop scheduling problem(DFJSP)has attracted great attention with the growth of the global manufacturing *** DFJSP research only considers machine constraints and ignores worker *** one critical factor of production,effective utilization of worker resources can increase ***,energy consumption is a growing concern due to the increasingly serious environmental ***,the distributed flexible job shop scheduling problem with dual resource constraints(DFJSP-DRC)for minimizing makespan and total energy consumption is studied in this *** solve the problem,we present a multi-objective mathematical model for DFJSP-DRC and propose a Q-learning-based multi-objective grey wolf optimizer(Q-MOGWO).In Q-MOGWO,high-quality initial solutions are generated by a hybrid initialization strategy,and an improved active decoding strategy is designed to obtain the scheduling *** further enhance the local search capability and expand the solution space,two wolf predation strategies and three critical factory neighborhood structures based on Q-learning are *** strategies and structures enable Q-MOGWO to explore the solution space more efficiently and thus find better Pareto *** effectiveness of Q-MOGWO in addressing DFJSP-DRC is verified through comparison with four algorithms using 45 *** results reveal that Q-MOGWO outperforms comparison algorithms in terms of solution quality.

关键词： Distributed flexible job shop scheduling problem dual resource constraints energy-saving scheduling multi-objective grey wolf optimizer Q-learning

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Simulation of RIS-Assisted OFDM Multipath Channel 25

Simulation of RIS-Assisted OFDM Multipath Channel

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25th IEEE International Conference of Young Professionals in Electron Devices and Materials, EDM 2024

作者： Eremeev, Sergey A. Ilinskiy, Dmitriy E. Kryukov, Yakov V. Pokamestov, Dmitriy A. Shalin, Georgiy N. Shinkevich, Artem S. Departament of Telecommunication and Basic Principles of Radio Engineering Tomsk State University of Control Systems and Radioelectronics Tomsk Russia Department of Telecommunications and Basic Principles of Radio Engineering Tomsk State University of Control Systems and Radioelectronics Tomsk Russia

ISBN: (纸本)9798350389234

reconfigurable intelligent surfaces are devices that can significantly improve the quality of wireless communication by interacting with electromagnetic waves. RISs may in principle make the wireless environment controllable, thus bringing unprecedented new opportunities for enhancing the performance of wireless networks. The paper compares the performance of two orthogonal frequency-division multiplexing point-to-point communication channels. The first channel is conventional multipath and does not include RIS, while the second channel includes an additional RIS ray. We are focused on the case of far field RIS at which the distances between transmitter and RIS, RIS and receiver are much larger than the surface size. One of the main RIS scenarios is considered: there is a multipath channel between the transmitter and receiver, and the direct path is blocked. Thus, most of the received power is delivered in the RIS ray and the rays from the multipath channel. Therefore, we obtain a numerical estimate of how much the RIS improves the link quality in a typical wireless channel in mobile networks. A practical scenario with imperfect channel estimation is considered. Error vector magnitude (EVM) is used as performance metric and Monte Carlo simulation is used for EVM estimation. Comparing in terms of EVM, the system with RIS is 22.2% more efficient. © 2024 IEEE.

关键词： Orthogonal frequency division multiplexing

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Systematic Error Correction of SUMO Traffic Simulator's HBEFA Vehicle Emission Model

Systematic Error Correction of SUMO Traffic Simulator's HBEF...

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2024 IEEE International Conference on Electrical systems for Aircraft, Railway, Ship Propulsion and Road Vehicles and International Transportation Electrification Conference, ESARS-ITEC 2024

作者： Varga, Balázs Lulić, Zoran Tettamanti, Tamás Faculty of Transportation Engineering and Vehicle Engineering Budapest University of Technology and Economics Department of Control for Transportation and Vehicle Systems Budapest Hungary Faculty of Mechanical Engineering and Naval Architecture University of Zagreb Department of Ic Engines and Transport Systems Zagreb Croatia

ISBN: (纸本)9798350373905

This paper analyses the HBEFA-based instantaneous vehicle emissions model implemented in the SUMO microscopic traffic simulation. We identify significant discrepancies between real vehicle emissions measured with portable emission measurement systems and the modeled emissions. Corrections to the model are proposed to account for road gradients, transients, and engine management functions such as fuel cut-off, start-stop systems, and hybrid engine management. These corrections require minimal vehicle-related parameters and thresholds, making them suitable for both large-scale traffic simulation and emissions analysis of real fleet trajectory data. The proposed corrections are validated against real measurements, resulting in an accuracy gain of over 50% at the trajectory level. The network level was demonstrated on a large-scale traffic simulation. The overall results show that the baseline model is less accurate for NOx and PM and lacks the ability to properly account for HEVs. © 2024 IEEE.

关键词： Hybrid vehicles

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Atomically dispersed Mn-N_(x) catalysts derived from Mn-hexamine coordination frameworks for oxygen reduction reaction

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Carbon Energy 2024年第5期6卷 114-126页

作者： Guoyu Zhong Liuyong Zou Xiao Chi Zhen Meng Zehong Chen Tingzhen Li Yongfa Huang Xiaobo Fu Wenbo Liao Shaona Zheng Yongjun Xu Feng Peng Xinwen Peng Guangdong Provincial Key Laboratory of Distributed Energy Systems School of Chemical Engineering and Energy TechnologyDongguan University of TechnologyDongguanChina State Key Laboratory of Pulp and Paper Engineering South China University of TechnologyGuangzhouChina Department of Chemistry Centre for Advanced 2D Materials(CA2DM)National University of SingaporeSingaporeSingapore School of Chemistry and Chemical Engineering Guangzhou UniversityGuangzhouChina

Metal-organic frameworks recently have been burgeoning and used as precursors to obtain various metal-nitrogen-carbon catalysts for oxygen reduction reaction(ORR).Although rarely studied,Mn-N-C is a promising catalyst for ORR due to its weak Fenton reaction activity and strong graphitization ***,we developed a facile strategy for anchoring the atomically dispersed nitrogen-coordinated single Mn sites on carbon nanosheets(MnNCS)from an Mn-hexamine coordination *** atomically dispersed Mn-N_(4) sites were dispersed on ultrathin carbon nanosheets with a hierarchically porous *** optimized MnNCS displayed an excellent ORR performance in half-cells(0.89 V *** hydrogen electrode(RHE)in base and 0.76 V *** in acid in half-wave potential)and Zn-air batteries(233 mW cm^(−2)in peak power density),along with significantly enhanced *** functional theory calculations further corroborated that the Mn-N_(4)-C(12)site has favorable adsorption of*OH as the rate-determining *** findings demonstrate that the metal-hexamine coordination framework can be used as a model system for the rational design of highly active atomic metal catalysts for energy applications.

关键词： carbon nanosheets electrocatalyst metal-organic frameworks Mn-N_(4) oxygen reduction reaction Zn-air batteries

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A low voltage ride through (LVRT) strategy using an active superconductor fault current limiter (SFCL) for a virtual synchronous generator (VSG) connected to a weak grid

A low voltage ride through (LVRT) strategy using an active s...

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2023 IEEE PES Innovative Smart Grid Technologies Europe, ISGT EUROPE 2023

作者： Kisinga, Daniel Angelo Trodden, Paul Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9798350396782

A function of grid-connected VSGs is facilitating the recovery of sagging voltages to nominal levels, achieved by supplying reactive power (Q) to the grid. During normal operation, however, a VSG is required to supply active power (P) at unity power factor and, therefore, in order to supply the Q required in the event of a sagging voltage, the VSG must change its control mode from P-supply to PQ- or Q-supply. Such transitions may induce high current flows—caused by the sudden reduction of the voltage during the sag—which are potentially damaging to the power semiconductor devices of the VSG;if these effects are to be avoided, the supplied current must be limited to its rated value, but this may result in a low power transfer from the VSG to the grid. To circumvent these problems, in this paper we propose a LVRT strategy using an active SFCL. We show that the proposed strategy, which combines a PQ decoupling scheme with an active SFCL, ensures maximum power transfer with an improved transient response during LVRT. © 2023 IEEE.

关键词： active SFCL LVRT PQ control voltage sag VSG

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Evaluating the Non-participation Penalty in Renewable Energy Utilization to Supply a Portion of Electricity for large Industries in Iran 9

Evaluating the Non-participation Penalty in Renewable Energy...

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9th International Conference on Technology and Energy Management, ICTEM 2024

作者： Najafi, Mahdi Kiani, Hossein Nazari, Mohammad Hassan Gharepetian, Gevork B. Hosseinian, S.H. Sarbazi, Jafar Amirkabir University of Technology Department of Electrical Engineering Tehran Iran Smart Control Systems Research Department Tehran Iran

ISBN: (纸本)9798350329797

This paper, investigates the consequences of Non-Participation Penalty (NPP) imposed on large industries in Iran for their non-compliance with renewable energy usage. The study presents ten distinct configurations of a hybrid system incorporating grid, wind turbines (WTs), photovoltaic (PV), and diesel generator. HOMER Pro software was used to evaluate scenarios based on real data from a large industrial plant, analyzing the impact of variables on economic parameters, with a particular focus on NPC. According to the results, the integration of diesel generators in WT and PV combinations leads to reductions in both Net Present Cost (NPC) and Cost of Energy (COE) within the hybrid systems and using renewable energy is more cost-effective than accepting the fine and using only the grid until electricity prices increase by 5% annually. Also, its NPC is at least 4.62$ less. © 2024 IEEE.

关键词： Clean energy

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Reference Model based Data-driven control of Power Amplifiers for High-precision Motion systems

Reference Model based Data-driven Control of Power Amplifier...

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2023 IEEE Conference on control Technology and Applications, CCTA 2023

作者： Xu, Duo Popescu, Mihai-Serban Lazar, Mircea Eindhoven University of Technology Control Systems Group Department of Electrical Engineering Netherlands

ISBN: (纸本)9798350335446

Motivated by the increasing requirements in positioning precision for lithography applications, this paper analyzes how the position error in a high-precision motion system is affected by the response of the controlled power amplifier that drives the motor. Based on the analysis, guidelines for designing a reference model in continuous or discrete time that satisfies certain requirements that would decrease the overall position error are presented. Then, a data-driven control method, namely Virtual Reference Feedback Tuning (VRFT), is employed to directly synthesize both feedback and feedforward controllers based on the designed reference model. The position error of the motion system with the data-driven controlled power amplifier is compared to the case when classical industrial controllers are employed in the control of the amplifier. If adequate reference models are designed, the VRFT-controlled power amplifier can significantly decrease the position error such that it is close to the ideal position error. All of the presented results are based on simulations. © 2023 IEEE.

关键词： Power amplifiers

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