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作者： Bai, Ting Johansson, Alexander Li, Shaoyuan Johansson, Karl Henrik Mårtensson, Jonas School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden KTH Royal Institute of Technology Stockholm Sweden Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China Digital Futures Stockholm Sweden

This paper models a platooning system consisting of trucks and a third-party service provider (TPSP), which performs platoon coordination, distributes the platooning profit in platoons, and charges trucks in exchange for the services. Government subsidies used to incentivize platooning are also considered. We propose a pricing rule for the TPSP, which keeps part of the platooning profit including the subsidy each time a platoon is formed. In addition, a platoon coordination solution based on the distributed model predictive control (MPC) is proposed, in which the pricing rule under government subsidies is integrated. We perform a realistic simulation over the Swedish road network to evaluate the impact of the pricing rule and subsidies on the achieved profits and fuel savings. Our results show that subsidies are an effective mean to boost fuel savings from platooning. Moreover, the simulation study indicates that high pricing corresponds to a low platooning rate of the system, as trucks' incentives for platooning decrease. © 2023 The Authors. Asian Journal of control published by John Wiley & Sons Australia, Ltd on behalf of Chinese Automatic control Society.

关键词： Trucks

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A Simplified Economic Model Predictive control Algorithm for Soft Constrained system with Changing Economic Criteria

A Simplified Economic Model Predictive Control Algorithm for...

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第34届中国过程控制会议

作者： Xiaowen Qi Shaoyuan Li Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China

To improve the economic performance of soft-constrained systems,this paper proposes a new soft-constrained Economic Model Predictive control(EMPC) approach to cope with changes in economic criteria caused by variations in raw material prices,product prices,market fluctuations,disturbances,*** the one hand,terminal states are permitted to be any admissible equilibrium *** the other hand,slack variables for soft constraints are considered in the cost stage to enhance dynamic operation *** ensure the asymptotic stability,the Lyapunov-like stability constraint is ***,the effectiveness of the proposed method is demonstrated by an isothermal stirred-tank reactor process.

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A Distributed Model Predictive control for Multi-zone HVAC with Global Resource Constrained

A Distributed Model Predictive Control for Multi-zone HVAC w...

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第34届中国过程控制会议

作者： Shunjian MA Yuanyuan ZOU Shaoyuan LI Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China

Heating,Ventilation and Air Conditioning(HVAC) for multi-zone buildings includes centralized plants and remote equipment to jointly regulate indoor air temperature of every zone to satisfy difference *** to the limited capacity of the total supply air in centralized equipment,two conflicts are raised when controlling indoor air temperature for all *** is between meeting diverse demands to meet user's preferences and limited global resources,and another conflict is between distributed regulation facilities and centralized air supply *** this paper,a distributed model predictive control(DMPC) with global resource constrained is proposed for multi-zone HVAC ***,a centralized MPC with energy savings and thermal comforts is formulated to balance the demands of each zone and the limited resource ***,this centralized MPC is decomposed into subsystems by dual *** Lagrange function is integrated in the resulting optimization to deal with global constraints,so that a fully distributed solvable DMPC can be solved by a distributed primal-dual *** effectiveness of the proposed method is proved by simulation examples.

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Explicit Predictive control of Forward DC-DC Converter Based on an Input-Mapping Method

Explicit Predictive Control of Forward DC-DC Converter Based...

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第43届中国控制会议

作者： Xiang Gu Dewei Li Aoyun Ma Yaru Yu Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In the practical application of model predictive control in power electronics, both online computational burden and model accuracy are crucial. This paper presents an explicit model predictive control method based on input-mapping *** address the issue of parameter drift in the forward DC-DC converter system, the input-mapping method is introduced to compensate for model deviations using historical data. Firstly, the average model of the forward DC-DC converter system is introduced. For the control objective of voltage tracking, an explicit predictive control using the incremental model is ***, input-mapping method is integrated with explicit predictive control. During offline computation, analytical forms of the input-mapping combination coefficients and the optimal solution function of explicit model predictive control are *** computation of combination coefficients is conducted to obtain the optimal solution rapidly. The effectiveness of the proposed method is verified through simulations in MATLAB.

关键词： Forward DC-DC converter explicit model predictive control input-mapping method

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PS-Loc: Robust LiDAR Localization with Prior Structural Reference

PS-Loc: Robust LiDAR Localization with Prior Structural Refe...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Rui Li Wentao Zhao Tianchen Deng Yanbo Wang Jingchuan Wang Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Ministry of Education Key Laboratory of System Control and Information Processing Shanghai China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Prior structural reference like floor plan is readily accessible in indoor scene, which exhibits the potential of improving localization quality without the requirements of a previously-built high-precision map. This paper introduces a novel optimal transport-based framework for prior structural reference-based localization, aiming to improve the robustness for the robot localization. Leveraging the spacial relations of structures, a matching method based on optimal transport theory is proposed and it improves the robustness of matching results in dynamic scene and rapid rotation conditions. Additionally, this paper handles metric inaccuracies in the known structural reference by implementing an prior guided plane adjustment-based updating strategy. This strategy combines prior and observational information to jointly optimize the structural information within a sliding window. The performance of the framework is validated through real-world experiments, demonstrating superior accuracy and robustness to disturbances from dynamic occlusion and rapid rotation compared to common state-of-the-art SLAM and localization methods.

关键词： Location awareness Measurement Laser radar Simultaneous localization and mapping Accuracy Robustness Robot localization Intelligent robots Floors

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Isolated FeN_(3)sites anchored hierarchical porous carbon nanoboxes for hydrazine-assisted rechargeable Zn-CO_(2)batteries with ultralow charge voltage

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Carbon Energy 2025年第1期7卷 121-132页

作者： Sanshuang Gao Hongyi Li Zhansheng Lu Songjie Meng Xue Zhao Xinzhong Wang Xijun Liu Guangzhi Hu Shenzhen Institute of Information Technology Shenzhen 518172China State Key Laboratory of Featured Metal Materials and Life-cycle Safety for Composite Structures Guangxi Key Laboratory of Processing for Nonferrous Metals and Featured MaterialsSchool of ResourcesEnvironment and MaterialsGuangxi UniversityNanning 530004China School of Ecology and Environmental Science Institute for Ecological Research and Pollution Control of Plateau LakesYunnan UniversityKunming650504China State Key Laboratory of Chemistry and Utilization of Carbon Based Energy Resources College of ChemistryXinjiang UniversityUrumqiChina School of Physics Henan Normal UniversityXinxiangChina Faculty of Chemistry and Chemical Engineering Yunnan Normal UniversityKunmingChina

Zn-CO_(2)batteries(ZCBs)are promising for CO_(2)conversion and electric energy ***,the ZCBs couple the electrochemical CO_(2)reduction(ECO_(2)R)with the oxygen evolution reaction and competitive hydrogen evolution reaction,which normally causes ultrahigh charge voltage and CO_(2)conversion efficiency attenuation,thereby resulting in~90%total power ***,isolated FeN_(3)sites encapsulated in hierarchical porous carbon nanoboxes(Fe-HPCN,derived from the thermal activation process of ferrocene and polydopamine-coated cubic ZIF-8)were proposed for hydrazine-assisted rechargeable ZCBs based on ECO_(2)R(discharging process:CO_(2)+2H+→CO+H_(2)O)and hydrazine oxidation reaction(HzOR,charging process:N_(2)H_(4)+4OH−→N_(2)+4H_(2)O+4e^(−)).The isolated FeN_(3)endows the HzOR with a lower overpotential and boosts the ECO_(2)R with a 96%CO Faraday efficiency(FECO).Benefitting from the bifunctional ECO_(2)R and HzOR catalytic activities,the homemade hydrazine-assisted rechargeable ZCBs assembled with the Fe-HPCN air cathode exhibited an ultralow charge voltage(decreasing by~1.84 V),excellent CO selectivity(FECO close to 100%),and high 89%energy *** situ infrared spectroscopy confirmed that Fe-HPCN can generate rate-determining*N_(2)and*CO intermediates during HzOR and ECO_(2)*** paper proposes FeN_(3)centers for bifunctional ECO_(2)R/HzOR performance and further presents the pioneering achievements of ECO_(2)R and HzOR for hydrazine-assisted rechargeable ZCBs.

关键词： electrochemical CO_(2)reduction Fe single atoms hierarchical porous carbon nanoboxes hydrazine-assisted Zn-CO_(2)batteries hydrazine oxidation reaction

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Data-Driven Distributionally Robust Electricity-Hydrogen Trading Considering The Carbon Intensity of Hydrogen Production

Data-Driven Distributionally Robust Electricity-Hydrogen Tra...

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Asian control Conference

作者： Longyan Li Chao Ning Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

This paper proposes a data-driven distributionally robust local electricity-hydrogen market framework, where Hydrogen-based Micro-Grids (HMGs) supply hydrogen to heterogeneous Hydrogen Users (HUs) including hydrogen refueling stations and industrial plants. In this framework, the coordination between HMGs and HUs is cast as a multi-leader multi-follower Stackelberg game. Specifically, HMGs determine an integrated hydrogen-carbon price and carry out electricity trading through a non-cooperative game. Meanwhile, HUs act as followers adjusting hydrogen purchase strategies. Furthermore, the self-dispatching of HMGs and HUs are modeled as distributionally robust optimization problems considering source-load and hydrogen demand uncertainties, respectively. To hedge against these uncertainties, a novel Bayesian nonparametric hybrid ambiguity set is constructed based on local Wasserstein balls and moment information. Finally, a distributed algorithm is developed to solve the market clearing problem. Comparative studies validate that the proposed framework outperforms existing methods, demonstrating a total income improvement of 12.3% and a carbon emission reduction of 11.6%.

关键词： Uncertainty Hydrogen Carbon dioxide Pricing Games Production Power markets

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Scalable parallel ultrafast optical random bit generation based on a single chaotic microcomb

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Light(Science & Applications) 2024年第4期13卷 637-644页

作者： Pu Li Qizhi Li Wenye Tang Weiqiang Wang Wenfu Zhang Brent ELittle Sai Tek Chu KAlan Shore Yuwen Qin Yuncai Wang Institute of Advanced Photonics Technology School of Information EngineeringGuangdong University of TechnologyGuangzhou 51006China. Key Laboratory of Photonic Technology for Integrated Sensing and Communication Ministry of Education of ChinaGuangdong University of TechnologyGuangzhou 51006China. Guangdong Provincial Key Laboratory of Information Photonics Technology Guangdong University of TechnologyGuangzhou 51006China. Key Laboratory of Advanced Transducers andIntelligent Control System Ministry of EducationTaiyuan University of TechnologyTaiyuan 030024China. State Key Laboratory of Transient Optics and Photonics Xi’an Institute of Optics and Precision MechanicsChinese Academy of SciencesXi’an 710119China. Department of Physics and Materials Science City University of Hong KongHong KongChina. School of Electronic Engineering Bangor UniversityBangorWales LL571UTUK

Random bit generators are critical for information security,cryptography,stochastic modeling,and *** and scalability are key challenges faced by current physical random bit ***,we propose a massively parallel scheme for ultrafast random bit generation towards rates of order 100 terabit per second based on a single micro-ring resonator.A modulation-instability-driven chaotic comb in a micro-ring resonator enables the simultaneous generation of hundreds of independent and unbiased random bit streams.A proof-of-concept experiment demonstrates that using our method,random bit streams beyond 2 terabit per second can be successfully generated with only 7 comb *** bit rate can be easily enhanced by further increasing the number of comb lines *** approach provides a chip-scale solution to random bit generation for secure communication and high-performance computation,and offers superhigh speed and large scalability.

关键词： resonator random chaotic

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Non-Repetitive: A Promising LiDAR Scanning Pattern

Non-Repetitive: A Promising LiDAR Scanning Pattern

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Angchen Xie Yeqiang Qian Weihao Yan Chunxiang Wang Ming Yang Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

LiDAR is an essential sensor for intelligent vehicles. Recently, LiDARs used in vehicles produced by different companies have significant differences in their scanning patterns. Some vehicles use mechanical and solid-state (repetitive) LiDARs, while others use prism-based (non-repetitive) LiDARs. The scanning pattern of a LiDAR has a profound impact on its scanning performance. To investigate the influence of LiDAR scanning patterns, we created the "Repetitive-or-not" dataset, which is collected simultaneously by LiDARs with both repetitive and non-repetitive scanning patterns in the CARLA simulation environment. Using this dataset, we conducted a comprehensive statistical analysis of the scanning ability of repetitive and non-repetitive LiDARs. Furthermore, we looked into the effects of these two LiDAR scanning patterns on the performance of various 3D object detection algorithms. Finally, we explored the domain gap in the point cloud data produced by repetitive and non-repetitive LiDARs. Through an in-depth investigation of the "Repetitive-or-not" dataset, we have discovered that non-repetitive LiDAR shows great promise. This conclusion is primarily supported by its superior object scanning capabilities.

关键词： Point cloud compression Laser radar Three-dimensional displays Statistical analysis Intelligent vehicles Object detection Companies Robot sensing systems Intelligent robots

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Signal Temporal Logic Based Vehicle Trajectory Planning Under Mandatory Stop Rule for Heavy Vehicle Right Turns at Signal-Free Intersections

Signal Temporal Logic Based Vehicle Trajectory Planning Unde...

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International Conference on Intelligent Transportation

作者： Wanqing Zuo Yunwen Xu Youren Chen Dewei Li School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (数字)9798331505929

ISBN: (纸本)9798331505936

The blind spots of heavy vehicles during right turns arise a safety concern for traffic. Hence, the regulation mandating heavy vehicles to come to a complete stop before making right turns is crucial in ensuring intersection safety. However, the current trajectory planning methods struggle to integrate these traffic regulations, and the restrictions imposed by such traffic rules greatly impact traffic efficiency at intersections. This paper proposes a signal temporal logic (STL) based trajectory planning method for connected and autonomous vehicles (CAVs) at a signal-free intersection, where traffic rules for heavy vehicles are conveniently described by STL formulas. All CAVs at the intersection are modeled without predefined paths to enhance the flexibility of trajectories. Each STL formula is encoded in a standardized way as a conjunction of inequality and equality constraints for the optimization, and the whole trajectory planning of CAVs is achieved through solving a mixed-integer nonlinear programming (MINLP) problem. Simulation results indicate that our method improves traffic efficiency in the scenario with heavy vehicles right turns.

关键词： Connected vehicles Trajectory planning Simulation Programming Regulation Trajectory Safety Planning Logic Autonomous vehicles

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