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Hierarchical Path Planning and Motion control Framework Using Adaptive Scale Based Bidirectional Search and Heuristic Learning Based Predictive control

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IEEE Transactions on Vehicular Technology 2025年

作者： Du, Guodong Zou, Yuan Zhang, Xudong Li, Zirui Liu, Qi ETH Zurich Institute of Dynamic System and Control Sonneggstrasse 3 Zurich Switzerland Beijing Institute of Technology National Engineering Laboratory for Electric Vehicles School of Mechanical Engineering Beijing China Beijing Institute of Technology National Engineering Laboratory for Electric Vehicles School of Mechanical Engineering Collaborative Innovation Center of Electric Vehicles in Beijing Beijing China Delft University of Technology Department of Transport and Planning CD Delft2628 Netherlands

Autonomous vehicles have been used for a variety of driving tasks, in which path planning and motion control are important research parts to realize the autonomous driving. A hierarchical framework consisting of path planning and motion control of the vehicle for non-specific scenarios is proposed in this paper. Firstly, the description and the formulations of the problem are given, and the corresponding models are constructed. Then, the logical construction of proposed framework is expounded with several logical associations and algorithmic improvements. The bidirectional heuristic planning with adaptive scale search is designed and incorporated with robust weighted regression algorithm to plan the optimal global path, while the multi-step predictive control method based on heuristic reinforcement learning algorithm is proposed to improve the effect of the motion control. The results show that the proposed framework for autonomous driving achieves better performance in both path planning and motion control than several existing algorithms and methods. The adaptability of hierarchical framework is demonstrated. Furthermore, the effectiveness of the hierarchical framework in real world scenario application is also validated. © 1967-2012 IEEE.

关键词： Predictive control systems

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Mathematical Modeling of the Impact of a 5 Day Interim Relaxation at 21 Days in 42 days Lockdown Strategy on COVID-19 Transmission in India 10

Mathematical Modeling of the Impact of a 5 Day Interim Relax...

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10th International Conference on Biosignals, Images and Instrumentation, ICBSII 2024

作者： Immaculyne, Flavia Bakiyaambikapathy Krishnamurthy, Kamalanand De Britto, Lourduraj Benoi Cresent Schlumberger- Reda Production System Singapore Vel Tech Rangarajan Dr Sagunthala R&d Institute of Science and Technology Department of Electronics and Communication Engineering Chennai India Anna University Department of Instrumentation Engineering MIT Campus Chennai India Vector Control Research Centre Indian Council of Medical Research Puducherry India

ISBN: (纸本)9798350350951

As of the first week of May 2020, the COVID-19 pandemic is present in 212 nations globally. Many countries have enforced lockdown measures strategically to slow down the epidemic's spread, with the objective of relieving pressure on healthcare systems. Mathematical modelling serves as a useful tool for the prediction of the future numbers of the infected population and for analyzing the effects of various intervention strategies. In this work, a mathematical model based on ordinary differential equations has been developed for analyzing the impact of an interim relaxation of 5 days at 21 days in a 42 days lockdown period. Results of the simulation demonstrate that the relaxation of 5 days during the 42 days lockdown does not result in any adverse effects if the transmission rate remains the same. However, the model-based analysis suggests that an increase in the transmission rate by a factor of 1.2 times during the relaxation period due to the possible aggregation of the susceptible with the infected, it could shift the growth pattern of infected cases from sub-exponential to exponential. © 2024 IEEE.

关键词： COVID-19

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Flexibility-Oriented Scheduling of Smart Energy Hubs Considering Integrated Demand Response Programs

Flexibility-Oriented Scheduling of Smart Energy Hubs Conside...

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Canadian Conference on Electrical and Computer engineering (CCECE)

作者： Leila Bagherzadeh Innocent Kamwa Atieh Delavari Department of Electrical Engineering Laval University Quebec Canada Power System Control Department Hydro-Quebec Institute of Research Varennes Canada

ISBN: (数字)9798350371628

ISBN: (纸本)9798350371635

The transition towards a sustainable energy system requires the integration of renewable energy sources (RESs) and the adoption of innovative energy management frameworks to handle RES variability and uncertainty. The evolution of novel energy management technologies has made it possible to design and operate integrated energy systems (IESs) that couple various energy carriers such as electricity, heat, and gas. The emergence of energy hubs (EHs) presents opportunities for enhanced efficiency, reliability, and flexibility in energy supply and demand. However, optimizing operation schedules in EHs incorporates non-renewables, renewable sources, and energy storage devices becomes increasingly complex as they strive to meet diverse customer demands. This paper introduces a stochastic model for EH operation integrating electrical, thermal, and cooling storage with an electric vehicle parking lot (EVPL). In addition to uncertainty modeling of demands, PV, and EVPL outputs, the model incorporates an integrated demand response program (IDRP) and seasonal load patterns. It's formulated as a linear model solved using the CPLEX solver in GAMS. Results show integrating a shiftable IDRP reduces operational costs by 6% and validates that ESS discharges during peak hours enhance system flexibility.

关键词： Renewable energy sources Uncertainty Cooling Stochastic processes Optimal scheduling Demand response Energy management

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Renewable Energy Penetration Improving Method in Distribution Network based on Dynamic Reconfigurable Battery Network 4

Renewable Energy Penetration Improving Method in Distributio...

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4th International Conference on Smart Grid and Energy Internet, SGEI 2024

作者： Xiong, Ziyi Yang, Yi Zhou, Yanglin Zhou, Qi Ci, Song Department of Electrical Engineering Tsinghua University Beijing China State Key Laboratory of Power System Operation and Control Tsinghua University Beijing China State Grid Jiangsu Electric Power Co. Ltd. Electric Power Research Institute Nanjing China

ISBN: (纸本)9798350368314

High proportion of renewable energy brings great challenges to the stable operation of the distribution network. Distributed energy storage (DES), as an interactive Lithium-ion battery energy storage system, can effectively improve the grid connection and serve as a backup power source. Aiming at the DES system supporting the flexibility of distribution network, this paper proposes a new type of dynamic reconfigurable battery (DRBN) system and its efficient collaborative optimization control method with the power converter system, clarifies the operation control mechanism of the DRBN system of the CPS architecture, proposes a multi-objective optimization control strategy for the DRBN system based on the CPS architecture, and formulates a demonstration application and verification plan. ©2024 IEEE.

关键词： DC distribution systems

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Differential Private Discrete Noise-Adding Mechanism: Conditions, Properties, and Optimization

Differential Private Discrete Noise-Adding Mechanism: Condit...

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作者： Qin, Shuying He, Jianping Fang, Chongrong Lam, James Shanghai Jiao Tong University Department of Automation Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Beijing100816 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China Shenzhen Institute of Research and Innovation Shenzhen518055 China The University of Hong Kong Department of Mechanical Engineering Hong Kong999077 Hong Kong

Differential privacy is a widely used framework for evaluating privacy loss in data anonymization. While the continuous noise-adding mechanism has been extensively studied, there is a dearth of research on discrete random mechanisms for discretely distributed data. This study addresses this gap by examining the primary differential privacy conditions and properties for general discrete random mechanisms, and investigating the trade-off between data privacy and data utility. We establish sufficient and necessary conditions for discrete ϵ-differential privacy and sufficient conditions for discrete (ϵδ)-differential privacy, with closed-form expressions for differential privacy parameters. These conditions can be applied to evaluate the differential privacy properties of discrete noise-adding mechanisms with various types of noise. Moreover, we propose an optimal discrete ϵ-differential private noise-adding mechanism under the utility-maximization framework. Here, the utility is characterized by the similarity of the statistical properties between the mechanism's input and output. Our findings suggest that the optimal class of discrete noise probability distributions in the mechanism is staircase-shaped. © 1991-2012 IEEE.

关键词： Probability distributions

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On Convergence in Distribution of Stein's Unbiased Risk Hyper-parameter Estimator for Regularized system Identification 41

On Convergence in Distribution of Stein's Unbiased Risk Hype...

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第41届中国控制会议

作者： Yue Ju Tianshi Chen Biqiang Mu Lennart Ljung School of Data Science and Shenzhen Research Institute of Big Data The Chinese University of Hong Kong Key Laboratory of Systems and Control Institute of Systems ScienceAcademy of Mathematics and System ScienceChinese Academy of Sciences Division of Automatic Control Department of Electrical EngineeringLink?ping University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Asymptotic theory for the regularized system identification has received increasing interests in recent *** this paper,for the finite impulse response(FIR) model and filtered white noise inputs,we show the convergence in distribution of the Stein's unbiased risk estimator(SURE) based hyper-parameter estimator and find factors that influence its convergence *** particular,we consider the ridge regression case to obtain closed-form expressions of the limit of the regression matrix and the variance of the limiting distribution of the SURE based hyper-parameter estimator,and then demonstrate their relation numerically.

关键词： Asymptotic theory Stein's unbiased risk estimator Hyper-parameter estimator Regularized system identification

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A Battery Model Parameter Identification Method Considering Topology Reconfiguration 20

A Battery Model Parameter Identification Method Considering ...

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20th International Conference on AC and DC Power Transmission 2024, ACDC 2024

作者： Chen, Aizuo Quan, Yue Zhou, Yanglin Lei, Ertao Zhang, Junkun Ci, Song Department of Electrical Engineering Tsinghua University Beijing100084 China Electric Power Research Institute of Guangdong Power Grid Co. Ltd. Guangdong 510080 China State Key Laboratory of Power System Operation and Control Tsinghua University Beijing100084 China

ISBN: (纸本)9781837242672

In the field of battery circuit model parameter estimation, the combination of bilinear transformation with the least squares method has garnered widespread attention due to its excellent performance under continuous current conditions. However, in dynamic reconfigurable battery network (DRBN), the network's topological structure is constantly changing, and the battery current consists of non-periodic pulse signal sequences, making it challenging for traditional methods to accurately estimate the battery model parameters within such networks. To address this issue, this paper proposes a lithium-ion battery circuit model parameter estimation method that takes into account network topology reconfiguration. This method, based on the operational modes and sampling methods of DRBN, derives a new discrete transformation formula for the transfer function and constructs a least squares model parameter identification model using this formula. By establishing an experimental platform for DRBN, the effectiveness of the proposed method is validated in this paper. © The Institution of engineering & Technology 2024.

关键词： Network topology

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research on geomembrane leakage detection method based on quadruped robot

Research on geomembrane leakage detection method based on qu...

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2024 China Automation Congress, CAC 2024

作者： Zhang, Pengcheng Hu, Ningning Wang, Xiao Xi, Qingbiao Zhao, Haohao Wu, Xingchen Qin, Linfeng Yuan, Dongli Investigation & Testing Research Institute Shanghai Investigation Design & Research Institute Co. Ltd. Shanghai China System Department 2 Xi'an ASN Technology Group Co. Ltd Xi'an China School of Electronic and Control Engineering Chang'an University Xi'an China School of Automation Northwestern Polytechnical University Xi'an China

ISBN: (纸本)9798350368604

Aiming at the problem of leakage detection of seepage control geomembranes in landfills, a fully autonomous dipole method detection system based on a quadruped robot equipped with a dipole sensor is designed. The feasibility and superiority of using a quadruped robot are analyzed on the basis of the detection principle of the dipole method. Due to the problems existing in the process of upgrading the artificial static detection to autonomous dynamic detection, a dynamic detection method based on a quadruped robot is designed while the structure construction of the dipole method on the quadruped robot is completed. The experimental results show that the efficiency of geomembrane leakage detection can be improved with detection system method employed in this paper. © 2024 IEEE.

关键词： Geomembranes

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Oxidation-induced superelasticity in metallic glass nanotubes

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Nature Materials 2024年第1期23卷 52-57页

作者： Li, Fucheng Zhang, Zhibo Liu, Huanrong Zhu, Wenqing Wang, Tianyu Park, Minhyuk Zhang, Jingyang Bönninghoff, Niklas Feng, Xiaobin Zhang, Hongti Luan, Junhua Wang, Jianguo Liu, Xiaodi Chang, Tinghao Chu, Jinn P. Lu, Yang Liu, Yanhui Guan, Pengfei Yang, Yong Department of Mechanical Engineering College of Engineering City University of Hong Kong Kowloon Tong Hong Kong Institute of Physics Chinese Academy of Sciences Beijing China Songshan Lake Materials Laboratory Dongguan China Beijing Computational Science Research Center Beijing China Department of Material Science and Engineering National Taiwan University of Science and Technology Taipei Taiwan Department of Materials Science and Engineering College of Engineering City University of Hong Kong Kowloon Tong Hong Kong College of Mechatronics and Control Engineering Shenzhen University Shenzhen China Department of Mechanical Engineering The University of Hong Kong Pok Fu Lam Hong Kong Department of System Engineering College of Engineering City University of Hong Kong Kowloon Tong Hong Kong

Although metallic nanostructures have been attracting tremendous research interest in nanoscience and nanotechnologies, it is known that environmental attacks, such as surface oxidation, can easily initiate cracking on the surface of metals, thus deteriorating their overall functional/structural properties 1–3. In sharp contrast, here we report that severely oxidized metallic glass nanotubes can attain an ultrahigh recoverable elastic strain of up to ~14% at room temperature, which outperform bulk metallic glasses, metallic glass nanowires and many other superelastic metals hitherto reported. Through in situ experiments and atomistic simulations, we reveal that the physical mechanisms underpinning the observed superelasticity can be attributed to the formation of a percolating oxide network in metallic glass nanotubes, which not only restricts atomic-scale plastic events during loading but also leads to the recovery of elastic rigidity on unloading. Our discovery implies that oxidation in low-dimensional metallic glasses can result in unique properties for applications in nanodevices. © 2023, The Author(s), under exclusive licence to Springer Nature Limited.

关键词： Metallic glass

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A Hardware-Efficient Vector Limiter Algorithm and Its Programmable Logic Realization

A Hardware-Efficient Vector Limiter Algorithm and Its Progra...

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China International Electrical and Energy Conference (CIEEC)

作者： Zhao Song Yiyan Wang Tianyi Xiong Computer and Electronics System and Engineering Department AVIC Xi'an Flight Automation Control Research Institute (FACRI) Xi'an Shanxi Province China

ISBN: (数字)9798350359558

ISBN: (纸本)9798350359565

Vector limiter is a computationally complex component of vector control, but its hardware-friendly algorithm is rarely discussed. This paper presents an efficient solution with pure shift-and-add operations, namely the dual vector rotation algorithm (DVRA). Its programmable logic realization is also provided. The DVRA is then simulated in a motor driving system, and physical validation is made on a Xilinx FPGA. Furthermore, performance comparison is conducted between the DVRA and four control groups (conventional algorithms). All control groups are built by Xilinx IPs under diversified configurations, thus human bias can be minimized. Post-implementation results evince that the DVRA exhibits significantly less resource expenditure and better timing, with power consumption and accuracy comparable to the control groups.

关键词： Power demand Accuracy Motors Vectors Hardware Timing system-on-chip

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