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Data-driven Anomaly Detection Method Based on Similarities of Multiple Wind Turbines

Journal of Modern Power systems and Clean Energy 2024年第3期12卷 803-818页

作者： Xiangjun Zeng Ming Yang Chen Feng Mingqiang Wang Lingqin Xia the College of Electrical Engineering&New Energy China Three Gorges UniversityYichang 443002China the Key Laboratory of Power System Intelligent Dispatch and Control Shandong UniversityJinan 250061China

The operating conditions of wind turbines(WTs)in the same wind farm(WF)may share similarities due to their shared manufacturing process,control strategy,and operating ***,the similarities of WTs are seldom considered in WT anomaly detection,resulting in the disregard of useful *** paper proposes a method to improve the reliability and accuracy of WT anomaly detection using the supervisory control and data acquisition(SCADA)data of multiple WTs in the same ***,a similarity assessment method based on a comparison of different observation time series is proposed,which objectively quantifies the similarities of WT operating ***,the SCADA data of the target WT and selected WTs that are similar are used to establish several estimation models through a long short-term memory(LSTM)*** models that exhibit good estimation performance are used to construct a combined estimation model that estimates the variations in the monitored variables of the target ***,an anomaly detection method that jointly compares the effective value and information entropy of the residuals is proposed to identify *** effectiveness and accuracy of the proposed method are verified using the data of two actual WFs.

关键词： Anomaly detection information entropy long short-term memory similarity assessment wind farm wind turbines

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Policy iteration-based adaptive optimal control for Markov jump systems: a transition-probability-free asynchronous approach

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Science China(Information Sciences) 2024年第11期67卷 363-364页

作者： Weidi CHENG Chengcheng REN Shuping HE Changyin SUN Key Laboratory of Intelligent Computing and Signal Processing (Ministry of Education) School of Electrical Engineering and Automation Anhui University Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and Automation Anhui University Information Materials and Intelligent Sensing Laboratory of Anhui Province Engineering Research Center of Autonomous Unmanned System Technology (Ministry of Education) School of Artificial Intelligence Anhui University

The controller and filter design problems of Markov jump systems(MJSs) have gained significant attention over the past few decades. These studies include various aspects,including stochastic stabilization [1], optimal tracking control [2], and dissipative filter design [3]. Although numerous publications address the optimal controller design for MJSs, the issue of hidden MJSs, particularly those with mismatched jumping modes between the system and the controller, has rarely been explored.

关键词： Markov processes

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Event-Triggered Optimal Nonlinear systems Control Based on State Observer and Neural Network

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Journal of systems Science & Complexity 2023年第1期36卷 222-238页

作者： CHENG Songsong LI Haoyun GUO Yuchao PAN Tianhong FAN Yuan Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and AutomationAnhui UniversityHefei 230601China Key Laboratory of Intelligent Computing and Signal Processing of Ministry of Education School of Electrical Engineering and AutomationAnhui UniversityHefei 230601China

This paper develops a novel event-triggered optimal control approach based on state observer and neural network(NN)for nonlinear continuous-time ***,the authors propose an online algorithm with critic and actor NNs to solve the optimal control problem and provide an event-triggered method to reduce communication and computation ***,the authors design weight estimation for critic and actor NNs based on gradient descent method and achieve uniformly ultimate boundednesss(UUB)estimation ***,by using bounded NN weight estimation and dead-zone operator,the authors propose a triggering condition,prove the asymptotic stability of closed-loop system from Lyapunov stability perspective,and exclude the Zeno ***,the authors provide a numerical example to illustrate the effectiveness of the proposed method.

关键词： Event-triggered control neural network optimal control state observer

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Distributed Optimization and Scaling Design for Solving Sylvester Equations

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Journal of systems Science & Complexity 2024年第6期37卷 2487-2510页

作者： CHENG Songsong YU Xin ZENG Xianlin LIANG Shu HONG Yiguang Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and AutomationAnhui UniversityHefei 230601China Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Department of Control Science and Engineering Tongji UniversityShanghai 201804China Shanghai Research Institute for Intelligent Autonomous Systems Tongji UniversityShanghai 201210China

This paper develops distributed algorithms for solving Sylvester *** authors transform solving Sylvester equations into a distributed optimization problem,unifying all eight standard distributed matrix *** the authors propose a distributed algorithm to find the least squares solution and achieve an explicit linear convergence *** results are obtained by carefully choosing the step-size of the algorithm,which requires particular information of data and Laplacian *** avoid these centralized quantities,the authors further develop a distributed scaling technique by using local information *** a result,the proposed distributed algorithm along with the distributed scaling design yields a universal method for solving Sylvester equations over a multi-agent network with the constant step-size freely chosen from configurable ***,the authors provide three examples to illustrate the effectiveness of the proposed algorithms.

关键词： Distributed optimization least squares solution linear convergence rate step-size interval Sylvester equation

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Image Enhancement via Associated Perturbation Removal and Texture Reconstruction Learning

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IEEE/CAA Journal of Automatica Sinica 2024年第11期11卷 2253-2269页

作者： Kui Jiang Ruoxi Wang Yi Xiao Junjun Jiang Xin Xu Tao Lu IEEE the School of Computer Science and Technology Harbin Institute of Technology Zhengzhou Research Institute Harbin Institute of Technology the School of Artificial Intelligence Jianghan University the School of Geodesy and Geomatics Wuhan University the Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial System Wuhan University of Science and Technology the School of Computer Science and Engineering and also with the Hubei Province Key Laboratory of Intelligent Robot Wuhan Institute of Technology

Degradation under challenging conditions such as rain, haze, and low light not only diminishes content visibility, but also results in additional degradation side effects, including detail occlusion and color distortion. However, current technologies have barely explored the correlation between perturbation removal and background restoration, consequently struggling to generate high-naturalness content in challenging scenarios. In this paper, we rethink the image enhancement task from the perspective of joint optimization: Perturbation removal and texture reconstruction. To this end, we advise an efficient yet effective image enhancement model, termed the perturbation-guided texture reconstruction network(PerTeRNet). It contains two subnetworks designed for the perturbation elimination and texture reconstruction tasks, respectively. To facilitate texture recovery,we develop a novel perturbation-guided texture enhancement module(PerTEM) to connect these two tasks, where informative background features are extracted from the input with the guidance of predicted perturbation priors. To alleviate the learning burden and computational cost, we suggest performing perturbation removal in a sub-space and exploiting super-resolution to infer high-frequency background details. Our PerTeRNet has demonstrated significant superiority over typical methods in both quantitative and qualitative measures, as evidenced by extensive experimental results on popular image enhancement and joint detection tasks. The source code is available at https://***/kuijiang94/PerTeRNet.

关键词： Association learning attention mechanism image enhancement perturbation modeling

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MiT-Unet: Mixed Transformer Unet for Transmission Line Segmentation in UAV Images

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IEEE Transactions on Power Delivery 2025年第3期40卷 1279-1288页

作者： Wei, Ning Chen, Jianwei Sun, Shuifa The Hubei Key Laboratory of Intelligent Vision-Based Monitoring for Hydro electric Engineering College of Computer and Information Technology China Three Gorges University Yichang443002 China The Engineering Research Center of Mobile Health Management System Ministry of Education Hangzhou Normal University China

The segmentation of power lines in drone images is one of the challenging tasks in the field of computer vision. Although power lines share the same difficulties with tiny object segmentation, occupying only a very small proportion of pixel areas in the images, the greater challenge is that they also have a very large visual perspective field. Therefore, the results obtained by traditional convolutional neural network-based segmentation methods are still unsatisfactory. To tackle these problems, we propose MiT-Unet (Mixed Transformer Unet), which has an analogous multi-level convolutional neural network structure similar to Unet for encoding and decoding transmission line detailed features. Meanwhile, dealing with excessive scales, we employ an Efficient Self-Attention-based module to enhance the global features of straight lines. Furthermore, in the level transition of this architecture, we propose simple yet efficient upsampling and downsampling modules, TLFM and TLFE, to fuse the global attention feature of power lines. These modules effectively extract and preserve the vulnerable features of power lines during the level transition process. Experimental results demonstrate that our proposed method achieves state-of-the-art performance in transmission line segmentation on the public TTPLA dataset and PLDU dataset. Moreover, the computational efficiency of the proposed model makes it potentially deployable on mobile platforms. The testing code has been released at: https://***/xiachengs/MiT-Unet. ©1986-2012 IEEE.

关键词： Image segmentation

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Disassembly Sequence Optimization of Lithium Battery Pack Based on Priority Constraint Graph

Disassembly Sequence Optimization of Lithium Battery Pack Ba...

引用

2023 International Conference on Applied Mathematics, Modelling and Statistics Application, AMMSA 2023

作者： Meng, Ronghua Tian, Yuxiang Shu, Ningjing Cai, Liuyang Song, Huawei Zhang, Yuping The Hubei Key Laboratory of Hydroelectric Machinery Design & Maintenance China Three Gorges University Yichang443002 China Yichang Key Laboratory of Robot and Intelligent System China Three Gorges University Yichang443002 China GEM Co. Ltd. Shenzhen518101 China National Engineering Research Center of WEEE Recycling Jingmen448000 China

With the rapid development of the new energy vehicle power industry, the power system of automobiles is about to usher in a wave of retirement. At present, most of power lithium battery packs are disassembled violently, which lack a reasonable disassembly order. This causes a waste of time and cost during the disassembly process. Some harmful parts will also pollute the environment. In order to improve the disassembly efficiency of retired lithium-ion battery packs, the disassembly sequence planning problem (DSP) based on priority constraint graph is studied in this paper. After analyzing disassembly characteristics, the priority constraint graph is constructed as the constraint matrix. Considering the disassembly efficiency, a mathematical model is established to optimize the direction and the number of tool changes. An improved Simulated Annealing Particle Swarm Optimization (SA-PSO) algorithm is designed, which is to update the disassembly sequence by the population update method. The particles are assisted to jump out of the local optimum by the Metropolis criterion of SA algorithm. An adaptive method is proposed for the PSO inertia weight ω. In order to verify the validity of the model and algorithm, an example is introduced to compare SA-PSO with PSO and SA algorithm. The results show that the improved algorithm performs well in the evaluation index of fitness. The convergence rate is fast and more stable. © 2023 Institute of Physics Publishing. All rights reserved.

关键词： Particle swarm optimization (PSO)

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A Comparative Study on Kinematic Calibration for a 3-DOF Parallel Manipulator Using the Complete-Minimal,Inverse-Kinematic and Geometric-Constraint Error Models

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Chinese Journal of Mechanical Engineering 2023年第5期36卷 206-230页

作者： Haiyu Wu Lingyu Kong Qinchuan Li Hao Wang Genliang Chen State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Intelligent Robot Research Center Zhejiang LabHangzhou 311100China School of Mechanical Engineering Zhejiang Sci-Tech UniversityHangzhou 310018China

Kinematic calibration is a reliable way to improve the accuracy of parallel manipulators, while the error model dramatically afects the accuracy, reliability, and stability of identifcation results. In this paper, a comparison study on kinematic calibration for a 3-DOF parallel manipulator with three error models is presented to investigate the relative merits of diferent error modeling methods. The study takes into consideration the inverse-kinematic error model, which ignores all passive joint errors, the geometric-constraint error model, which is derived by special geometric constraints of the studied RPR-equivalent parallel manipulator, and the complete-minimal error model, which meets the complete, minimal, and continuous criteria. This comparison focuses on aspects such as modeling complexity, identifcation accuracy, the impact of noise uncertainty, and parameter identifability. To facilitate a more intuitive comparison, simulations are conducted to draw conclusions in certain aspects, including accuracy, the infuence of the S joint, identifcation with noises, and sensitivity indices. The simulations indicate that the complete-minimal error model exhibits the lowest residual values, and all error models demonstrate stability considering noises. Hereafter, an experiment is conducted on a prototype using a laser tracker, providing further insights into the diferences among the three error models. The results show that the residual errors of this machine tool are signifcantly improved according to the identifed parameters, and the complete-minimal error model can approach the measurements by nearly 90% compared to the inverse-kinematic error model. The fndings pertaining to the model process, complexity, and limitations are also instructive for other parallel manipulators.

关键词： Kinematic calibration Parallel manipulator Error modeling Product of exponential(POE)

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Hierarchical Trajectory Optimization for Humanoid robot Jumping Motion 16th

Hierarchical Trajectory Optimization for Humanoid Robot Jump...

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16th International Conference on intelligent robotics and Applications, ICIRA 2023

作者： Sun, Junbao Liu, Haopeng Li, Xu Feng, Haibo Fu, Yili Zhang, Songyuan Intelligent Robot Research Center Zhejiang Laboratory Hangzhou311100 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819964796

In order to make the robot have high dynamic motion ability, this paper uses the trajectory optimization method to plan the jumping motion trajectory of the humanoid robot quickly and effectively, and carries out the jumping motion experiment on the HIT-HU humanoid robot platform. In order to improve the solving speed of trajectory optimization problem, simplified centroid dynamics model and single rigid body model are established. Differential dynamic programming (DDP) based on the combination of the centroid dynamic model and the whole body joint kinematic model is used to solve the hopping trajectory optimization problem with high accuracy, and the external penalty function method is used to deal with the relevant constraints. In order to overcome the problem that the solver is sensitive to the initial point selection, a hierarchical trajectory optimization framework is proposed. The framework uses the direct collocation method based on the single rigid body model. The trajectory of the simplified model is used as the initial trajectory guess, and the differential dynamic programming method is introduced to solve the optimal trajectory of the whole joint. The differential dynamic programming algorithm using the direct method of warm start is about twice as fast as the method of manually given initial trajectory. The simulation and experimental verification of the vertical jump trajectories generated by the algorithm on the humanoid robot HIT-HU show that the jump trajectories generated by the algorithm can be effectively transformed into the motion trajectories of humanoid robots, and can be effectively executed on the physical prototype. This further verifies the effectiveness of the algorithm and plays an important role in practical application. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Anthropomorphic robots

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Research on Multi-sensor Fusion Localization of Wheel-Legged robots in Dynamic Scenarios 7

Research on Multi-sensor Fusion Localization of Wheel-Legged...

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7th International Conference on Automation, Control and robots, ICACR 2023

作者： Li, Xu Fu, Yili Cheng, Zuolun Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China Zhejiang Laboratory Intelligent Robot Research Center Hangzhou311100 China

ISBN: (纸本)9798350302882

With the rapid development of human beings in motion control and localization perception, intelligent mobile robots are widely used in various scenarios, such as industrial production, medical care, logistics and distribution. Among them, wheel-legged robots have both the high mobility of wheeled robots and the high adaptability of legged robots, which can not only move fast on platform terrain, but also adapt to rugged and complex ground with the multiple degrees of freedom of their legs. Wheel-legged robots face the following main problems in high-precision robust localization in multiple scenarios: there are a lot of dynamic factors in daily indoor and outdoor scenarios, such as vehicles, pedestrians, etc., which require specific processing of dynamic environment in the visual front-end part to improve the effect of visual factor constraints;as ground mobile robots, the localization framework of visual inertial fusion (VIO) will show scale degeneration phenomenon, resulting in long-distance localization accuracy decline. In addition, as a two wheeled inverted pendulum robot, the ground constraint form will undergo corresponding changes. Aiming at the above problems, this paper takes the hydraulic-driven wheel-legged robot as the object and proposes a multi-sensor fusion localization method in dynamic scenarios. © 2023 IEEE.

关键词： Degrees of freedom (mechanics)

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