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Two-layer formation-containment fault-tolerant control of fixed-wing UAV swarm for dynamic target tracking

Journal of Systems Engineering and Electronics 2023年第6期34卷 1375-1396页

作者： qin boyu ZHANG Dong TANG Shuo XU Yang School of Astronautics Northwestern Polytechnical UniversityXi’an 710072China Shaanxi Aerospace Flight Vehicle Design Key Laboratory Xi’an 710072China School of Civil Aviation Northwestern Polytechnical UniversityXi’an 710072China

This paper tackles the formation-containment control problem of fixed-wing unmanned aerial vehicle(UAV)swarm with model uncertainties for dynamic target tracking in three-dimensional space in the faulty case of UAVs’actuator and *** fixed-wing UAV swarm under consideration is organized as a“multi-leader-multi-follower”structure,in which only several leaders can obtain the dynamic target information while others only receive the neighbors’information through the communication *** simultaneously realize the formation,containment,and dynamic target tracking,a two-layer control framework is adopted to decouple the problem into two subproblems:reference trajectory generation and trajectory *** the upper layer,a distributed finite-time estimator(DFTE)is proposed to generate each UAV’s reference trajectory in accordance with the control ***,a distributed composite robust fault-tolerant trajectory tracking controller is developed in the lower layer,where a novel adaptive extended super-twisting(AESTW)algorithm with a finite-time extended state observer(FTESO)is involved in solving the robust trajectory tracking control problem under model uncertainties,actuator,and sensor *** proposed controller simultaneously guarantees rapidness and enhances the system’s robustness with fewer chattering ***,corresponding simulations are carried out to demonstrate the effectiveness and competitiveness of the proposed two-layer fault-tolerant cooperative control scheme.

关键词： fixed-wing unmanned aerial vehicle(UAV)swarm two-layer control formation-containment dynamic target tracking

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Decomposed input-output stability analysis and enhancement of integrated power systems

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Science China(Technological Sciences) 2018年第3期61卷 427-437页

作者： LI Fan CHEN Ying qin boyu SHEN Chen Department of Electrical Engineering Tsinghua University State Key Laboratory of Electrical Insulation and Power Equipment School of Electrical Engineering Xi'an Jiaotong University

The integrated power system(IPS) is a foundation of all-electrical ships and vessels. The stability of IPS becomes a prerequisite of complicated cruise tasks. Thus, advanced stability analysis and regulation methods for IPS are of great importance. In this paper, a novel method is proposed for analyzing and enhancing transient stability of IPS, which is regarded as a cyber-physical system comprising of subsystems and connections. Criterions for determining input-output stability of such a system are firstly derived. Then, the stability analysis of IPS can be performed in the following two steps: 1) evaluating local input-output stability features of each subsystem independently through simulations. 2) Checking stability criterions with system topology and subsystem stability features. Moreover, synthetic approaches are proposed for stabilization and stability enhancement of IPS. To avoid system in-stability after major failures or topology changes, the optimal emergency control is performed to reconfigure subsystems. The other optimal regulation is used to strengthen system stability by adjusting subsystems' control parameters during normal operation conditions. Case studies on a typical IPS validate the proposed stability analysis and enhancement approach.

关键词： input-output stability stability criteria stability enhancement integrated power systems

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New framework of low-carbon city development of China:Underground space based integrated energy systems

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Underground Space 2024年第1期14卷 300-318页

作者： boyu qin Hengyi Li Zhaojian Wang Yuan Jiang Dechun Lu Xiuli Du Qihu Qian Xi’an Jiaotong University Xi’an 710049China Shanghai Jiaotong University Shanghai 200240China Center for Strategic Studies Chinese Academy of EngineeringBeijing 100088China Beijing University of Technology Beijing 100124China Army Engineering University Nanjing 210007China

Cities play a vital role in social development,which contribute to more than 70%of global carbon ***-carbon city construction and decarbonization of the energy sector are the critical strategies to cope with the increasingly serious climate change problems,and low-carbon technologies have attracted extensive ***,the potential of such technologies to reduce carbon emissions is constrained by various factors,such as space,operational environment,and safety *** an essential territorial natural resource,underground space can provide large-scale and stable space support for existing low-carbon *** underground space and low-carbon technologies could be a promising approach towards carbon neutrality,and hence,warrants further ***,a comprehensive review of the existing low-carbon technologies including the technical bottlenecks is ***,the features of underground space and its low carbon potential are ***,a framework for the underground space based integrated energy system is proposed,including system configuration,operational mechanisms,and the resulting ***,the research prospect and key challenges required to be settled are highlighted.

关键词： Underground space Low-carbon city Integrated energy system Carbon neutrality

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Online demand peak shaving with machine-learned advice in digital twins

Digital Twins and Applications

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Digital Twins and Applications 2024年第1期1卷 38-50页

作者： Minxi Feng Wei Li boyu qin Albert Y.Zomaya Centre for Distributed and High Performance Computing School of Computer ScienceThe University of SydneySydneyNew South WalesAustralia State Key Laboratory of Electrical Insulation and Power Equipment Department of Electrical EngineeringXi'an Jiaotong UniversityXi'anChina

As the use of physical instruments grows,control algorithms are being increasingly deployed to enhance efficiency and reliability through digital twin *** load management is central to energy systems within digital twins,which significantly impacts operational *** demand loads can lead to substantial monthly utility expenses without proper ***,a randomised online algorithm incorporating machine-learned insights is introduced to optimise battery operations and mitigate peak demand *** leverages limited-bit information from ma-chine learning models to inform its online decision-making process for cost-effective load *** provide theoretical evidence demonstrating that AMPAMOD maintains minimal advice complexity,has a linear computational cost,and achieves a bounded competitive *** trace-driven experiments with real-world household data reveal that AMPAMOD successfully reduces peak loads by over 90%,outperforming other benchmarks by at least 50%.These experimental findings align with our theoretical assertions,showcasing the effectiveness of AMPAMOD.

关键词： operations maintain battery

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Synergistic effect of additional anlotinib and immunotherapy as second‐line or later‐line treatment in pancreatic cancer:A retrospective cohort study

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Cancer Innovation 2024年第4期3卷 57-66页

作者： boyu qin Qi Xiong Lingli Xin Ke Li Weiwei Shi Qi Song Qiong Sun Jiakang Shao Jing Zhang Xiao Zhao Jinyu Liu Jinliang Wang Bo Yang Department of Oncology The Fifth Medical Center of Chinese PLA General HospitalBeijingChina Department of Gynaecology and Obstetrics PLA Rocket Force Characteristic Medical CenterBeijingChina Department of Graduate Administration Chinese PLA General HospitalBeijingChina Department of Oncology The First Medical Center of Chinese PLA General HospitalBeijingChina Department of Pharmacy Medical Supplies Center of Chinese PLA General HospitalBeijingChina

Background:Pancreatic ductal adenocarcinoma(PDAC)is in urgent need of a second‐line or later‐line treatment *** aimed to analyze the efficacy and safety of additional anlotinib,specifically anlotinib in combination with immunotherapy,in patients with PDAC who have failed first‐line ***:Patients with pathological diagnosis of PDAC were additionally treated with anlotinib,and some patients were treated with anti‐PD‐1 agents at the same time,which could be retrospectively *** efficacy and safety of additional anlotinib were ***:A total of 23 patients were *** patients treated with additional anlotinib,the overall median progression‐free survival(PFS)was 1.8 months and the median overall survival(OS)was 6.3 months,regardless of anti‐PD‐1 *** patients receiving additional anlotinib in combination with anti‐PD‐1 agents,median PFS and OS were 1.8 and 6.5 months,*** events(AEs)were observed in 16 patients(69.6%).In patients treated with additional anlotinib,the majority of AEs were grade 1–*** analysis revealed that patients with baseline red blood cell distribution width(RDW)<14%treated with additional anlotinib plus anti‐PD‐1 agents had significantly longer OS than patients with baseline RDW≥14%(p=0.025).Patients with additional anlotinib plus anti‐PD‐1 agents as second‐line therapy had a longer OS than those treated as later‐line therapy(p=0.012).Multivariate analysis showed that baseline RDW was the only independent risk factor for OS(p=0.042).Conclusion:The combination of anlotinib and immunotherapy represents an effective add‐on therapy with tolerable AEs as second‐or later‐line therapy in patients with PDAC,particularly in patients with baseline RDW<14%.

关键词： anlotinib efficacy immunotherapy independent risk factors pancreatic ductal adenocarcinoma

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基于CNN-LSTM网络的电网电压稳定紧急控制策略

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电力系统自动化 2023年第11期47卷 60-68页

作者：张哲秦博宇高鑫丁涛西安交通大学电气工程学院陕西省西安市710049

运行方式的复杂多变性、扰动故障的不确定性、电力电子设备的弱抗扰性为交直流混联电网的安全稳定运行带来了巨大挑战。为保证大扰动故障后电网电压的稳定,提出一种基于卷积神经网络(CNN)和长短期记忆(LSTM)网络的响应驱动紧急控制策略... 详细信息

运行方式的复杂多变性、扰动故障的不确定性、电力电子设备的弱抗扰性为交直流混联电网的安全稳定运行带来了巨大挑战。为保证大扰动故障后电网电压的稳定,提出一种基于卷积神经网络(CNN)和长短期记忆(LSTM)网络的响应驱动紧急控制策略。首先,分析关键母线节点电压时序值和电压稳定水平的映射关系,离线建立基于CNN-LSTM网络的大干扰电压稳定评估模型。然后,采用评估模型预测备选切机、切负荷点控制措施动作后电网电压稳定水平的提升量,确定响应驱动紧急控制措施灵敏度。最后,考虑紧急控制措施灵敏度,建立计及电网实际运行约束的紧急控制优化问题,求解得到最优紧急控制策略。面向存在电压失稳问题的交直流混联电网实际场景,仿真结果验证了所提响应驱动控制灵敏度预测方法的准确性,电压稳定紧急控制措施优化协调策略可以保证大扰动故障后电网的安全稳定运行。

关键词：电压稳定性紧急控制卷积神经网络长短期记忆网络控制灵敏度

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融合注意力机制和卷积神经网络的电网暂态电压稳定评估及可解释性分析

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电网技术 2024年第11期48卷 4648-4657,I0057,I0056页

作者：张哲秦博宇高鑫丁涛张逸兴西安交通大学电气工程学院陕西省西安市710049

提升复杂多变运行场景下电网稳定评估的时效性和准确性,提出一种融合注意力机制和卷积神经网络(convolutional neural network,CNN)的暂态电压稳定评估及可解释性分析方法。首先,采用卷积块注意力模块(convolutional block attention mo... 详细信息

提升复杂多变运行场景下电网稳定评估的时效性和准确性,提出一种融合注意力机制和卷积神经网络(convolutional neural network,CNN)的暂态电压稳定评估及可解释性分析方法。首先,采用卷积块注意力模块(convolutional block attention module,CB AM)提升传统CNN的特征捕获能力,考虑模型特性和网络结构设计CBAMCNN组合模块。其次,建立基于CBAM-CNN的电网暂态电压稳定评估模型,揭示运行工况多变场景下系统关键电气量和稳定状态之间的映射关系。最后,基于沙普利值加性解释(Shapley additive explanations,SHAP)理论提出数据驱动模型评估结果的可解释性分析框架,提炼影响样本稳定状态的主导特征,评估各输入特征量对模型输出结果的贡献程度。在典型受端电网仿真系统中验证了所提稳定评估方法的准确性和可解释性分析方法的有效性。

关键词：卷积块注意力模块-卷积神经网络暂态电压稳定评估沙普利值加性解释理论可解释性分析

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政治选举影响公司投资吗——来自中国资本市场的经验证据

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南方经济 2015年第5期44卷 15-27页

作者：赵立彬秦博宇武汉纺织大学会计学院

现有理论认为,换届选举的政治不确定性能够导致公司投资水平降低,但鉴于我国中央政府换届选举与西方国家政治体制不同,我国中央领导人换届是否影响企业投资决策是一个值得探究的命题。本文以中国共产党第十八次代表大会为天然试验田,采... 详细信息

现有理论认为,换届选举的政治不确定性能够导致公司投资水平降低,但鉴于我国中央政府换届选举与西方国家政治体制不同,我国中央领导人换届是否影响企业投资决策是一个值得探究的命题。本文以中国共产党第十八次代表大会为天然试验田,采用A股上市公司为研究样本,实证检验中央政府领导人权力交接对公司投资的影响。研究发现,在中央政府换届的年份,全体样本公司的投资支出相比其他年份显著下降;进一步地,根据所有权性质进行分类检验后发现,在中央领导人换届年份,非国有上市公司投资支出所受影响显著大于国有企业。这表明,非国有企业对国家层面的政治不确定性更为敏感,中央政府换届对其影响程度更大。本文的研究不但在国内将领导人换届选举对公司投资的影响由地方拓展至国家层面,也将政治因素与公司投资相关研究由西方普选制国家拓展至中国式特色选举国家。

关键词：政治选举不确定性公司投资

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知识-数据融合的直流送端系统暂态过电压幅值预测

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电力系统自动化 2024年第14期48卷 110-118页

作者：秦博宇高鑫张哲丁涛张逸兴西安交通大学电气工程学院陕西省西安市710049

对于含大规模风电的高压直流外送系统,换相失败、直流闭锁等故障可能导致送端交流母线出现暂态过电压,进而引发新能源连锁脱网,严重威胁电网的安全稳定运行。为刻画直流故障对系统安全稳定运行能力的影响,提出一种知识-数据融合的直流... 详细信息

对于含大规模风电的高压直流外送系统,换相失败、直流闭锁等故障可能导致送端交流母线出现暂态过电压,进而引发新能源连锁脱网,严重威胁电网的安全稳定运行。为刻画直流故障对系统安全稳定运行能力的影响,提出一种知识-数据融合的直流送端系统暂态过电压幅值预测方法。首先,通过修正决策树分裂过程中的分支质量衡量指标提出改进决策树算法,挖掘暂态过电压与关键电气量的映射关系,提升过电压幅值预测模型的评估性能。其次,基于系统机理模型分析送端系统功率交换情况与交流母线电压的关联关系,推导模型驱动的换流站母线暂态过电压幅值解析表达式。最后,结合理论分析方法,建立知识-数据融合模型以快速修正过电压幅值理论计算结果,提升融合模型在训练样本不足或输入特征选择不当情况下的鲁棒性。面向存在暂态过电压问题的直流送端系统,仿真结果验证了所提暂态过电压幅值预测方法的有效性。

关键词：改进决策树模型暂态过电压知识-数据融合直流送端系统

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互联系统ISS的积分-积分判据及独立系统应用实例

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电力自动化设备 2014年第5期34卷 46-52,66页

作者：秦博宇张雪敏魏东宁清华大学电机系电力系统及发电设备控制和仿真国家重点实验室北京100084

输入-状态稳定(ISS)理论可以根据子系统的稳定属性来判断互联系统的稳定属性,这为分析拓扑多变的独立电力系统稳定性提供了便利。该目标的实现需要2个前提:获得设备的ISS/输入-输出稳定(IOS)属性;得到互联系统稳定的判定条件。鉴于ISS... 详细信息

输入-状态稳定(ISS)理论可以根据子系统的稳定属性来判断互联系统的稳定属性,这为分析拓扑多变的独立电力系统稳定性提供了便利。该目标的实现需要2个前提:获得设备的ISS/输入-输出稳定(IOS)属性;得到互联系统稳定的判定条件。鉴于ISS定义式的等价形式(积分-积分判据)能够更加准确地刻画设备的ISS属性,推导了在积分-积分判据定义下的互联系统局部IOS定理。该定理使得互联系统稳定性判定只需要在事先获得的设备ISS/IOS属性的基础上判断2个代数不等式,即小增益条件和局部稳定条件。通过PSCAD仿真软件对发电机与电动机互联系统进行了稳定性分析,仿真结果验证了理论分析的正确性。

关键词：输入-状态稳定输入-输出稳定积分-积分判据电力设备互联系统稳定性

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