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Model Predictive Control Strategy for Residential Battery Energy Storage System in Volatile Electricity Market with Uncertain Daily Cycling Load

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Journal of Modern Power Systems and Clean Energy 2023年第2期11卷 534-543页

作者： Dejan P.Jovanović Gerard F.Ledwich Geoffrey R.Walker Institute of Electrical and Electronic Engineers QueenslandAustralia school of Electrical Engineering&robotics Queensland University of TechnologyBrisbaneAustralia

This paper presents a control strategy for residential battery energy storage systems,which is aware of volatile electricity markets and uncertain daily cycling *** economic benefits of energy trading for prosumers are achieved through a novel modification of a conventional model predictive control(MPC).The proposed control strategy guarantees an optimal global solution for the applied control action.A new cost function is introduced to model the effects of volatility on customer benefits more ***,the newly presented cost function models a probabilistic relation between the power exchanged with the grid,the net load,and the electricity *** probabilistic calculation of the cost function shows the dependence on the mathematical expectation of market price and net *** techniques for calculating this value are *** proposed strategy differs from the stochastic and robust MPC in that the cost is calculated across the market price and net load variations rather than across model constraints and parameter variations.

关键词： Optimal control model predictive control(MPC) energy market nonlinear constrained optimization revenue for battery energy storage system Gaussian mixture model autoregressive integrated moving average model

Constraint Force Analysis of Metamorphic Joints Based on the Augmented Assur Groups

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Chinese Journal of Mechanical Engineering 2015年第4期28卷 747-755页

作者： LI Shujun WANG Hongguang YANG Qiang school of Mechanical Engineering & Automation Northeastern University State Key Laboratory of robotics Shenyang Institute of Automation Chinese Academy of Sciences

In order to obtain a simple way for the force analysis of metamorphic mechanisms, the systematic method to unify the force analysis approach of metamorphic mechanisms as that of conventional planar mechanisms is proposed. A force analysis method of metamorphic mechanisms is developed by transforming the augmented Assur groups into Assur groups, so that the force analysis problem of metamorphic mechanisms is converted into the force analysis problems of conventional planar mechanisms. The constraint force change rules and values of metamorphic joints are obtained by the proposed method, and the constraint force analysis equations of revolute metamorphic joints in augmented Assur group RRRR and prismatic metamorphic joints in augmented Assur group RRPR are deduced. The constraint force analysis is illustrated by the constrained spring force design of paper folding metamorphic mechanism, and its metamorphic working process is controlled by the spring force and geometric constraints of metamorphic joints. The results of spring force show that developped design method and approach are feasible and practical. By transforming augmented Assur groups into Assur groups, a new method for the constraint force analysis of metamorphic joints is proposed firstly to provide the basis for dynamic analysis of metamorphic mechanism.

关键词： metamorphic joints constraint forces augmented Assur groups metamorphic mechanism

Design Considerations for an Underactuated Robotic Finger Mechanism

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Chinese Journal of Mechanical Engineering 2009年第4期22卷 475-488页

作者： YAO Shuangji CECCARELLI Marco ZHAN Qiang CARBONE Giuseppe LU Zhen school of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Beijing 100191 China Laboratory of robotics and Mechatronics （LARM） University of Cassino Cassino （Fr）.Italy robotics Institute Beijing University of Aeronautics and Astronautics Beijing 100191 China

A design approach is presented in this paper for underactuation in robotic finger mechanisms. The characters of underactuated finger mechanisms are introduced as based on linkage and spring systems. The feature of self-adaptive enveloping grasp by underactuated finger mechanisms is discussed with feasible in grasping unknown objects. The design problem of robotic fingers is analyzed by looking at many aspects for an optimal functionality. Design problems and requirements for underactuated mechanisms are formulated as related to human-like robotic fingers. In particular, characteristics of finger mechanisms are analyzed and optimality criteria are summarized with the aim to formulate a general design algorithm. A general multi-objective optimization design approach is applied as based on a suitable optimization problem by using suitable expressions of optimality criteria. An example is illustrated as an improvement of finger mechanism in Laboratory of robotics and Mechatronics （LARM） Hand. Results of design outputs and grasp simulations are reported with the aim to show the practical feasibility of the proposed concepts and computations.

关键词： robotic fingers underactuated mechanisms design algorithms optimality criteria .

Kinematic modeling and analysis of novel eight-wheel lunar rover

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Journal of Harbin Institute of Technology(New Series) 2009年第6期16卷 751-755页

作者：高海波张朋邓宗全胡明 State Key Laboratory of robotics and Systems School of Mechatronic Engineering Harbin Institute of Technology

A new kind of eight-wheel lunar rover is developed, which is a complex closed-chain system and has good capabilities of climbing slope, surmounting obstacles and adapting to uneven terrain. In this paper, the mechanical structure of the novel eight-wheel lunar rover is introduced, forward and inverse kinematic models of the rover are established according to the closed-chain coordinate transformation and instantaneous coincidence coordinate. Based on structural characteristics, its kinetic characteristics are analyzed. Wheel slippages are separated and calculated, and a method for closed-loop control modification using wheel slip estimation during the model establishment is proposed. The results can be applied to the motion control of lunar rover.

关键词： kinematic modeling locomotion system eight-wheel lunar rover lunar rover

Toward intelligent manufacturing: label characters marking and recognition method for steel products with machine vision

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Advances in Manufacturing 2014年第1期2卷 3-12页

作者： Qi-Jie Zhao Peng Cao Da-Wei Tu school of Mechatronics Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and RoboticsShanghai university

Correctly coding materials and identifying characters marked on materials are very important for steel manufacturing industry to realize informatization management and intelligent manufacturing. However, the steel products manufacturing is often in a high temperature environment, and there are a lot of material storage and retrieval processes, workers are not easily close to the environment and complete tasks, so it is a great challenge to automatically mark and identify characters on the steel products. This paper presents a framework of label characters marking and management for steel materials, furthermore, a kind of marked characters online detection and tracking method has been provided based on machine vision. In addition, some experiments have been done in BaoSteel to mark characters on hot billets and recognize them in multi situations, and the results show that the proposed method is practical, and has provided a helpful exploration in obtaining accurate fundamental data for the intelligent manufacturing system in steelworks.

关键词： Intelligent manufacturing Enterprisesinformatization Label character marking Machinevision Marked character recognition

Control of a Spherical Robot: Path Following Based on Nonholonomic Kinematics and Dynamics

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Chinese Journal of Aeronautics 2011年第3期24卷 337-345页

作者： ZHENG Minghui ZHAN Qiang LIU Jinkun CAI Yao robotics Institute Beihang University Beijing 100191 China school of Automation Science and Electrical Engineering Beihang University Beijing 100191 China

This paper presents the controller design for the path following of a spherical mobile robot, BHQ-1. Firstly, a desired velocity for the reference path is deduced from the kinematic model, which cannot be transformed into the classic chained form. Secondly, a necessary torque for the desired velocity is obtained based on the dynamic model. As to the kinematics, a one-dimensional function is selected to measure the two-directional tracking error, and the velocity of rolling forward is reasonably assumed to be constant; therefore the multiple-input multiple-output （MIMO） system is transformed into a single-input single-output （SISO） system. As to the dynamics, both exact dynamics and inexact dynamics with modeling error as well as bounded unknown disturbance are taken into account, based on which a proportional-derivative （PD） controller and a sliding mode controller with adaptive parameters are proposed respectively. Finally, convergence analysis and simulation results are provided to validate these controllers.

关键词： spherical robot path following nonholonomic kinematics dynamics

Design and Fabrication of a Multi-motion Mode Soft Crawling Robot

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Journal of Bionic Engineering 2020年第5期17卷 932-943页

作者： Youxu Chen Bingbing Hu Jiakang Zou Wei Zhang Deshan Wang Guoqing Jin robotics and Microsystems Center Soochow UniversitySuzhou 215006China school of Mechanical and Electric Engineering Soochow UniversitySuzhou 215006China

This article proposes a novel pneumatic soft actuator,which can perform bending in different directions under positive or negative air *** actuators are composed of multiple airbags,and the design of the airbags is analyzed.A pneumatic soft robot based on these soft actuators is designed and fabricated by 3D printing *** robot consists of three soft multi-bladder actuators,one soft sensor,middle layer,bottom layer,front barb,front feet and rear *** to the different positive or negative pressure control of the three soft multi-bladder actuators,the robot can perform both linear,crossing and climbing *** soft robot has excellent environmental adaptability and can pass through complex environments by combining three modes of ***,we establish the closed-loop automatic control system using soft *** soft sensor can be stretched and compressed as the soft robot's ***,the automatic control system is verified by linear,crossing and climbing movement *** indicate that the robot can pass through complex environments under the closed-loop control system.

关键词： soft multi-bladder actuator 3D printing soft robot soft sensor

The oscillatory behavior, static and dynamic analyses of a micro/nano gyroscope considering geometric nonlinearities and intermolecular forces

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Acta Mechanica Sinica 2013年第6期29卷 851-863页

作者： M.Mojahedi M.T.Ahmadian K.Firoozbakhsh school of Mechanical Engineering Sharif University of Technology Center of Excellence in Design Robotics and AutomationDepartment of Mechanical EngineeringSharif University of Technology

The nonlinear dynamic and static deflection of a micro/nano gyroscope under DC voltages and base rotation are investigated. The gyroscope undertakes two cou- pled bending motions along the drive and sense directions and subjected to electrostatic actuations and intermolecular forces. The nonlinear governing equations of motion for the system with the effect of electrostatic force, intermolecular tractions and base rotation are derived using extended Hamilton principle. Under constant voltage, the gyroscope finds the preformed shape. First, the deflection of the rnicro/nano gyroscope under electrostatic forces is obtained by static and dynamic analyses. Furthermore, the static and dynamic in- stability of the system are investigated. Afterward the oscillatory behavior of the pre-deformed micro/nano gyroscope around equilibrium is studied. The effects of intermolecular and nonlinear parameters on the static and dynamic de- flection, natural frequencies and instability of the micro/nano gyroscope are studied. The presented model can be used to exactly determine static and the dynamic behavior of vibratory micro/nano gyroscopes.

关键词： Nano-structures Microstructures Static dynamic

Control Schemes for Passive Teleoperation Systems over Wide Area Communication Networks with Time Varying Delay

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International Journal of Automation and computing 2014年第1期11卷 100-108页

作者： Shafiqul Islam Xiaoping P.Liu Abdulmotaleb El Saddik Lakmal Seneviratne Jorge Dias school of Information Technology and Engineering University of Ottawa school of Engineering and Applied Sciences Harvard University robotics and Mechanical Engineering Khalifa University of Science & Technology Department of Systems and Computer Engineering Carleton University Electrical Engineering New York University Division of Engineering Kings College London robotics and Electrical and Computer Engineering Khalifa University of Science & Technology Institute of Systems and robotics University of Coimbra

In this paper,the problem of time varying telecommunication delays in passive teleoperation systems is *** design comprises delayed position,velocity and position-velocity signals with the local position and velocity signals of the master and slave *** adaptive control terms are employed locally to cope with uncertain parameters associated with the gravity loading vector of the master and slave ***-Krasovskii function is employed for three methods to establish asymptotic tracking property of the closed loop teleoperation *** stability analysis is derived for both symmetrical and unsymmetrical time varying delays in the forward and backward communication channel that connects the local and remote ***,evaluation results are presented to illustrate the efectiveness of the proposed design for real-time applications.

关键词： Teleoperation telerobotics Lyapunov-Krasovskii functional time varying delay passive systems