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Multidirectional 3D printed functionally graded modular joint actuated by TCPFL muscles for soft robots

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Bio-Design and Manufacturing 2019年第4期2卷 256-268页

作者： Armita Hamidi Yara Almubarak Yonas Tadesse Humanoid Bio-robotics and Smart Systems(HBS)LaboratoryMechanical Engineering DepartmentThe University of Texas at DallasRichardsonTX 75080USA

Highly deformable bodies are essential for numerous types of applications in all sorts of environments. Joint-like structures comprising a ball and socket joint have many degrees of freedom that allow mobility of many biomimetic structures. Recently, soft robots are favored over rigid structures for their highly compliant material, high-deformation properties at low forces, and ability to operate in di fficult environments. However, it is still challenging to fabricate complex designs that satisfy application constraints due to the combined e ffects of material properties, actuation method, and structural geometry on the performance of the soft robot. Therefore, a combination of a rigid joint and a soft body can help achieve modular robots with fully functional body morphology. Yet, the fabrication of soft parts requires extensive molding for complex shapes, which comprises several processes and can be time-consuming. In addition, molded connections between extremely soft materials and hard materials can be critical failing points. In this paper, we present a functionally graded 3D-printed joint-like structure actuated by novel contractile actuators. Functionally graded materials (FGMs) via 3D printing allow for extensive material property enhancement and control which warrant tunable functionalities of the system. The 3D-printed structure is made of 3 rigid ball and socket joints connected in series and actuated by integrating twisted and coiled polymer fishing line ( TCPFL) actuators, which are con fined in the FGM accordion-shaped channels. The implementation of the untethered T CPFL actuation system can be highly bene ficial for deployment in environments that require low vibrations and silent actuation. The fishing line TCP actuators produce an actuation strain up to 40% and bend the joint up to 40° in any direction. The T CPFL can be actuated individually or as a group to control the bending trajectory of the modular joint, which is bene ficial when deployed i

关键词： Functionally graded 3D-printed Joint Multidirectional Fishing line TCP

Fast Distance Protection Scheme for Wind Farm Transmission Lines Considering R-L and Bergeron Models

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Journal of Modern Power systems and Clean Energy 2023年第3期11卷 840-852页

作者： Zepeng Hu Bin Li Yuping Zheng Tonghua Wu Jiawei He Bin Yao Yaru Sheng Wei Dai Xindong Li Electrical Engineering and Automation Tianjin UniversityTianjinChina State Key Laboratory of smart Grid Protection and Control NARI Group CorporationNanjingChina

The distributed capacitance of the line becomes larger as the scale of wind farms,the transmission voltage level,and the transmission distance ***,the error of the traditional time-domain distance protection scheme based on the R-L model,which ignores the distributed capacitance of the line,becomes ***,the error of the time-domain fault location method based on the R-L model,especially the maximum error range,is theoretically analyzed in this *** this basis,a novel fault location method based on the RL and Bergeron models is ***,a fast time-domain distance protection scheme is *** the proposed scheme,the error in the fitting calculation is used to construct a weight matrix,and an algorithm for solving the time-domain differential equations is designed to improve the calculation speed and *** with the traditional frequency-domain distance protection scheme,the proposed scheme is independent of the power supply characteristics;thus,it is suitable for wind farm transmission *** addition,compared with the traditional method based on the R-L model,the proposed scheme effectively avoids the negative influence of the distributed capacitance of the line,which significantly improves the operating *** types of faults are simulated by PSCAD/EMTDC to verify the effectiveness and superiority of the proposed scheme.

关键词： Transmission line R-L model time-domain distance protection wind farm

High-impedance Fault Section Location for Distribution Networks Based on t-distributed Stochastic Neighbor Embedding and Variable Mode Decomposition

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Journal of Modern Power systems and Clean Energy 2024年第5期12卷 1495-1505页

作者： Zhihua Yin Yuping Zheng Zhinong Wei Guoqiang Sun Sheng Chen Haixiang Zang the College of Energy and Electrical Engineering Hohai UniversityNanjing 210098China State Key Laboratory of smart Grid Protection and Control NARI Group CorporationNanjing 211106China

When high-impedance faults(HIFs)occur in resonant grounded distribution networks,the current that flows is extremely weak,and the noise interference caused by the distribution network operation and the sampling error of the measurement devices further masks the fault ***,locating a fault section with high sensitivity is *** existing technologies,this study presents a novel fault feature identification framework that addresses this *** framework includes three key steps:(1)utilizing the variable mode decomposition(VMD)method to denoise the fault transient zero-sequence current(TZSC);(2)employing a manifold learning algorithm based on t-distributed stochastic neighbor embedding(t-SNE)to further reduce the redundant information of the TZSC after denoising and to visualize fault information in high-dimensional 2D space;and(3)classifying the signal of each measurement point based on the fuzzy clustering method and combining the network topology structure to determine the fault section *** simulations and field testing confirm that the proposed method accurately detects the fault location,even under the influence of strong noise interference.

关键词： High-impedance fault noise interference fault section location t-distributed stochastic neighbor embedding(t-SNE) transient zero-sequence current

Prediction of voltage distribution using deep learning and identified key smart meter locations

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Energy and AI 2021年第4期6卷 31-40页

作者： Maizura Mokhtar Valentin Robu David Flynn Ciaran Higgins Jim Whyte Caroline Loughran Fiona Fulton smart System Research group Heriot-Watt UniversityRiccarton CampusEH144ASEdinburghUK CWI National Research Institute for Mathematics and Computer Science1098XG AmsterdamThe Netherlands Algorithmics group EEMCSDelft University of Technology2628XE DelftThe Netherlands Derryherk Ltd. Renfrewshire PA113BEUK smart Meter systems SP Energy NetworksGlasgow G25ADUK

The energy landscape for the Low-Voltage(LV)networks is undergoing rapid *** changes are driven by the increased penetration of distributed Low Carbon Technologies,both on the generation side(*** of micro-renewables)and demand side(*** vehicle charging).The previously passive‘fit-and-forget’approach to LV network management is becoming increasing inefficient to ensure its effective operation.A more agile approach to operation and planning is needed,that includes pro-active prediction and mitigation of risks to local sub-networks(such as risk of voltage deviations out of legal limits).The mass rollout of smart meters(SMs)and advances in metering infrastructure holds the promise for smarter network ***,many of the proposed methods require full observability,yet the expectation of being able to collect complete,error free data from every smart meter is unrealistic in operational ***,the smart meter(SM)roll-out has encountered significant issues,with the current voluntary nature of installation in the UK and in many other countries resulting in low-likelihood of full SM coverage for all LV *** with a comprehensive SM roll-out privacy restrictions,constrain data availability from *** address these issues,this paper proposes the use of a Deep Learning Neural Network architecture to predict the voltage distribution with partial SM coverage on actual network operator LV *** results show that SM measurements from key locations are sufficient for effective prediction of the voltage distribution,even without the use of the high granularity personal power demand data from individual customers.

关键词： Voltage prediction smart meters Deep neural learning Distribution network operation Big Data Analytics Analytic methods in power networks Privacy-preserving data analysis

A Modified Impact-increment-based State Enumeration Method and Its Application in Power Distribution systems

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Journal of Modern Power systems and Clean Energy 2023年第6期11卷 1912-1922页

作者： Lukun Ge Kai Hou Hongmin Meng Hongjie Jia Ziheng Dong Key Laboratory of smart Grid of Ministry of Education Tianjin UniversityTianjin 300072China State Grid Information&Telecommunication group Co. Ltd.Beijing 102211China

Reliable planning and operation of power distribution systems are of great significance. In this paper, the impactincrement based state enumeration(IIBSE) method is modified to adapt to the features of distribution systems. With the proposed method, the expectation, probabilistic, and duration reliability indices can be accurately obtained with a lower enumerated order of contingency states. In addition, the time-consuming optimal power flow(OPF) calculation can be replaced by a simple matrix operation for both independent and radial series failure states. Therefore, the accuracy and efficiency of the assessment process are improved comprehensively. The case of RBTS bus 6 system and IEEE 123 node test feeder system are utilized to test the performance of the modified IIBSE. The results show the superiority of the proposed method over Monte Carlo(MC) sampling and state enumeration(SE) methods in distribution systems.

关键词： Power distribution system reliability assessment impact-increment state enumeration

Continuous Commutation Failure Suppression Method Based on Self-adaptive Auto-disturbance Rejection Proportional-integral Controller for HVDC Transmission System

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Journal of Modern Power systems and Clean Energy 2020年第6期8卷 1178-1187页

作者： Tonghua Wu Yuping Zheng Qipu Liu Guoqiang Sun Xiaohong Wang Xindong Li the College of Energy and Electrical Engineering Hohai UniversityNanjing 210098China NARI group Corporation Nanjing 211106China State Key Laboratory of smart Grid Protection and Control Nanjing 211106China

Once an asymmetrical fault occurs on the AC side of the receiving-end of a high-voltage direct current(HVDC)transmission system,the current reference will be affected by the control regulation on the DC inverter side and the commutation voltage *** this case,the advance firing angle will fluctuate periodically,causing security threats to the *** the fault cannot be cleared in time,the effect may be even more ***,the traditional proportional-integral(PI)controller cannot effectively suppress the periodic components in the input error signal,which is an important cause of continuous commutation ***,the system requires more time to recover from the *** by this,a selfadaptive auto-disturbance rejection PI controller is proposed in this *** controller has the advantages of fast response speed and strong anti-interference ability of the auto-disturbance rejection *** one hand,it can automatically adjust PI,and the parameters can maintain the system’s adaptive *** the other hand,the discretization process satisfies the computer simulation *** applying the proposed controller to a system under constant current control and extinction angle control,the dynamic response speed can be improved and the robust performance of the system can be ensured when dealing with a wide range of ***,simulation results show that the proposed algorithm can effectively suppress the continuous commutation failure of DC transmission systems.

关键词： High-voltage direct current(HVDC)transmission continuous commutation failure periodic fluctuation self-adaptive auto-disturbance rejection proportional-integral(PI)controller computer simulation

A review: Challenges and opportunities for artificial intelligence and robotics in the offshore wind sector

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Energy and AI 2022年第2期8卷 177-212页

作者： Daniel Mitchell Jamie Blanche Sam Harper Theodore Lim Ranjeetkumar Gupta Osama Zaki Wenshuo Tang Valentin Robu Simon Watson David Flynn smart systems group Institute of SensorsSignals and SystemsSchool of Engineering and Physical SciencesHeriot-Watt UniversityEdinburghEH144ASUnited Kingdom Centre for Mathematics and Computer Science Intelligent and Autonomous Systems GroupCWIAmsterdam1098 XG Netherlands Algorithms group Faculty of Electrical EngineeringMathematics and Computer Science(EEMCS)Delft University of Technology(TU Delft)Delft2628 XE Netherlands The University of Manchester Department of Electrical and Electronic EngineeringOxford RoadManchesterM139PL United Kingdom James Watt School of Engineering University of GlasgowG128QQUnited Kingdom

The UK has set plans to increase offshore wind capacity from 22GW to 154GW by 2030. With such tremendous growth, the sector is now looking to Robotics and Artificial Intelligence (RAI) in order to tackle lifecycle service barriers as to support sustainable and profitable offshore wind energy production. Today, RAI applications are predominately being used to support short term objectives in operation and maintenance. However, moving forward, RAI has the potential to play a critical role throughout the full lifecycle of offshore wind infrastructure, from surveying, planning, design, logistics, operational support, training and decommissioning. This paper presents one of the first systematic reviews of RAI for the offshore renewable energy sector. The state-of-the-art in RAI is analyzed with respect to offshore energy requirements, from both industry and academia, in terms of current and future requirements. Our review also includes a detailed evaluation of investment, regulation and skills development required to support the adoption of RAI. The key trends identified through a detailed analysis of patent and academic publication databases provide insights to barriers such as certification of autonomous platforms for safety compliance and reliability, the need for digital architectures for scalability in autonomous fleets, adaptive mission planning for resilient resident operations and optimization of human machine interaction for trusted partnerships between people and autonomous assistants. Our study concludes with identification of technological priorities and outlines their integration into a new ‘symbiotic digital architecture’ to deliver the future of offshore wind farm lifecycle management.

关键词： Artificial intelligence Autonomous systems Digitalization Offshore renewable energy Offshore wind farms Robotics

Research on DC Protection Strategy in Multi-Terminal Hybrid HVDC System

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Engineering 2021年第8期7卷 1064-1075页

作者： Yuping Zheng Jiawei He Bin Li Tonghua Wua Wei Dai Ye Li State Key Laboratory of smart Grid Protection and Control State Grid Electric Power Research Institute(NARI Group Corporation)Nanjing 211106China Key Laboratory of smart Grid of Ministry of Education Tianjin UniversityTianjin 300072China College of Energy and Electrical Engineering Hohai UniversityNanjing 210098China

Multi-terminal hybrid high-voltage direct current(HVDC)systems have been developed quickly in recent years in power transmission ***,for voltage-source converter(VSC)stations in hybrid HVDC systems,no direct current(DC)filters are *** addition,the DC reactor is also not installed at the line end because the DC fault can be limited by the converter *** means that the boundary element at the line end is absent,and the single-ended protections used in line commutated converter(LCC)based HVDC(LCC-HVDC)systems or VSC-HVDC systems cannot distinguish the fault line in multi-terminal hybrid HVDC *** paper proposes a novel singleended DC protection strategy suitable for the multi-terminal hybrid HVDC system,which mainly applies the transient information and active injection concept to detect and distinguish the fault *** with the single-ended protections used in LCC-HVDC and VSC-HVDC systems,the proposed protection strategy is not dependent on the line boundary element and is thus suitable for the multiterminal hybrid HVDC *** corresponding simulation cases based on power systems computer aided design(PSCAD)/electromagnetic transients including DC(EMTDC)are carried out to verify the superiority of the proposed protection.

关键词： Multi-terminal hybrid HVDC system Single-ended protection Transient information Active injection

Review on Optimization of Nuclear Power Development:A Cyber-Physical-Social System in Energy Perspective

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Journal of Modern Power systems and Clean Energy 2022年第3期10卷 547-561页

作者： Xinxin Yang Bin Cai Yusheng Xue School of Electrical Engineering Southeast UniversityNanjingChina State Grid Electric Power Research Institute(NARI group Corporation) NanjingChina State Key Laboratory of smart Grid Protection and Operation Control NanjingChina

Nuclear power development is a complex issue spanning cyber,physical,and social systems that is essential to achieving energy security and climate *** the ongoing worldwide trend towards carbon neutrality,the positioning of nuclear power in energy mix should be *** paper aims to present a systematic review of current research on optimization of nuclear power *** concept of cyber-physical-social system in energy(CPSSE)is adopted,which provides a suitable perspective and enables the review of relevant studies to achieve some novel *** on the CPSSE,firstly,a research framework is established and the main research elements in optimization are identified,followed by a proposed conceptual risk-based optimization ***,current studies are analyzed and classified into four categories according to the research *** status quo and limitations are *** is found that the research results of nuclear-specific issues have not been well integrated into the optimization of nuclear *** a relatively reliable power supply,nuclear power is capable of maintaining power and electricity adequacy of the whole system,especially in the case of power shortage caused by long-period low output of renewable energy or extreme external *** superiority should not be ignored in the *** critical factors that should be further considered include disruptive technologies,nuclear safety,energy policies,and stakeholder ***,suggestions are given for future research.

关键词： Carbon emission carbon neutrality cyber-physical-social system in energy(CPSSE) comprehensive evaluation dynamic interactive hybrid simulation energy transition multi-objective optimization