Multimode Design and Analysis of an Integrated Leg-Arm Quadruped Robot with Deployable Characteristics

To improve locomotion and operation integration, this paper presents an integrated leg-arm quadruped robot(ILQR) that has a reconfigurable joint. First, the reconfigurable joint is designed and assembled at the end of the legarm chain. When the robot performs a task, reconfigurable configuration and mode switching can be achieved using this joint. In contrast from traditional quadruped robots, this robot can stack in a designated area to optimize the occupied volume in a nonworking state. Kinematics modeling and dynamics modeling are established to evaluate the mechanical properties for multiple modes. All working modes of the robot are classified, which can be defined as deployable mode, locomotion mode and operation mode. Based on the stability margin and mechanical modeling, switching analysis and evaluation between each mode is carried out. Finally, the prototype experimental results verify the function realization and switching stability of multimode and provide a design method to integrate and perform multimode for quadruped robots with deployable characteristics.

Simulation realization of skip cycle mode integrated control circuit in the switching power supply with low standby loss

This paper explores and proposes a design solution of an integrated skip cycle mode （SCM） control circuit with a simple structure. The design is simulated and implemented with XD10H-1.0μm modular DIMOS 650 V process. In order to meet the requirement of a wide temperature range and high yields of products, the schematic extracted from the layout is simulated with five process corners at 27℃ and 90℃. Simulation results demonstrate that the proposed integrated circuit is immune to noise and achieves skipping cycle control when switching mode power supply （SMPS） works with low load or without load.

Mode switching control strategy of dual motors coupled driving on electric vehicles

Based on analyzing the structure and working principle on electric vehicles （EVs） with dual motors coupled by planetarY gears, the control strategy of mode switching was proposed. The power interruption problem on EVs with automatic mechanical transmission （AMT） shifting was resolved. Based on the speed-torque characteristics of the planetary gears and the principle of the auxiliary motor＇ s zero speed braking, control features of mode switching were introduced. The mode shifting between the main motor mode and dual motors coupled driving were studied. Matlab/Simulink was adopted as a platform to develop the simulation model of EVs with dual motors drive system and 3 gears AMT. Simulation results demonstrated that the power interruption of dual motors drive system was solved during mode switching. The power requirements of EVs were satisfied, too.

Optimal Dispatch and Pricing of Industrial Parks Considering CHP Mode Switching and Demand Response

Industrial parks(IPs)play a crucial role in facilitating economic efficiency and comprehensive energy utilization in the industrial age.At the same time,multi-energy coupling and management of various types of energy in IP have become serious challenges.In this paper,combined heat and power unit(CHP)model considering operation mode switching characteristics is formulated by exploring its internal composition to improve output flexibility of the energy supply side.Then,heat and electricity integrated energy system(HE-IES)optimal dispatch and pricing model are established,taking electricity and heat demand response strategy and steam thermal inertia property into account.Based on the above models,a mixed-integer bilinear programming framework is designed to coordinate the day-ahead operation and pricing strategy of the HE-IES in the IP.The scenario study is carried out on a practical industrial park in Southern China.Numerical results indicate the proposed mechanism can effectively improve IP’s energy utilization and economic efficiency.

Mode Switching and Consistency Control for Electric-Hydraulic Hybrid Steering System

Electric-hydraulic hybrid power steering(E-HHPS)system,a novel device with multiple modes for commercial electric vehicles,is designed to realize both superior steering feel and high energy efficiency.However,inconsistent steering perfor-mance occurs in the mode-switching process due to different dynamic characteristics of electric and hydraulic components,which even threatens driving safety.In this paper,mode-switching strategy and dynamic compensation control method are proposed for the E-HHPS system to eliminate the inconsistency of steering feel,which comprehensively considers ideal assistance characteristics and energy consumption of the system.Then,the influence of disturbances on system stability is analyzed,and H_(∞)robust controller is employed to guarantee system robustness and stability.The experimental results dem-onstrate that the proposed strategy can provide a steering system with natural steering feel without apparent inconsistency and effectively minimize energy consumption.

Analysis and Optimization of Transient Mode Switching Behavior for Power Split Hybrid Electric Vehicle with Clutch Collaboration

The power split hybrid electric vehicle(HEV)adopts a power coupling configuration featuring dual planetary gearsets and multiple clutches,enabling diverse operational modes through clutch engagement and disengagement.The multi-clutch configuration usually involves the collaboration of two clutches during the transient mode switching process,thereby substantially elevating control complexity.This study focuses on power split HEVs that integrate multi-clutch mechanisms and investigates how different clutch collaboration manners impact the characteristics of transient mode switching.The powertrain model for the power-split HEV is established utilizing matrix-based methodologies.Through the formulation of clutch torque curves and clutch collaboration models,this research systematically explores the effects of clutch engagement timing and the duration of clutch slipping state on transient mode switching behaviors.Building upon this analysis,an optimization problem for control parameters pertaining to the two collaborative clutches is formulated.The simulated annealing algorithm is employed to optimize these control parameters.Simulation results demonstrate that the clutch collaboration manners have a great influence on the transient mode switching performance.Compared with the pre-calibrated benchmark and the optimal solution derived by the genetic algorithm,the maximal longitudinal jerk and clutch slipping work during the transient mode switching process is reduced obviously with the optimal control parameters derived by the simulated annealing algorithm.The study provides valuable insights for the dynamic coordinated control of the power-split HEVs featuring complex clutch collaboration mechanisms.

Flexible orbital angular momentum mode switching in multimode fibre using an optical neural network chip

Mode-division multiplexing technology has been proposed as a crucial technique for enhancing communication capacity and alleviating growing communication demands.Optical switching,which is an essential component of optical communication systems,enables information exchange between channels.However,existing optical switching solutions are inadequate for addressing flexible information exchange among the mode channels.In this study,we introduced a flexible mode switching system in a multimode fibre based on an optical neural network chip.This system utilised the flexibility of on-chip optical neural networks along with an all-fibre orbital angular momentum(OAM)mode multiplexer-demultiplexer to achieve mode switching among the three OAM modes within a multimode fibre.The system adopted an improved gradient descent algorithm to achieve training for arbitrary 3×3 exchange matrices and ensured maximum crosstalk of less than-18.7 dB,thus enabling arbitrary inter-mode channel information exchange.The proposed optical-neural-network-based mode-switching system was experimentally validated by successfully transmitting different modulation formats across various modes.This innovative solution holds promise for providing effective optical switching in practical multimode communication networks.

Chattering analysis for discrete sliding mode control ofdistributed control systems

The chattering characteristic of sliding mode control isanalyzed when it is applied in distributed control systems （DCSs）.For a DCS with random time delay and packet dropout, a discreteswitching system model with time varying sampling period isconstructed based on the time delay system method. The reachinglaw based sliding mode controller is applied in the proposedsystem. The exponential stability condition in the form of linearmatrix inequality is figured out based on the multi-Lyaponov functionmethod. Then, the chattering characteristic is analyzed for theswitching system, and a chattering region related with time varyingsampling period and external disturbance is proposed. Finally, numericalexamples are given to illustrate the validity of the analysisresult.

Estimating the clutch transmitting torque during HEV mode-switch based on the Kalman filter

A power train dynamics model of a coaxial parallel hybrid electric vehicle （HEV） was built for different clutch operating states. With the state vector constituted by the motor rotation speed and the clutch transmitting torque at two successive time steps, a discrete state space model for estimating the clutch transmitting torque was built, and the Kalman filtering algorithm was used to estimate the clutch transmitting torque. The Matlab/Simulink was employed to simulate the clutch transmitting torque for two mode-switch processes. Estimation errors were analyzed through compa- ring the estimated and simulated values of the clutch torque. Impact of the noise covariance and the sample time on clutch torque estimation errors were explored. The results show that the developed estimation method can be used to estimate the clutch transmitting torque for HEV with good accura- cy. The results are useful for torque direct control of automatic diaphragm clutches.

Modeling and Simulation Analysis of Solar Thermal Electric Plants Based on Petri Net

At present,solar thermal power generation is in the demonstration stage,and the large-scale production is affected by many factors.In view of the characteristics of different operating modes of photothermal power generation,it is analyzed that the turbine needs to be started and stopped frequently due to different operating modes,which will lead to the instability of the output energy and the reduction of power generation efficiency.In this paper,the dynamic equation of energy conversion process is established by using the law of conservation of energy and conservation of mass.Combined with the logic switching criterion of the system,the system model was established by using the extended differential Petri net,and the validity and accuracy of the model were verified.Through the Petri net model of the system,the system’s working mode switching and power generation situation are analyzed due to the difference of direct normal irradiation intensity(DNI).Finally,the accuracy of the model is proved by comparing it with experimental data of the photovoltaic and thermal demonstration projects that have been connected to the grid.

Design and Implementation of Smart Power Voltage and Frequency Synchroniser in Power Distribution System

Voltage and frequency are usually considered and assessed independently in the design and operation of electrical networks. However, these two are linked. Each and every malfunctioning electrical system has an impact on both voltage and frequency. This paper presents the opportunity for monitoring the distributed electrical energy by means of a system that monitors, controls, and provides a breakpoint based on high or low voltage and frequency tripping mechanism that avoids any damage to the load. The designed system comprised a switch mode power supply (SMPS), a direct digital synthesizer (DDS), and PIC16F876A microcontroller techniques for stable voltage and frequency outputs. Proteus design suite version 8.11 software and Benchcope SDS1102CN were used for modeling and simulation. The hardware prototype was implemented at a telecom cell site for data capturing and analysis. Test results showed that the implementation of the prototype provided stable and constant outputs of 222 V/50 Hz and 112 V/60 Hz which constituted 99% and 99.8% efficiency for voltage and frequency performance respectively. The paper also discusses different technologies that can be adopted by the system to mitigate voltage and frequency effects on customer appliances.

Coordinated Control Strategy for Operation Mode Switching of DC Distribution Networks

Due to the advantages such as low line cost,low transmission loss,and high power supply reliability,DC distribution networks have become the main development trend for future distribution networks.In this paper,a typical DC distribution network with multiple voltage levels is considered as a research object.It is proposed that the interface converters between DC buses with different voltage levels be implemented through the series-parallel combination of full-bridge LLC resonant converters.To realize the decentralized self-discipline control of DC voltage under various working conditions,different slack buses are prepared according to the voltage ranges of the DC buses,and the voltage regulation modes of the DC distribution network are divided into main voltage regulation mode,backup voltage regulation mode,and off-grid voltage droop regulation mode.By introducing a voltage coefficient related to DC voltage deviation as a basis for mode switching,the voltage fluctuations caused by slow switching between control modes in the method of traditional voltage margin control is reduced,facilitating fast and smooth switching between different voltage regulation modes.Finally,a simulation model for DC distribution networks is constructed utilizing MATLAB/Simulink.Simulation results verify the effectiveness and feasibility of the proposed voltage regulation modes and switching methods for DC distribution networks.Finally,an experimental platform is also constructed to verify the feasibility of the mode switching method proposed in this paper.

A New Topology Pattern for AC-DC Mixed Microgrid

In order to realize the modular design of the microgrid, this paper proposed a new modular topology for the AC-DC mixed microgrid. In that topology, the AC microgrid unit and the DC microgrid unit were packaged together by the back-to-back converter. The battery-supercapacitor hybrid energy storage system was connected to the DC bus of back-to-back converter. By the reasonable design on the battery-supercapacitor hybrid system, the energy storage system could supply the rapid power and energy support for the microgrid spontaneously. The mathematical model and the control algorithm of that microgrid topology were studied. By the simulation analysis, it can be concluded that AC-DC mixed modular microgrid topology could operate steadily on both the grid-connected mode and the isolated mode. Furthermore, we can conclude by the simulation that the designed modular microgrid could operate uninterrupted when the microgrid topology switched from the grid-connected mode to the isolated mode. The seamless switching became the natural property for the modular microgrid. As a result, the modular microgrid topology can be considered as a usual power/load module to realize the friendly power interaction with the power grid.

Error Robust H.264 Video Transmission Schemes Based on Multi-frame

Multi-frame coding is supported by the emerging H.264. It is important for the enhancement of both coding efficiency and error robustness. In this paper, error resilient schemes for H.264 based on multi-frame were investigated. Error robust H.264 video transmission schemes were introduced for the applications with and without a feedback channel. The experimental results demonstrate the effectiveness of the proposed schemes.

Adaptive Multiantenna Technology

Abstract： Multiantenna technology can be implemented in several modes. These modes have varying characteristics and are used in different scenarios. This paper introduces Beamforming （BF）, Cyclic Delay Diversity （CDD）, Spatial Diversity （SD）, Spatial Multiplexing （SM）, and other multiantenna technologies. It also analyzes various technical features and their application scenarios. An adaptive multiantenna switching algorithm is proposed that chooses a suitable mode for sending data according to the scenario or wireless channel conditions. This switching algorithm improves multiantenna technology and enhances the quality of wireless network communications

Reverse mode switching of the random laser emission in dye doped liquid crystals under homogeneous and inhomogeneous electric fields

We report the observation of electric field induced random lasing in a dye doped liquid crystal system. This was achieved by using a liquid crystal host with negative dielectric anisotropy doped with laser dye PM 597 in a 75 μm cell with a homeotropic alignment layer. In the absence of an applied field, only amplified spontaneous emission was observed since the liquid crystal orientation was uniform. However, application of a field resulted in a fieldinduced planar-like configuration with local nonuniformity in liquid crystal orientation. This led to random lasing in the energized state(voltage greater than a transition threshold). The onset of lasing occurs by application of either a spatially homogenous or a spatially inhomogeneous electric field across the liquid crystal. The characteristics of the emission spectra as a function of different(i) dye concentration and(ii) applied voltage were investigated using nanosecond pulsed laser excitation at 532 nm. The effects of using an inhomogeneous field were compared to the use of a homogenous field and reported. It is shown that the spatial configuration can be used to alter the emission spectra of the system. The work is used to suggest a new configuration, referred to here as"reverse mode," for liquid crystal-based random lasers. This new configuration may provide additional avenues for their use in commercial devices.

Identification of the Worst-case Static Voltage Stability Margin Interval of AC/DC Power System Considering Uncertainty of Renewables

Calculation of static voltage stability margin(SVSM)of AC/DC power systems with lots of renewable energy sources(RESs)integration requires consideration of uncertain load growth and renewable energy generation output.This paper presents a bi-level optimal power flow(BLOPF)model to identify the worst-case SVSM of an AC/DC power system with line commutation converter-based HVDC and multi-terminal voltage sourced converter-based HVDC transmission lines.Constraints of uncertain load growth’s hypercone model and control mode switching of DC converter stations are considered in the BLOPF model.Moreover,uncertain RES output fluctuations are described as intervals,and two three-level optimal power flow(TLOPF)models are established to identify interval bounds of the system worst-case SVSM.The two TLOPF models are both transformed into max–min bi-level optimization models according to independent characteristics of different uncertain variables.Then,transforming the inner level model into its dual form,max–min BLOPF models are simplified to single-level optimization models for direct solution.Calculation results on the modified IEEE-39 bus AC/DC case and an actual large-scale AC/DC case in China indicate correctness and efficiency of the proposed identification method.

IP over ATM Implementation with Local Switch Mode

In classical IPOA, the communication of two users between local AsynchronousTransfer Mode (ATM) ports needs a VCC, however, it is not an elegant solution to the ATM accessequipments design when the performance of the whole system is considered. Thus, we investigate theway to provide the improved IPOA protocol that uses switching way in local ports. And it is fullycompatible with the CIPOA by using the same protocol for ARP and IP forwarding. In addition, we alsopresent the design of one 10/100 Mbit/s auto adaptive IPOA client board with local switch abilityidea and CAM mechanism for our project.

High-power fiber laser with real-time mode switchability

A hundred-watt-level spatial mode switchable all-fiber laser is demonstrated based on a master oscillator power amplifier scheme.The performance of the amplifier with two seed lasers,i.e.,with the acoustically induced fiber grating (AIFG) mode converter inside and outside the seed laser cavity,is investigated.Real-time mode switching with millisecond scale switching time between the LP;and LP;modes while operating in full power (>100 W) is realized through an AIFG driven by radio frequency modulation.This work could provide a good reference for realizing high-power agile mode switchable fiber lasers for practical applications.

Mode switching torque distribution strategy of timely four-wheel driven high-gap plant protection machine

The high-gap plant protection machine is taken in this paper as the research object to ensure the good driving power and safety of the high-gap plant protection machine,and the control strategy of inter-shaft torque distribution is established under different working conditions to improve vehicle power and lateral stability.The anticipated demand torque is initially determined based on the structural characteristics and operational principles of the plant protection machine.Subsequently,a hierarchical control framework is devised by incorporating a formulated switching control strategy.Finally,a simulation model for torque distribution control strategy between shafts is developed on the Matlab/Simulink platform,followed by simulation and experimental verification.The results are presented as follows:the inter-shaft torque distribution strategy established in this paper increases the average longitudinal acceleration by 0.13 m/s^(2) and 0.14 m/s^(2) under the control of low and high to low adhesion road surfaces,respectively.Under the control of the single-line shifting condition,the yaw velocity can successfully follow the expected value with a maximum value of 0.61 rad/s.The side deflection angle of the center of mass does not exceed 2.8°,which can follow the ideal trajectory and improve power and safety.