浅谈电力系统及其自动化技术的应用

电力系统实现更高的经济、发展和安全目标，应该以科技作为第一要素，将自动化技术的优势全面而有效地发挥出来，形成自动化技术有机整合和普遍使用的策略和方法，进而做到对电力系统结构与形式、内容与实质创新和发展的保证。

基于石化行业仪器仪表自动化控制技术应用

随着石油化工企业的不断发展,国家和社会对于石化企业的关注度越来越高,所以化工企业的运营生产以及产品的质量把控成为重要的关注内容,要想跟上石油化工企业的发展步伐,就要加强对石油化工仪表上的一些重视,要不断的从企业产品的质量中识别出来产品生产的安全性,还要借助现代化的技术手段,实现石油化工行业仪器的自动化控制,从而满足石油化工企业的需求和应用。在企业的快速发展中,要想实现经济和社会的价值实现,就要在经济和科学的方面不断发展创新,给我国石油化工企业提供好的发展机会,还要在现有的技术基础上不断的创新和发展,仪表自动化作为石油化工中自动化控制技术应用,更是保障这石油化工企业的安全生产,本文针对石油化工仪表中自动化控制技术应用进行分析,阐述了石油化工仪表中的应用效果,从而推动石油化工企业生产的需求和未来发展的目标。

基于网络传输的调度自动化及远动系统

随着光纤通讯技术和计算机网络技术的迅猛发展，以及国家电网公司基于互连网的VPN网络建设不断深入，调度自动化及远动技术的功能和应用有了更大的拓展空间。本文根据兰州电网调度自动化系统的现状以及网络技术的应用与发展，对现在及今后如何利用网络技术，建立以调度自动化系统为主的，包括各专业、各种性质、各种应用的统一的信息平台，实现信息的共享，为电网安全稳定运行、企业决策提供依据。

Enabling Technologies for Autonomous Robotic Systems in Manufacturing

Research of autonomous manufacturing systems is motivated both by the new technical possibilities of cyber-physical systems and by the practical needs of the industry.Autonomous operation in semi-structured industrial environments can now be supported by advanced sensor technologies,digital twins,artificial intelligence and novel communication techniques.These enable real-time monitoring of production processes,situation recognition and prediction,automated and adaptive(re)planning,teamwork and performance improvement by learning.This paper summarizes the main requirements towards autonomous industrial robotics and suggests a generic workflow for realizing such systems.Application case studies will be presented from recent practice at HUN-REN SZTAKI in a broad range of domains such as assembly,welding,grinding,picking and placing,and machining.The various solutions have in common that they use a generic digital twin concept as their core.After making general recommendations for realizing autonomous robotic solutions in the industry,open issues for future research will be discussed.

RESEARCH OF VOXELIZATION PROCESS IN SWEPT-VOLUME TECHNIQUE

Now the image display techniques have made great progress. The planar display and a fully new true 3-D volumetric display technique are rapidly researched and come into the application. A method based on the voxel makes the observer able to get a true 3-D effect freely without any additional facilities. This paper introduces the basic form of the swept-volume display technique and discusses its voxelization process. By the translational motion prototype, this paper emphasizes how to get the voxel mapping matrix. The translated image data are the data of the beam source deflections. Finally the voxel ordering and the optimizing are also discussed.

Bovine Serum Albumin (BSA) Microspheres Containing Methotrexate (MTX) I.Pharmaceutical Aspects

Microspheres Ⅰ,Ⅱ and Ⅲ were produced by emulsion technique.Microsphere I was solidified by glutaraldehyde crosslinking,microsphere Ⅱ was solidified by glutaraldehyde crosslinking and further treated with glycine solution and microsphere Illwas solidified by heating denaturation only.The results showed that the microsphere diameter produced by cross[inking was bigger than that prepared by heating.The microsphere Ⅱ had higher hydrophilicity than Microsphere I had.The methotrexate (MTX) contents in microspheres Ⅰ and Ⅱ were 2.73±0.053%,2.87±0.119% respectively. microsphere Ⅲ was only blank microspheres with MTX adsorbed on their surfaces.In vitro release studies,microspheres I and I have maintained sustained release of MTX till the next day,it was found that the drug releases from microspheres Ⅰ and Ⅱ were governed by Higuchi diffusion law.

Sensing for advancing mining automation capability:A review of underground automation technology development

This paper highlights the role of automation technologies for improving the safety, productivity, and environmental sustainability of underground coal mining processes. This is accomplished by reviewing the impact that the introduction of automation technology has made through the longwall shearer automation research program of Longwall Automation Steering Committee(LASC). This result has been achieved through close integration of sensing, processing, and control technologies into the longwall mining process. Key to the success of the automation solution has been the development of new sensing methods to accurately measure the location of longwall equipment and the spatial configuration of coal seam geology. The relevance of system interoperability and open communications standards for facilitating effective automation is also discussed. Importantly, the insights gained through the longwall automation development process are now leading to new technology transfer activity to benefit other underground mining processes.

Iterative Learning Control With Incomplete Information： A Survey

Abstract--This paper conducts a survey on iterative learn- ing control （ILC） with incomplete information and associated control system design, which is a frontier of the ILC field. The incomplete information, including passive and active types, can cause data loss or fragment due to various factors. Passive incomplete information refers to incomplete data and information caused by practical system limitations during data collection, storage, transmission, and processing, such as data dropouts, delays, disordering, and limited transmission bandwidth. Active incomplete information refers to incomplete data and information caused by man-made reduction of data quantity and quality on the premise that the given objective is satisfied, such as sampling and quantization. This survey emphasizes two aspects： the first one is how to guarantee good learning performance and tracking performance with passive incomplete data, and the second is how to balance the control performance index and data demand by active means. The promising research directions along this topic are also addressed, where data robustness is highly emphasized. This survey is expected to improve understanding of the restrictive relationship and trade-off between incomplete data and tracking performance, quantitatively, and promote further developments of ILC theory. Index Terms--Data dropout, data robustness, incomplete in- formation, iterative learning controi（ILC）, quantized control, sampled control, varying lengths.

Adaptive Neural Network-Based Control for a Class of Nonlinear Pure-Feedback Systems With Time-Varying Full State Constraints

Abstract--In this paper, an adaptive neural network （NN） control approach is proposed for nonlinear pure-feedback sys- tems with time-varying full state constraints. The pure-feedback systems of this paper are assumed to possess nonlinear function uncertainties. By using the mean value theorem, pure-feedback systems can be transformed into strict feedback forms. For the newly generated systems, NNs are employed to approximate unknown items. Based on the adaptive control scheme and backstepping algorithm, an intelligent controller is designed. At the same time, time-varying Barrier Lyapunov functions （BLFs） with error variables are adopted to avoid violating full state constraints in every step of the backstepping design. All closed- loop signals are uniformly ultimately bounded and the output tracking error converges to the neighborhood of zero, which can be verified by using the Lyapunov stability theorem. Two simulation examples reveal the performance of the adaptive NN control approach. Index TermsmAdaptive control, neural networks （NNs）, non- linear pure-feedback systems, time-varying constraints.

Necessary and Sufficient Conditions for Consensus in Third Order Multi-Agent Systems

We deal with a consensus control problem for a group of third order agents which are networked by digraphs.Assuming that the control input of each agent is constructed based on weighted difference between its states and those of its neighbor agents, we aim to propose an algorithm on computing the weighting coefficients in the control input. The problem is reduced to designing Hurwitz polynomials with real or complex coefficients. We show that by using Hurwitz polynomials with complex coefficients, a necessary and sufficient condition can be obtained for designing the consensus algorithm. Since the condition is both necessary and sufficient, we provide a kind of parametrization for all the weighting coefficients achieving consensus. Moreover, the condition is a natural extension to second order consensus, and is reasonable and practical due to its comparatively decreased computation burden. The result is also extended to the case where communication delay exists in the control input.

Hazard-evaluation-oriented Moving Horizon Parallel Steering Control for Driver-Automation Collaboration During Automated Driving

Prompted by emerging developments in connected and automated vehicles, parallel steering control, one aspect of parallel driving, has become highly important for intelligent vehicles for easing the burden and ensuring the safety of human drivers. This paper presents a parallel steering control framework for an intelligent vehicle using moving horizon optimization.The framework considers lateral stability, collision avoidance and actuator saturation and describes them as constraints, which can blend the operation of a human driver and a parallel steering controller effectively. Moreover, the road hazard and the steering operation error are employed to evaluate the operational hazardous of an intelligent vehicle. Under the hazard evaluation,the intelligent vehicle will be mainly operated by the human driver when the vehicle operates in a safe and stable manner.The automated steering driving objective will play an active role and regulate the steering operations of the intelligent vehicle based on the hazard evaluation. To verify the effectiveness of the proposed hazard-evaluation-oriented moving horizon parallel steering control approach, various validations are conducted, and the results are compared with a parallel steering scheme that does not consider automated driving situations. The results illustrate that the proposed parallel steering controller achieves acceptable performance under both conventional conditions and hazardous conditions.

A Filtering Approach Based on MMAE for a SINS/CNS Integrated Navigation System

This paper explores multiple model adaptive estimation(MMAE) method, and with it, proposes a novel filtering algorithm. The proposed algorithm is an improved Kalman filter— multiple model adaptive estimation unscented Kalman filter(MMAE-UKF) rather than conventional Kalman filter methods,like the extended Kalman filter(EKF) and the unscented Kalman filter(UKF). UKF is used as a subfilter to obtain the system state estimate in the MMAE method. Single model filter has poor adaptability with uncertain or unknown system parameters,which the improved filtering method can overcome. Meanwhile,this algorithm is used for integrated navigation system of strapdown inertial navigation system(SINS) and celestial navigation system(CNS) by a ballistic missile's motion. The simulation results indicate that the proposed filtering algorithm has better navigation precision, can achieve optimal estimation of system state, and can be more flexible at the cost of increased computational burden.

Parameter optimization model in electrical discharge machining process

Electrical discharge machining (EDM) process, at present is still an experience process, wherein selected parameters are often far from the optimum, and at the same time selecting optimization parameters is costly and time consuming. In this paper, artificial neural network (ANN) and genetic algorithm (GA) are used together to establish the parameter optimization model. An ANN model which adapts Levenberg-Marquardt algorithm has been set up to represent the relationship between material removal rate (MRR) and input parameters, and GA is used to optimize parameters, so that optimization results are obtained. The model is shown to be effective, and MRR is improved using optimized machining parameters.

Finite-time Stabilization of the Double Integrator Subject to Input Saturation and Input Delay

Abstract--The time-optimal control design of the double integrator is extended to the finite-time stabilization design that compensates both input saturation and input delay. With the aid of the Artstein＇s transformation, the problem is reduced to assigning a saturated finite-time stabilizer. Index Terms--Finite-time stabilization, input delay, saturated design.

Predictive Tracking Control of Network-Based Agents With Communication Delays

This paper investigates the remote tracking control problem of Network-based Agents with communication delays existing in both forward and feedback communication channels.A networked predictive tracking controller is proposed to compensate the negative effects caused by bilateral time-delays in a wireless network. Furthermore, the problem of consecutive data loss in the feedback channel is solved using aforementioned controller, where lateral movement perturbations are introduced.Simulations and experiments are provided for several cases,which verify the realizability and effectiveness of the proposed controller.

Energy Efficient Predictive Control for Vapor Compression Refrigeration Cycle Systems

Abstract--Vapor compression refrigeration cycle （VCC） system is a high dimensional coupling thermodynamic system for which the controller design is a great challenge. In this paper, a model predictive control based energy efficient control strategy which aims at maximizing the system efficiency is proposed. Firstly, according to the mass and energy conservation law, an analysis on the nonlinear relationship between superheat and cooling load is carried out, which can produce the maximal effect on the system performance. Then a model predictive control （MPC） based controller is developed for tracking the calculated setting curve of superheat degree and pressure difference based on model identified from data which can be obtained from an experimental rig. The proposed control strategy maximizes the coefficient of performance （COP） which depends on operating conditions, in the meantime, it meets the changing demands of cooling capacity. The effectiveness of the control performance is validated on the experimental rig. Index Terms--Cooling load, model predictive control （MPC）, superheat, vapor compression refrigeration cycle （VCC）.

Autonomous Driving in the iCity-HD Maps as a Key Challenge of the Automotive Industry

This article provides in-depth insights into the necessary technologies for automated driving in future cities. State of science is reflected from different perspectives such as in-car computing and data man- agement, road side infrastructure, and ~loud solutions. Especially the challenges for the application of HD maps as core technology for automated driving are depicted in this article.

Implementation of a new PC based controller for a PUMA robot

This paper describes the replacement of a controller for a programmable universal machine for assembly (PUMA) 512 robot with a newly designed PC based (open architecture) controller employing a real-time direct control of six joints. The original structure of the PUMA robot is retained. The hardware of the new controller includes such in-house designed parts as pulse width modulation (PWM) amplifiers, digital and analog controllers, I/O cards, signal conditioner cards, and 16-bit A/D and D/A boards. An Intel Pentium IV industrial computer is used as the central controller. The control software is implemented using VC++ programming language. The trajectory tracking performance of all six joints is tested at varying velocities. Experimental results show that it is feasible to implement the suggested open architecture platform for PUMA 500 series robots through the software routines running on a PC. By assembling controller from off-the-shell hardware and software components, the benefits of reduced and improved robustness have been realized.

Digital Filter Algorithm Based on Morphological Lifting Scheme and Median Filter

Abstract--When the circuits in which electronic products are fitted are disturbed by various interrupting signals, wave distortions occur to the normal voltage signals of these circuits. These wave distortions influence the normal operation and life cycle of electronic products. To eliminate the harmful effects of interrupting signals on electronic products, in this paper, a digital filter algorithm based on morphological lifting scheme and median filter （MLS-MF）, which will be used to filter various interrupting signals existing in the circuits in which electronic products are fitted, is proposed. A variety of interrupting sig- nals have been included in simulation studies, and simulation results have demonstrated the effectiveness and feasibility of the proposed digital filter algorithm in high frequency continuous interference, random background noise and damped oscillatory transient interference filter. Index Terms--Digital filter, lifting scheme, median filter, mor- phology.

Queuing-Based Performance Analytical Model for Continuous Flow Transporters of AMHS

To quickly and accurately estimate the expected work-in-process (WIP)of material intersection points in continuous automated material handling systems (AMHSs) ,a queuing-based performance analytical model was presented for continuous flow transporters (CFTs) . In the modeling procedure which considered layout of crossovers and the variability of service time of turntables, an M /G /1 queuing model with multi-class customers and a non-preemptive priority M /G /1 queuing model with multi-class customers were introduced to accurately present the queuing WIP of each material intersection point and perform the analytical model. Finally,300 mm wafer fabrication facilities (fabs)with 24 bays were applied to evaluating the proposed model. Compared with results of an Arena simulation, the model performs well in evaluating the number of queuing WIP of the intersection points and overall system of CFTs in AMHSs.