In this study, we investigate the optimal location of access points （APs） to connect end nodes with a service provider through power-line communication in smartgrid communication networks. APs are the gateways of po...In this study, we investigate the optimal location of access points （APs） to connect end nodes with a service provider through power-line communication in smartgrid communication networks. APs are the gateways of power-distribution communication networks, connecting users to control centers. Hence, they are vital for the reliable, safe, and economical operation of a power system. This paper proposes a planning method for AP allocation that takes into consideration economics, reliability, network delay, and （n-l） resilience. First, an optimization model for the AP location is established, which minimizes the cost of installing APs, while satisfying the reliability, network delay, and （n-1） resilience constraints. Then, an improved genetic algorithm is proposed to solve the optimization problem. The simulation results indicate that the proposed planning method can deal with diverse network conditions satisfactorily. Furthermore, it can be applied effectively with high flexibility and scalability.展开更多
Distributed coordinated control of networked robotic systems formulated by Lagrange dynamics has recently been a subject of considerable interest within science and technology communities due to its broad engineering ...Distributed coordinated control of networked robotic systems formulated by Lagrange dynamics has recently been a subject of considerable interest within science and technology communities due to its broad engineering applications involving complex and integrated production processes,where high flexibility,manipulability,and maneuverability are desirable characteristics.In this paper,we investigate the distributed coordinated adaptive tracking problem of networked redundant robotic systems with a dynamic leader.We provide an analysis procedure for the controlled synchronization of such systems with uncertain dynamics.We also find that the proposed control strategy does not require computing positional inverse kinematics and does not impose any restriction on the self-motion of the manipulators;therefore,the extra degrees of freedom are applicable for other sophisticated subtasks.Compared with some existing work,a distinctive feature of the designed distributed control algorithm is that only a subset of followers needs to access the position information of the dynamic leader in the task space,where the underlying directed graph has a spanning tree.Subsequently,we present a simulation example to verify the effectiveness of the proposed algorithms.展开更多
基金supported by the National High Technology Research and Development Program of China(2012AA050801)
文摘In this study, we investigate the optimal location of access points （APs） to connect end nodes with a service provider through power-line communication in smartgrid communication networks. APs are the gateways of power-distribution communication networks, connecting users to control centers. Hence, they are vital for the reliable, safe, and economical operation of a power system. This paper proposes a planning method for AP allocation that takes into consideration economics, reliability, network delay, and （n-l） resilience. First, an optimization model for the AP location is established, which minimizes the cost of installing APs, while satisfying the reliability, network delay, and （n-1） resilience constraints. Then, an improved genetic algorithm is proposed to solve the optimization problem. The simulation results indicate that the proposed planning method can deal with diverse network conditions satisfactorily. Furthermore, it can be applied effectively with high flexibility and scalability.
基金supported by the National Natural Science Foundation of China(Grant Nos.1127219110972129 and 10832006)+1 种基金Specialized Research Foundation for the Doctoral Program of Higher Education(Grant No.200802800015)University Natural Science Research Program of Anhui Province(Grant No.KJ2013B216)
文摘Distributed coordinated control of networked robotic systems formulated by Lagrange dynamics has recently been a subject of considerable interest within science and technology communities due to its broad engineering applications involving complex and integrated production processes,where high flexibility,manipulability,and maneuverability are desirable characteristics.In this paper,we investigate the distributed coordinated adaptive tracking problem of networked redundant robotic systems with a dynamic leader.We provide an analysis procedure for the controlled synchronization of such systems with uncertain dynamics.We also find that the proposed control strategy does not require computing positional inverse kinematics and does not impose any restriction on the self-motion of the manipulators;therefore,the extra degrees of freedom are applicable for other sophisticated subtasks.Compared with some existing work,a distinctive feature of the designed distributed control algorithm is that only a subset of followers needs to access the position information of the dynamic leader in the task space,where the underlying directed graph has a spanning tree.Subsequently,we present a simulation example to verify the effectiveness of the proposed algorithms.
