The Journey/DAO/TAO of Embodied Intelligence: From Large Models to Foundation Intelligence and Parallel Intelligence

THE tremendous impact of large models represented by ChatGPT[1]-[3]makes it necessary to con-sider the practical applications of such models[4].However,for an artificial intelligence(AI)to truly evolve,it needs to possess a physical“body”to transition from the virtual world to the real world and evolve through interaction with the real environments.In this context,“embodied intelligence”has sparked a new wave of research and technology,leading AI beyond the digital realm into a new paradigm that can actively act and perceive in a physical environment through tangible entities such as robots and automated devices[5].

Investigation and Regulation of High-efficiency Region Boundary of Variable Magnetic Flux Permanent Magnet Motor

With the increasing complexity of electrical vehicles(EVs),the wide-speed-range high-efficiency characteristics of EV drive motors are in strict demand.In this study,the variable magnetic flux effect is introduced into a permanent magnet(PM)motor,and a variable magnetic flux permanent magnetic(VMF-PM)motor is proposed.First,the flux is adjusted flexibly to synchronously broaden the speed regulation range and high-efficiency region.Subsequently,an efficiency analytical model is developed considering the motor speed,current,and flux variations.It is indicated that by the purposeful design of the variable flux leakage topology,the efficiency under high speed can be improved based on a theoretical investigation of the high-efficiency boundary.In addition,based on finite element analysis,the performances before and after optimization of the key parameters of the VMF-PM motor are investigated,including the flux variable characteristics and efficiency characteristics.Finally,a prototype motor is built and tested.Both theoretical analysis and experimental results confirm that based on the assistance of the variable magnetic flux effect,the motor high-efficiency region is broadened effectively,providing a potential research path for designing a wide-speed-range high-efficiency motor.

Reduction of Unipolar Leakage Flux and Torque Ripple in Consequent-pole PM Vernier Machine

This paper proposes a new consequent-pole permanent magnet vernier machine(CPMVM),which can be regarded as a combination of two conventional CPMVM with opposite polarities.Based on the simplified axial magnetic circuit model,it is verified that the proposed CPMVM can reduce the unipolar leakage flux.In order to reduce the torque ripple of machine and improve the output torque of machine,the flux barrier is placed on the rotor of the proposed machine.Then,the parameters of the proposed CPMVM are optimized and determined.Moreover,the electromagnetic performance,including no-load air-gap flux density,average torque and torque ripple,flux linkage,back-electromotive force,cogging torque,average torque,torque ripple,power factor and loss,is compared with conventional surface-mounted permanent magnet vernier machine(SPMVM)and CPMVM.Finally,it is demonstrated that proposed CPMVM with flux barrier can effectively reduce the unipolar leakage flux and greatly reduce the torque ripple of machine.Also,compared with the SPMVM,the proposed CPMVM with flux barrier saves more than 45%of the permanent magnet material without reducing output torque.

Deep Global Multiple-Scale and Local Patches Attention Dual-Branch Network for Pose-Invariant Facial Expression Recognition

Pose-invariant facial expression recognition(FER)is an active but challenging research topic in computer vision.Especially with the involvement of diverse observation angles,FER makes the training parameter models inconsistent from one view to another.This study develops a deep global multiple-scale and local patches attention(GMS-LPA)dual-branch network for pose-invariant FER to weaken the influence of pose variation and selfocclusion on recognition accuracy.In this research,the designed GMS-LPA network contains four main parts,i.e.,the feature extraction module,the global multiple-scale(GMS)module,the local patches attention(LPA)module,and the model-level fusion model.The feature extraction module is designed to extract and normalize texture information to the same size.The GMS model can extract deep global features with different receptive fields,releasing the sensitivity of deeper convolution layers to pose-variant and self-occlusion.The LPA module is built to force the network to focus on local salient features,which can lower the effect of pose variation and self-occlusion on recognition results.Subsequently,the extracted features are fused with a model-level strategy to improve recognition accuracy.Extensive experimentswere conducted on four public databases,and the recognition results demonstrated the feasibility and validity of the proposed methods.

Airgap-harmonic-oriented Partitioned Design Method of PMV Motor with Improved Torque Performances

Here,we introduce a partitioned design method that is oriented toward airgap harmonic for permanent magnet vernier(PMV)motors.The method proposes the utilization of airgap flux harmonics as an effective bridge between the torque design region and the torque performances.To illustrate the efficacy of this method,a partitioned design PMV motor is presented and compared with the initial design.Firstly,the torque design region of the rotor is artfully divided into the torque enhancement region and ripple reduction region.Meanwhile,the main harmonics that generate output torque are chosen and enhanced,optimization.Moreover,the harmonics that generate torque ripple are selected and reduced based on torque harmonics optimization.Finally,the functions of the partitioned PMV motor torque are assessed based on the finite element method.By the purposeful design of these two regions,the output torque is strengthened while torque ripple is inhibited effectively,verifying the effectiveness and reasonability of the proposed design method.

Review of Fault-tolerant Control for Motor Inverter Failure with Operational Quality Considered

In recent years,motor drive systems have garnered increasing attention due to their high efficiency and superior control performance.This is especially apparent in aerospace,marine propulsion,and electric vehicles,where high performance,efficiency,and reliability are crucial.The ability of the drive system to maintain long-term fault-tolerant control(FTC)operation after a failure is essential.The likelihood of inverter failures surpasses that of other components in the drive system,highlighting its critical importance.Long-term FTC operation ensures the system retains its fundamental functions until safe repairs or replacements can be made.The focus of developing a FTC strategy has shifted from basic FTC operations to enhancing the post-fault quality to accommodate the realities of prolonged operation post-failure.This paper primarily investigates FTC strategies for inverter failures in various motor drive systems over the past decade.These strategies are categorized into three types based on post-fault operational quality:rescue,remedy,and reestablishment.The paper discusses each typical control strategy and its research focus,the strengths and weaknesses of various algorithms,and recent advancements in FTC.Finally,this review summarizes effective FTC techniques for inverter failures in motor drive systems and suggests directions for future research.

Research on Switching Characteristics Based on Optimization Design of SiC MOSFET Drive Circuit

With the increasing emphasis on energy conservation,emission reduction and environmental protection,the application prospect of SiC power devices is becoming more and more broad.In the high frequency application of SiC MOSFET,the change rate of voltage and current in the turn-on and turn-off process increases with the increase of switching frequency.Also,the current and voltage spike oscillation phenomenon is gradually intensified due to the influence of circuit stray parameters.Based on the analysis of SiC MOSFET characteristics,the paper discusses the design requirements and design principles of SiC MOSFET drive circuit.Then,taking the SiC module C2M0080120D of Cree Company as an example,a driver circuit design is realized through the ACPL-355JC optocoupler driver module of Broadcom Company.The circuit not only has the characteristics of fast transmission delay and excellent performance,but also has the functions of overload and short circuit protection.The driving circuit is verified by LTspice simulation software,and the switching characteristics of SiC MOSFET under different working conditions are studied in depth.The experimental results show that the driving circuit can improve the switching time of SiC MOSFET and effectively solve the problem of current and voltage spike oscillation,which lays a foundation for the practical application of SiC MOSFET in the future.

Design and Analysis of a Magnetic Bearings with Three Degrees of Freedom

The current research of supporting and transmission system in flywheel energy storage system(FESS) focuses on the low consumption design. However, friction loss is a non-negligible factor in the high-speed but lightweight FESS energy and momentum storage with mechanical-type supporting system. In order to realize the support system without mechanical loss and to maximize the e ciency of the flywheel battery, a permanent magnet biased magnetic bearings(PMBMB) is applied to the FESS with the advantages of low loss, high critical speed, flexible controllability and compact structure. In this frame, the relevant research of three degrees of freedom(3-DOF) PMBMB for a new type FESS is carried out around the working principle, structural composition, coupling characteristics analysis, mathematical model, and structural design. In order to verify the performance of the 3-DOF PMBMB, the radial force mathematical model and the coupling determination equations of radial two DOF are calculated according to an equivalent magnetic circuit, and radial–axial coupling is analyzed through finite element analysis. Moreover, a control system is presented to solve the control problems in practical applications. The rotor returns to the balanced position in 0.05 s and maintains stable suspension. The displacement fluctuation is approximately 40 μm in the y direction and 30 μm in the x direction. Test results indicate that the dynamic rotor of the proposed flywheel energy storage system with PMBMB has excellent characteristics, such as good start-of-suspension performance and stable suspension characteristics. The proposed research provides the instruction to design and control a low loss support system for FESS.

Design and Analysis of a V-Shaped Permanent Magnet Vernier Motor for High Torque Density

This paper proposes a V-shaped permanent magnet vernier(V-PMV)motor for potential applications in direct drive system.By designing suitable pole slot ratio and adopting the V-shaped PM topology and dummy slots in rotor,the flux leakage can be avoided effectively.Meanwhile,the high-order harmonics with large amplitude in the airgap magnetic field are fully utilized and served as the effective working harmonics,which aim at enhancing the output torque and reducing the torque ripple.Moreover,to extensively explore the performance advantages of the V-PMV motor,a multi-objective optimization study is carried out.And,the electromagnetic performances of the V-PMV motors are analyzed and compared in detail.Finally,a prototype machine is built and tested.Both theoretical analysis and experimental results verify the validity of the motor and multi-objective optimization design approach.

Overview of Permanent-Magnet Fault-Tolerant Machines: Topology and Design

Permanent-magnet(PM)machines have attracted a lot of interest in various applications since they have the merits of high torque density,high power density and high efficiency.However,issue of poor fault tolerance of the conventional PM machines restricts their practical applications in the field of safety-critical applications,e.g.aerospace,electric vehicle,electrical propulsion and wind power generator applications.An enormous amount of work has been done to improve the fault-tolerant capability of PM machines.This paper will review research work on PM fault-tolerant machines up-to-date,including modular design,short-circuit current limitation design,redundant design,ease of thermal dissipation of PM design,and torque enhancement design techniques.The work of this paper can provide some references for future studies and engineering applications of PM fault-tolerant machines for safety-critical applications.

Optimization Design and Analysis of a Hybrid Permanent Magnet Flux-Switching Motor with Compound Rotor Configuration

This paper proposes a type of flux-switching permanent magnet(FSPM)motor,where the design concept of the hybrid permanent magnets(HPM)and the compound rotor are incorporated into the motor design.In such design,the proposed motor can not only realize the significant reduction of NdFeB volume,but also artfully convert external magnetic flux leakage into the air-gap field to achieve competitive torque density and desirable PM usage efficiency.For extensive investigation,two topologies of the HPM are designed and analyzed for the proposed motor,which consist of the parallel-magnetic-hybrid(PMH)mode and serial-magnetic-hybrid(SMH)mode.To fully exploit the potential advantages of the proposed motor,a multi-objective optimization design is conducted,where the response surface method(RSM)and sequential non-linear programming(SNP)method are purposely utilized.After optimization,the electromagnetic performances of the motor with PMH mode and SMH mode are evaluated and compared by using finite element method(FEM),which include the back-EMF,cogging torque,output torque,and so on.Furthermore,the partial demagnetization of the ferrite PM is also investigated in the paper.Finally,the theoretical analysis and simulation study verify the effectiveness of the proposed motor and corresponding optimization design.

Modeling of Fault-tolerant Flux-switching Permanent-magnet Machines for Predicting Magnetic and Armature Reaction Fields

The paper develops accurate analytical subdomain models for predicting the magnetic and armature reaction fields in fault-tolerant flux-switching permanent-magnet machines.The entire region is divided into five subdomains,followed by rotor slots,air-gap,stator slots,PM,and external air-gap imported to account for flux leakage.The coil turns and the remanence of magnets are adjusted by keeping the magnetic and electrical loading on the motor constant.The distance between the centers of two adjacent stator slots varies due to the introduction of faulttolerant teeth.According to the variable separation method,the general solution expression of each region can be determined by solving the partial differential systems of equations.The magnetic field distributions of subdomains are obtained by applying the continuity conditions between adjacent regions.Some analytical field expressions are represented as new forms under armature reaction field condition compared to those under no-load condition.Based on the developed analytical models,the flux density distribution and the electromagnetic performance can be calculated under no-load or armature reaction field condition separately.The finite element analysis is carried out to verify the validity of the proposed analytical model.

Connectivity Analysis of Vehicles in Highway with One Entry/Exit and One RSU

In this paper, we consider a unidirectional highway road with one entry/exit uniformly distributed on the road interval. One road side unit (RSU) is located on the position of the entry/exit. We build an analytical model to study the network connectivity problem. In building the analytical model, we take into account several parameters, such as vehicle arrival rate, vehicle moving speed, vehicle communication radius, RSU communication radius, highway road length and the probability of vehicles driving through the entry/exit. The analytical model is verified by using simulation tools.

The Full Load Voltage Compensation Strategy in Capacity Configuration of UPQC Integrated PV-BESS

Unified power quality conditioner(UPQC)with energy storage is commonly based on conventional capacity configuration strategy with power angle control.It has problems such as phase jumping before and after compensation.DC-link cannot continuously emit active power externally.Therefore,this paper presents the compensation strategy of full load voltage magnitude and phase in capacity configuration of UPQC.The topology of UPQC is integrated a series active power filter(SAPF),a shunt active power filter(PAPF)and a photovoltaic-battery energy storage system(PV-BESS).The principle of full load voltage compensation is analyzed based on the PV-BESS-UPQC topology.Themagnitude constant of load voltage ismaintained by controlling the appropriate shunt compensation current.Then the UPQC capacity configuration is carried out using the full load voltage compensation strategy.The compensation capacity of UPQC series and shunt units are reduced.Finally,the simulation results show that the proposed compensation strategy reduces the capacity configuration by 5.11 kVA(36.4%)compared to the conventional compensation strategy.The proposed strategy can achieve full compensation of the load voltage,which can effectively reduce the capacity allocation and improve the economy of UPQC.It also has the PV-BESS units’ability of providing active power and can stabilize the DC-link voltage.

Decoupling Control of 5 Degrees of Freedom Bearingless Induction Motors Using α-th Order Inverse System Method

A 5-degrees-of-freedom bearingless induction motor is a multi-variable,nonlinear and strong-coupled system．In order to achieve rotor suspension and operation steadily,it is necessary to realize dynamic decoupling control among torque and suspension forces．In the paper,a method based on α-th order inverse system theory is used to study dynamic decoupling control．Firstly,the working principles of a 3-degrees-of-freedom magnetic bearing and a 2-degrees-of-freedom bearinglees induction motor are analyzed, the radial-axial force equations of 3-degrees-of-freedom magnetic bearing,the electromagnetic torque equation and radial force equations of the 2-degrees-of-freedom bearingless induction motor are given,and then the state equations of the 5-degrees-of-freedom bearingless induction motor are set up．Secondly,the feasibility of decoupling control based on dynamic inverse theory is discussed in detail,and the state feedback linearization method is used to decouple and linearize the system．Finally,linear control system techniques are applied to these linearization subsystems to synthesize and simulate．The simulation results have shown that this kind of control strategy can realize dynamic decoupling control among torque and suspension forces of the 5-degrees-of-freedom bearingless induction motor,and that the control system has good dynamic and static performance．

Finite-Control-Set Model Predictive Control of Permanent Magnet Synchronous Motor Drive Systems——An Overview

Permanent magnet synchronous motors(PMSMs)have been widely employed in the industry. Finite-control-set model predictive control(FCS-MPC), as an advanced control scheme, has been developed and applied to improve the performance and efficiency of the holistic PMSM drive systems. Based on the three elements of model predictive control, this paper provides an overview of the superiority of the FCS-MPC control scheme and its shortcomings in current applications. The problems of parameter mismatch, computational burden, and unfixed switching frequency are summarized. Moreover, other performance improvement schemes, such as the multi-vector application strategy, delay compensation scheme, and weight factor adjustment, are reviewed. Finally, future trends in this field is discussed, and several promising research topics are highlighted.

LCH:A local clustering H-index centrality measure for identifying and ranking influential nodes in complex networks

Identifying influential nodes in complex networks is one of the most significant and challenging issues,which may contribute to optimizing the network structure,controlling the process of epidemic spreading and accelerating information diffusion.The node importance ranking measures based on global information are not suitable for large-scale networks due to their high computational complexity.Moreover,they do not take into account the impact of network topology evolution over time,resulting in limitations in some applications.Based on local information of networks,a local clustering H-index(LCH)centrality measure is proposed,which considers neighborhood topology,the quantity and quality of neighbor nodes simultaneously.The proposed measure only needs the information of first-order and second-order neighbor nodes of networks,thus it has nearly linear time complexity and can be applicable to large-scale networks.In order to test the proposed measure,we adopt the susceptible-infected-recovered(SIR)and susceptible-infected(SI)models to simulate the spreading process.A series of experimental results on eight real-world networks illustrate that the proposed LCH can identify and rank influential nodes more accurately than several classical and state-of-the-art measures.

Dynamic soft sensor development based on Gaussian mixture regression for fermentation processes

The dynamic soft sensor based on a single Gaussian process regression(GPR) model has been developed in fermentation processes.However,limitations of single regression models,for multiphase/multimode fermentation processes,may result in large prediction errors and complexity of the soft sensor.Therefore,a dynamic soft sensor based on Gaussian mixture regression(GMR) was proposed to overcome the problems.Two structure parameters,the number of Gaussian components and the order of the model,are crucial to the soft sensor model.To achieve a simple and effective soft sensor,an iterative strategy was proposed to optimize the two structure parameters synchronously.For the aim of comparisons,the proposed dynamic GMR soft sensor and the existing dynamic GPR soft sensor were both investigated to estimate biomass concentration in a Penicillin simulation process and an industrial Erythromycin fermentation process.Results show that the proposed dynamic GMR soft sensor has higher prediction accuracy and is more suitable for dynamic multiphase/multimode fermentation processes.

Improvement Torque Performances of Interior Permanent-Magnet Machines

Due to their excellent efficiency,power density and constant power speed region,interior permanent-magnet(IPM)machines are very suitable for electric vehicles(EVs).This paper proposed a new IPM rotor topology,which can offer high reluctance torque,wide constant power speed range and excellent overload capability.Besides,five rotor topologies with integral-slot distributed-windings IPM machines,including four existing IPM topologies and the proposed IPM topology,are designed optimally.Their characteristics,which include d-q axis inductances,saliency ratios,electromagnetic torques,corresponding torque ripples,back-electromotive forces(EMFs),overload capabilities and flux weakening performances are evaluated quantitatively.Finally,a three phase 48s8p hybrid rotor PM machine is built to verify the performances of the proposed IPM machine.This work provides some general concepts for machine developers who are willing to build IPM machines for high-performance EV applications.

Robust stabilization for a class of nonlinear networked control systems

The problem of robust stabilization for a class of uncertain networked control systems （NCSs） with nonlinearities satisfying a given sector condition is investigated in this paper. By introducing a new model of NCSs with parameter uncertainty, network-induced delay, nonlinearity and data packet dropout in the transmission, a strict linear matrix inequality （LMI） criterion is proposed for robust stabilization of the uncertain nonlinear NCSs based on the Lyapunov stability theory. The maximum allowable transfer interval （MATI） can be derived by solving the feasibility problem of the corresponding LMI. Some numerical examples are provided to demonstrate the applicability of the proposed algorithm.