基于概率法的电力系统安全分析

为应对电力系统安全分析中的停机问题，基于概率法的方式，将常用的确定停机计算与加入了概率法的概率停机进行比较，研究了二者的区别与其在长期投资方向的不同。在进行电力系统停机分析时，通常会分别从确定停机与概率停机的角度出发，对其应急状态下的潮流进行计算。但前者的方法可能导致极低概率的停机事件被忽略，进而影响长期的资金投资。通过加入概率法的计算，使得对单个停机事件的判定由其具体的频率来确定，增加了系统运行的稳定性。     

Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

Thermo-economic investigation on the hydrogen production through the stored solar energy in a salinity gradient solar pond: A comparative study by employing APC and ORC with zeotropic mixture

In this paper, a salinity gradient solar pond (SGSP) is used to harness the solar energy for hydrogen production through two cycles. The first cycle includes an absorption power cycle (APC), a proton exchange membrane (PEM) electrolyzer, and a thermoelectric generator (TEG) unit; in the second one, an organic Rankine cycle (ORC) with the zeotropic mixture is used instead of APC. The cycles are analyzed through the thermoeconomic vantage point to discover the effect of key decision variables on the cycles’ performance. Finally, NSGA-II is used to optimize both cycles. The results indicate that employing ORC with zeotropic mixture leads to a better performance in comparison to utilizing APC. For the base mode, unit cost product (UCP), exergy, and energy efficiency when APC is employed are 59.9 $/GJ, 23.73%, and 3.84%, respectively. These amounts are 47.27 $/GJ, 29.48%, and 5.86% if ORC with the zeotropic mixture is utilized. The APC and ORC generators have the highest exergy destruction rate which is equal to 6.18 and 10.91 kW. In both cycles, the highest investment cost is related to the turbine and is 0.8275 $/h and 0.976 $/h for the first and second cycles, respectively. In the optimum state the energy efficiency, exergy efficiency, UCP, and H₂ production rate of the system enhances 42.44%, 27.54%,15.95%, and 38.24% when ORC with the zeotropic mixture is used. The maximum H₂ production is 0.47 kg/h, and is obtained when the mass fraction of R142b, LCZ temperature, pumps pressure ratio, generator bubble point temperature are 0.603, 364.35 K, 2.12, 337.67 K, respectively.     

超宽带大功率合成器设计北大核心CSCD

在80 MHz~1 GHz频段,单个功率管输出功率能达到100 W以上,为研制输出功率400 W的功率放大器,文中设计了四路功率合成器。该合成器需要实现功率容量大、工作频带宽、体积小的设计目标。在功率容量方面,文中采用悬置带状线结构,其功率容量远远大于微带线结构;在工作频带方面,采用切比雪夫九节阻抗变换器,将工作带宽拓宽为80 MHz~1 GHz;在体积方面,文中合成器的功率合成部分采用Y型节级联实现四路功率合成,阻抗变换部分采用切比雪夫阻抗变换器进行阻抗变换,该结构相较于磁环巴伦功率合成器,不但具有损耗小、平坦度高的优点,而且通过将阻抗变换器设计成曲折的形状,进一步缩小了合成器体积。仿真与实测结果显示该合成器在80 MHz~1 GHz范围内还具有较高的平坦度,合成效率可达90%以上。     

Optimal design of nonlinear model predictive controller based on new modified multitracker optimization algorithm

The controller design for the robotic manipulator faces different challenges such as the system's nonlinearities and the uncertainties of the parameters. Furthermore, the tracking of different linear and nonlinear trajectories represents a vital role by the manipulator. This paper suggests an optimal design for the nonlinear model predictive control (NLMPC) based on a new improved intelligent technique and it is named modified multitracker optimization algorithm (MMTOA). The proposed modification of the MTOA is carried out based on opposition-based learning (OBL) and quasi OBL approaches. This modification improves the exploration behavior of the MTOA to prevent it from becoming trapped in a local optimum. The proposed method is applied on the robotic manipulator to track different linear and nonlinear trajectories. The NLMPC parameters are tuned by the MMTOA rather than the trial and error method of the designer. The proposed NLMPC based on MMTOA is compared with the original MTOA, genetic algorithm, and cuckoo search algorithm in literature. The superiority and effectiveness of the proposed controller are confirmed to track different linear and nonlinear trajectories. Furthermore, the robustness of the proposed method is emphasized against the uncertainties of the parameters.     

Multimodal sensing and active continuous closed‐loop feedback for achieving reliable manipulation in the outdoor physical world

The use of field robots can greatly decrease the amount of time, effort, and associated risk compared to if human workers were to carryout certain tasks such as disaster response. However, transportability and reliability remain two main issues for most current robot systems. To address the issue of transportability, we have developed a lightweight modularizable platform named AeroArm. To address the issue of reliability, we utilize a multimodal sensing approach, combining the use of multiple sensors and sensor types, and the use of different detection algorithms, as well as active continuous closed‐loop feedback to accurately estimate the state of the robot with respect to the environment. We used Challenge 2 of the 2017 Mohammed Bin Zayed International Robotics Competition as an example outdoor manipulation task, demonstrating the capabilities of our robot system and approach in achieving reliable performance in the fields, and ranked fifth place internationally in the competition.     

关于新疆热电厂职业危害分析与讨论

对比不同热电厂企业工人接触职业危害因素情况,分析原因,为在建或已建热电厂提供职业危害因素预防措施,降低企业由于设计、施工或管理方面原因造成后期运行过程中职业危害接触超标情况的发生。根据我室历年对新疆地区热电厂职业危害因素检测结果与评价报告的比较,找出不同热电厂职业病危害因素的共性及异性,分析不同设备、工艺及管理方式不同所造成职业危害因素检测结果的差异及原因。建议优化厂区工艺及土建设计;优化设备选型及原料选择运用现代化的管理手段,加强职业卫生管理体系宣贯的有效运作。     

水泥窑余热发电系统用耐磨材料的研制与应用

本研究针对水泥窑余热发电系统的工作条件,根据耐磨材料的损毁机理,采用高铝矾土、煅烧氧化铝粉、黏土、硅微粉等为原料,以磷酸二氢铝为结合剂,以铝酸钙水泥为促硬剂,通过添加掩蔽剂和优化配料工艺,制备了水泥窑余热发电系统用耐磨材料,并对不同处理温度对耐磨材料的性能影响进行了分析。结果表明增强骨料与基质的结合能力有利于耐磨性的提高,磷酸及磷酸盐与氧化铝之间会随着温度的升高生成不同的磷酸铝相,都能够起到结合作用,比采用水泥结合更有利于提高材料在不同温度下的强度和耐磨性。使用结果表明,制备的耐磨材料施工性能优良,凝结硬化时间适当,强度高,抗冲刷性能好,在水泥窑余热发电系统中取得了良好的使用效果。     

Science fiction reduces the eeriness of android robots: A field experiment

As suggested by the uncanny valley hypothesis, robots that resemble humans likely elicit feelings of eeriness. Based on the psychological model of meaning maintenance, we expected that the uncanny valley experience could be mitigated through a fictional story, due to the meaning-generating function of narratives. A field experiment was conducted, in which 75 participants interacted with the humanlike robot Telenoid. Prior to the interaction, they either read a short story, a non-narrative leaflet about the robot, or they received no preliminary information. Eeriness ratings were significantly lower in the science fiction condition than in both other conditions. This effect was mediated by higher perceived human-likeness of the robot. Our findings suggest that science fiction may provide meaning for otherwise unsettling future technologies.     

Distributed wireless power transfer in sensor networks with multiple Mobile Chargers

We investigate the problem of efficient wireless power transfer in wireless sensor networks. In our approach, special mobile entities (called the Mobile Chargers) traverse the network and wirelessly replenish the energy of sensor nodes. In contrast to most current approaches, we envision methods that are distributed and use limited network information. We propose four new protocols for efficient charging, addressing key issues which we identify, most notably (i) what are good coordination procedures for the Mobile Chargers and (ii) what are good trajectories for the Mobile Chargers. Two of our protocols (DC, DCLK) perform distributed, limited network knowledge coordination and charging, while two others (CC, CCGK) perform centralized, global network knowledge coordination and charging. As detailed simulations demonstrate, one of our distributed protocols outperforms a known state of the art method, while its performance gets quite close to the performance of the powerful centralized global knowledge method.