A multilevel sampled‐data approach for resilient navigation and control of autonomous systems

Autonomous systems are rapidly becoming an integrated part of the modern life. Safe and secure navigation and control of these systems present significant challenges in the presence of uncertainties, physical failures, and cyber attacks. In this paper, we formulate a navigation and control problem for autonomous systems using a multilevel control structure, in which the high‐level reference commands are limited by a saturation function, whereas the low‐level controller tracks the reference by compensating for disturbances and uncertainties. For this purpose, we consider a class of nested, uncertain, multiple‐input–multiple‐output systems subject to reference command saturation, possibly with nonminimum phase zeros. A multirate output‐feedback adaptive controller is developed as the low‐level controller. The sampled‐data (SD) design of this controller facilitates the direct implementation on digital computers, where the input/output signals are available at discrete time instances with different sampling rates. In addition, stealthy zero‐dynamics attacks become detectable by considering a multirate SD formulation. Robust stability and performance of the overall closed‐loop system with command saturation and multirate adaptive control are analyzed. Simulation scenarios for navigation and control of a fixed‐wing drone under failures/attacks are provided to validate the theoretical findings.     

腐蚀对模块式钢结构选煤厂设备支架振动响应影响的测试及分析

选煤厂采用模块式钢结构作为设备支架,受设备使用及养护不当造成结构构件严重腐蚀,构件截面削弱,导致结构产生过大振动,通过对结构各层振动响应测试,得到各测点水平向及竖直向振动速度幅值。经分析得出腐蚀后对结构整体刚度影响程度,为后期采取措施及安全生产提供依据。     

基于RG 1.183的先进小堆选址源项模型初步研究

在《用于评估核动力反应堆设计基准事故的替代放射性源项》RG 1.183所述的假想事故场景情况下,考虑目前大多数的先进小型压水堆地上-地下布置的设计特点,对传统大型压水堆选址源项计算模型做了改进:在原安全壳内放射性物质守恒方程的基础上,考虑辅助厂房的阻滞作用,建立辅助厂房内放射性物质守恒方程。并以某先进小型反应堆核电厂为例,利用新模型计算了代表核素的释放,与现有模型进行了对比。     

基于Stateflow电力机车变流器控制设计与实现

某出口型号交流电力机车牵引控制系统要求变流器控制逻辑具备接触器控制、牵引系统数据交互、变流器故障保护、变流器启动自检等功能。针对以上功能,基于MATLAB中的Simulink/Stateflow可视化编程工具进行牵引控制模型的搭建,遵循模块化编程理念,采用较少的程序代码编写实现复杂的逻辑控制模型,生成逻辑清晰的控制功能流程图,进行半实物仿真测试,增强控制模型的可靠性。通过该变流器产品型式试验检验,验证变流器控制逻辑的功能可以满足控制系统的需求。     

一种交直流混合输电系统直流侧双极故障保护策略

为进一步分析含柔性直流输电(MMC-HVDC)的交直流混合输电系统的故障特征,基于交直流混合输电系统和模块化多电平换流器(MMC)的拓扑结构,推导了MMC的数学模型,研究了直流系统双极短路的故障机理和故障特征,针对含MMC-HVDC的交直流混合输电系统的双极短路故障,设计了限流电路及闭锁换流站与交流断路器跳闸相结合的故障保护方案。以厦门市柔性直流输电系统为例,在PSCAD/EMTDC中搭建了交直流混合系统,并对保护方案进行了仿真验证。结果表明,提出的保护策略能有效地降低故障电流,提高系统稳定性。     

轻量级电驱水下机械臂设计与运动学分析

设计了一款四功能水下机械臂，并对驱动关节进行了模块化设计和密封测试。为了保证水下机械臂的可靠性，在水下机械臂水下测试前，进行了强度校核和模态分析。为了验证水下机械臂的性能，通过 Ｄ- Ｈ法建立了其运动学模型，在此基础上分别进行了正、逆运动学分析。此外还采用蒙特卡洛法，在正运动学分析的基础上研究了工作空间特点。研究结果将为进一步的运动控制提供有益的帮助。     

基于一种云计算数据保护的多级加密算法的应用研究

云计算是分布式计算技术的一种,其最基本的概念是透过网络将庞大的计算处理程序自动分拆成无数个较小的子程序,再交由多部服务器所组成的庞大系统经搜寻、计算分析之后将处理结果回传给用户。云计算中的数据泄漏已经成为云计算的巨大威胁,据不完全统计数据,仅在2019年1年,大约有超40亿条信息被泄露。这些信息涵盖科技、医疗、政府、金融、教育、制造等十几个领域数百个行业,数据泄露已经成为云计算中数据安全的巨大威胁。主要提出了一种多级加密算法,能更好地保护云计算中的数据,并能以极小的成本在云计算中得到应用。     

Modular Self‐Assembling Peptide Platform with a Tunable Thermoresponsiveness via a Single Amino Acid Substitution

The introduction of a stimulus‐responsive property is an effective way to increase the applicability of functional materials in the field of nanobiotechnology. Herein, a peptide platform is devised for constructing elastin‐like peptide amphiphiles (ELPAs) that exhibit a temperature‐responsiveness that can be easily tuned via a single N‐terminal amino acid substitution at the final step of peptide synthesis. Due to the modular property of peptides, the platform based on a miniaturized elastin‐like peptide (MELP) can be conjugated with various bioactive peptide sequences in diverse macromolecular topologies. First, the MELP platform is coupled with a short linear RGD peptide. The ELPAs of the peptide conjugates exhibit rapid aggregation (coacervation) and retard disaggregation in response to heating and cooling, respectively. Second, the platform is grafted with an α‐helical guest peptide in a lariat‐type structure, which forms ELPAs that undergo faster disassembly than the ELPAs without the guest peptide in response to temperature increases. Interestingly, the critical temperatures for the thermoresponsive behaviors are commonly dependent on the hydrophobic and aromatic properties of the N‐terminal amino acid residues. These results suggest that this peptide platform possesses great potential for use in the development of smart materials in wide‐ranging applications related to temperature change.     

Performance Comparison of Circuits for Pole‐Mounted STATCOM Using SiC Devices

The recent years have seen an increasing trend in the cumulative installed capacity of distributed generators. As a result, voltage management may become difficult in existing power distribution systems in the future. A STATCOM (STAtic synchronous COMpensator) is a promising option for solving this problem because it can control reactive power rapidly and continuously. For a distribution system, STATCOM needs to be pole‐mounted to realize its low cost. However, a transformer for a STATCOM is large and heavy, and hence it is difficult to install a STATCOM on a distribution pole. We adopt a transformerless STATCOM to reduce STATCOM size and use SiC devices with low‐loss performance to obtain a more compact and efficient STATCOM. There are a large number of circuits available for a STATCOM, and there has been considerable research on performance comparisons among these circuits. However, these comparisons were drawn under different conditions, including switching frequency and level number for the circuits. In addition, these comparisons do not include the use of SiC devices. We made an equitable comparison for a 100 kVa pole‐mounted STATCOM using SiC devices. We discuss the performance and characteristics of each circuit in terms of efficiency and volume.