Evolutionary construction of an immune network-based behavior arbitration mechanism for autonomous mobile robots

In recent years, in the field of artificial intelligence (AI), much attention has been focused on reactive planning approaches such as behavior-based AI and new AI. However, a criticism of these approaches is that their arbitration among competence modules is fixed against dynamically changing environments. On the other hand, biological information processing systems have various interesting characteristics from an engineering viewpoint. Among them, the immune system plays an important role in maintaining its own system against dynamically changing environments. Based on this fact, we have investigated a new decentralized consensus-making system for the behavior arbitration of autonomous mobile robots, inspired by the idiotypic network hypothesis in immunology. In this paper, we illustrate the usefulness of our proposed method by means of computer simulations and experiments. © 1998 Scripta Technica. Electr Eng Jpn, 123(3): 1–10, 1998     

传统监控系统的不足及ADS解决方案

分析了传统的监控系统在系统体系结构，系统设计方法，容错技术，软件组件技术，系统集成技术等方面存在不足之处，并介绍了一种新的系统－自律分散系统ADS（Autonomous Decentralized System)，用ADS的系统概念组建的新型监控系统对传统监控系统的不足之处进行了一些改进，对解决传统监控系统所面临的技术难题提供了很好的解决方案。     

Basic concept and decentralized autonomous control of super‐distributed energy systems

New small‐scale dispersed generation systems, such as fuel cells and micro gas turbines, have made remarkable advances lately and they will be applied practically in the near future. Although a large number of researches on the introduction of small‐scale dispersed generation systems have been carried out, only a small number of small‐scale dispersed generation systems are considered in these researches. Therefore, little is known about problems to be solved when a large number of small‐scale dispersed generation systems are introduced into electric power systems. This paper deals with a super‐distributed energy system that consists of a great number of dispersed generation systems such as fuel cells, micro gas turbines, and so on. The behavior of a customer with a dispersed generation system is simulated as the Ising model in statistical mechanics. The necessity of a distribution network in super‐distributed energy systems is discussed based on the Ising model. The feasibility of decentralized autonomous control using vicinity information is also investigated on the basis of stability analysis of the Hopfield neural network model. © 2005 Wiley Periodicals, Inc. Electr Eng Jpn, 151(1): 43–55, 2005; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.10368     

基于一致性算法的混合多端直流自律分散控制

提出了基于一致性算法的混合多端直流自律分散控制。一致性算法广泛应用于多代理系统中,其作用是使各代理仅需相邻通信即可获取全局信息,是实现自律分散控制的基础。因此,在混合多端直流每个端子设置一个代理构成多代理系统。每个代理包含两个功能模块:全局信息获取模块应用一致性算法获取节点总注入功率与参与优化控制的换流站数目;优化控制模块在获取全局信息的基础上,计算本换流站满足特定目标函数的功率和电压参考值。首先在MATLAB中对一致性算法进行了仿真验证,结果表明一致性算法既能保证收敛性,又可在功率变化情况下及时获取全局信息。然后以混合多端直流的损耗优化为例说明基于一致性算法的自律分散控制可应用的场景,在PSCAD中的仿真结果表明所提出的控制策略能够应用到系统的损耗优化中,显著降低了混合多端直流的损耗。     

基于情感词典与LDA模型的股市文本情感分析

建立了一种基于股票情感词典与LDA分析股票文本情感倾向的模型。针对股票文本情感分析中情感词典不全面与句子分析片面的问题,构建较为全面的股票情感词典,同时以句子的倾向性、程度性与相关性三方面分析股票文本情感。引入针对股票的词语、程度性词语与转折性词语构建较为全面的情感词典;抽取预处理之后的股票文本句子的情感词;利用句子算法计算句子倾向、程度向量,并对句子向量利用支持向量机(SVM)和K均值算法分类;利用LDA(latent dirichlet allocation)对情感词计算文档 主题、文档 词语概率分布,以此概率分布获取句子的相关性;综合句子的倾向性、程度性、相关性计算句子情感;最后,通过句子情感获取股票文本的情感倾向比例。通过对百度新闻经济板块收集的股票文本进行实验并与其他算法比较,该模型对句子与文本分类准确率提高到82.78%与84.14%。     

Autonomous decentralized system for torque control of high‐power permanent magnet synchronous motor

An autonomous decentralized system (ADS) for the control of a high‐power permanent magnet synchronous motor (PMSM) presented in this paper. The system decentralizes a centralized control system into several autonomous subsystems. Thus the power supply and power electronic devices of the control system can be replaced by smaller ones, thereby obtaining better fault tolerance of the system. The subsystems are connected only through the data field, which, in this paper consists of feedback elements and communication modules. This structure enables the autonomous controllability and autonomous coordinability of the system. The mathematical model of the PMSM with decentralized stator coils is proposed. This model takes into account the self‐ and mutual inductance of the coil, as well as the effect of the stator slot‐pitch angle. In addition, an autonomous algorithm for the torque control of the PMSM with decentralized stator coils is proposed, and the fault‐tolerance design is developed. Experimental results of the torque control and fault‐tolerance control confirm the validity of the proposed system. © 2012 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

基于面部红外热图的恐惧情绪识别

恐惧情绪是人体应对外界刺激的一种反应,其产生会引起人体面部皮肤温度的变化。根据红外热图反映物体表面温度分布的原理,提出了一种基于面部红外热图对恐惧情绪进行识别的方法。首先采用指数函数拟合方法对现有的传热模型进行简化,将红外热像仪所采集的面部红外热图转化为血液灌注伪彩色图,寻找感兴趣区域(前额区域);然后,提取感兴趣区域的血液灌注变化曲线的相关特征(斜率、置信度、均值、标准偏差),并采用斯皮尔曼相关系数分析其与受试对象恐惧程度自评分之间的相关性;最后采用与恐惧程度自评分相关性最高的标准偏差对受试对象进行恐惧情绪的识别。实验结果表明,当受试对象产生恐惧情绪时,前额区域的血液灌注呈现出明显的下降趋势,这与现有的恐惧情绪研究结论一致;血液灌注值的标准偏差可以作为恐惧情绪识别的主要特征(阈值0.14)。采用本文所提出的方法,对28例样本进行测试,受试对象恐惧情绪的识别准确率达到85.7%,具有较高的可靠性。     

基于HMM的语音信号情感识别研究

包含在语音信号中的情感信息是一种很重要的信息,它是人们感知事物不可缺少的部分。本文在语音识别的基础上提出了应用隐马尔可夫模型(HMM)进行语音信号情感识别的研究。从情感语音的分类、情感语音资料的获取、情感语音特征提取及情感语音识别等方面,讨论了应用连续隐马尔可夫模型进行情感识别的整个过程,并得到了比较理想的识别结果。     

兼顾系统调频需求的分布式风电分散自治调控策略

越来越多的风力发电将分布在配电系统中,它们无法像常规电源一样由输电网调度中心集中调度和控制,通常需要采用分散自治的调控方式。然而,风电机组完全不顾输电系统的运行需求充分自治,会在某些方式下导致系统运行状态恶化。因此,需要研究风电机组新型调控策略,使充分自治转变成能够兼顾系统某些特殊运行需求的有限自治,配合系统渡过难关。针对此问题,提出了能够兼顾系统调频需求的分布式风电机组分散自治调控策略,该策略根据风电机组运行信息和系统频率将风电机组调控区划分为并网控制区、正常调控区、异常调控区、紧急调控区和脱网控制区五类,并给出了异常调控、紧急调控和故障调控三种新的调控模式。算例表明:风电机组能够较好地根据系统调频需求,在最大可用输出功率范围内调整自身输出功率,一定程度上给予系统积极的支持。     

Evaluation model for multi‐microgrid with autonomous DC energy exchange

This paper proposes an evaluation model to analyze the impact of microgrid topologies on self‐sufficiency for a given size of batteries and photovoltaic (PV) panels (resources). Three topologies are evaluated for a community of 19 houses: centralized resources (ideal case), stand‐alone resources, and a multi‐microgrid topology with autonomous exchange. Depending on the ratio of PV and battery size, the topology with stand‐alone resources has a clear disadvantage in terms of self‐sufficiency compared to the centralized, ideal topology. To counteract this, we propose a hybrid topology: households are interconnected so that they can exchange energy between each other based on an autonomous energy exchange algorithm we developed. We show that for a well‐chosen ratio of batteries and PV, the interconnected system can improve the stand‐alone design by up to 10% without requiring any additional resources. This topology can approach performance similar to that of a centralized microgrid but its design is more flexible and resilient to failures or accidents. The evaluation model computes the self‐sufficiency ratio (SSR) for the three topologies for 0–20 kWh batteries and 1–14 kWp PV sizes. Furthermore, seasonal differences in SSR per topology are analyzed for an actual community with real resources. We also calculate the savings in PV and battery due to the interconnected topology. Finally, the third topology's feasibility is demonstrated on a full‐scale platform in Okinawa on which the autonomous energy exchange software was tested for over a year in a community of 19 houses. © 2017 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Force-reflecting teleoperation of robots based on on-line correction of a virtual model

Virtual reality is an effective method to eliminate the influence of time delay. However, it depends on the precision of the virtual model. In this paper, we introduce a method that corrects the virtual model on-line to establish a more precise model. The geometric errors of the virtual model were corrected on-line by overlapping the graphics over the images and also by syncretizing the position and force information from the remote. Then the sliding average least squares (SALS) method was adopted to determine the mass, damp, and stiffness of the remote environment and use this information to amend the dynamic model of the environment. Experimental results demonstrate that the on-line correction method we proposed can effectively reduce the impact caused by time delay, and improve the operational performance of the teleoperation system. Translated from Journal of Southeast University (Natural Science), 2006, 36(2): 242–246 [译自: 东南大学学报 (自然科学版)]     

Distributed autonomous control system of the smart grid based on the turing pattern model

Renewable energy resources, which are generally unstable, affect the performance of electricity grids when they are fully connected. A distributed energy supply network system is expected to compensate for the anticipated performance problems. We have constructed a distributed autonomous system that controls batteries installed in each house. In this system, even if central control does not exist, electrical charging and discharging of the batteries are carried out for self‐organization. As a result, the grid stability is maintained in the local urban district. Our system is based on the Turing pattern model. © 2013 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

A decentralized model following controllers for a class of large‐scale interconnected dynamical systems with uncertainties

The problem of decentralized robust tracking and model following is considered for a class of large‐scale interconnected systems with uncertainties. A class of linear decentralized state feedback controllers are proposed for robust tracking of dynamical signals in such a class of uncertain large‐scale systems. The proposed decentralized tracking controllers can guarantee that the tracking errors between each subsystem and local reference model are uniformly ultimately bounded. Moreover, we modify the linear controllers by introducing some nonlinear parts so that the tracking errors decrease asymptotically to zero in the presence of uncertain parameters and interconnection terms. Finally, an illustrative example is given to demonstrate the validity of our results. © 2002 Wiley Periodicals, Inc. Electr Eng Jpn, 142(2): 48–58, 2003; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.10101     

Autonomous decentralized voltage profile control of super‐distributed energy system using multi‐agent technology

A super‐distributed energy system is a future energy system in which a large part of its demand is fed by a huge number of distributed generators. At one time some nodes in the super‐distributed energy system behave as load, whereas at other times they behave as generator—the characteristic of each node depends on the customers' decision. In such situation, it is very difficult to regulate the voltage profile over the system due to the complexity of power flows. This paper proposes a novel control method of distributed generators that can achieve autonomous decentralized voltage profile regulation by using multi‐agent technology. The proposed multi‐agent system employs two types of agent: a control agent and a mobile agent. Control agents generate or consume reactive power to regulate the voltage profile of neighboring nodes and mobile agents transmit the information necessary for VQ‐control among the control agents. The proposed control method is tested through numerical simulations. © 2008 Wiley Periodicals, Inc. Electr Eng Jpn, 164(4): 43–52, 2008; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20484     

复合球坐标系中便携式坐标测量机的数学模型

便携式关节臂柔性三坐标测量系统是一种新颖的基于旋转关节和转动臂的三坐标测量系统,以角度测量基准取代了长度测量基准,它具有量程大、体积小、重量轻、使用灵活,在线测量等优点.本文首先在关节臂测量系统的各个关节处建立复合球坐标系,然后确定了在复合球坐标系下各关节的轴线和零位,利用空间坐标系之间的转换关系,建立的数学模型较之以前的关节臂式测量机数学模型更为简单,并且通过几何作图法验证了新模型的正确性,为进一步研究系统的标定和误差补偿等提供了理论基础.     

Decentralized control based on equilibrium point control for a three-machine electric power model system

Electric power systems have become larger and more complex year by year, and the number of decentralized power sources is rapidly increasing, Tberefore, to guarantee high reliability and security, decentralized control based on the decentralization of power systems needs to be developed. In this paper, a decentralized system is constructed by viewing the whole system from the perspective of the generator-bus with the largest power. Since the decentralized system is identified as a one-machine infinite-bus power model system with AVR and GOV, the equilibrium point control, proposed by the authors for a one-machine system, can be applied to it. Control inputs u_a · u_g for AVR · GOV are determined, and the equilibrium points of the decentralized system can be moved by changing the feedback gains. In particular, the unstable equilibrium point is set near the outside of the limiters for AVR · GOV, and stability in the limiters is guaranteed. Thus, it is shown that, by repeating the same steps for other generators, decentralized control for the three-machine model system can be attained. © 1998 Scripta Technica. Electr Eng Jpn, 122(3): 28–36, 1998     

A study on cooperative tap control method for voltage profile maintenance in distribution networks with distributed generators

The introduction of distributed generators (DGs) that can utilize renewable energy is of prime importance to solve the energy and environmental issues. When a distribution network has a large number of DGs, voltage maintenance becomes a serious problem. To solve this problem, we had proposed the ‘voltage profile control method’ using reactive power control of DGs. However, the control is limited to continuous reactive power control so far, and tap control has not been considered. It is important that the conventional voltage control equipment such as the load ratio tap changer (LRT) or step voltage regulator (SVR) is utilized in order to enhance the control efficiency of the voltage profile control method. Therefore, in this paper, we develop a new method that can realize a cooperative work between inverters and tap control of LRT and SVR. The proposed method is tested in 8‐ and 24‐node model systems and its effectiveness is shown. © 2012 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Epidemic spreading behavior with time delay on local-world evolving networks

An improved susceptible-infected-susceptible (SIS) model in the local-world evolving network model is presented to study the epidemic spreading behavior with time delay, which is added into the infected phase. The local-world evolving model displays a transition from the exponential network to the scale-free network with respect to the degree distribution. Two typical delay regimes, i.e., uniform and degree-dependent delays are incorporated into the SIS epidemic model to investigate the epidemic infection processes in the local-world network model. The results indicate that the infection delay will promote the epidemic outbreaks, increase the prevalence and reduce the critical threshold of epidemic spreading. It is also found that local-world size M will considerably influence the epidemic spreading behavior with time delay in the local-world network through large-scale numerical simulations. Simulation results are also of relevance to fight epidemic outbreaks.     

Parameter design of switched assist controller for man–machine cooperative system with human behavior model based on hybrid system

Recently, the demand for man–machine cooperative systems has been growing in many industrial fields, particularly in cell production and in flexible manufacturing systems. In the design of man–machine cooperative systems, the characteristics of human behavior must be considered. This paper presents a new design strategy for a switched assist controller for a man–machine cooperative positioning task that takes into consideration a human behavior model based on a continuous/discrete hybrid dynamical system. First, the human behavior model is identified as a piecewise ARX model using k‐means clustering and a support vector machine. Second, the switched assist system is designed as a switched impedance controller based on the identified hybrid human behavior model with optimization. The optimization was solved by performing a forward calculation of the closed loop response of the human behavior model and controller with a criterion reflecting the task time and the force effort. The results show that one can find the optimal parameters for a switched impedance controller. © 2011 Wiley Periodicals, Inc. Electr Eng Jpn, 177(1): 55–64, 2011; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.20932