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.     

无人机在输电线路巡检中的多种应用

无人机技术目前的快速发展使得我们国家输电线路自身的巡检能力得到了持续的提升,基于此本文在对无人机技术给予认识的情况下,在了解了输电线路巡检过程中的使用优势之后,还总结了无人机技术在当前我国线路巡检过程中的应用路径以及应用方法;之后使用案例分析的方式分析了无人机技术在当前输电线路巡检过程中的应用方法。     

Event-triggered variable horizon Supervisory Predictive control of hybrid power plants

The supervision of a hybrid power plant, including solar panels, a gas microturbine and a storage unit operating under varying solar power profiles is considered. The Economic Supervisory Predictive controller assigns the power references to the controlled subsystems of the hybrid cell using a financial criterion. A prediction of the renewable sources power is embedded into the supervisor. Results deteriorate when the solar power is unsteady, owing to the inaccuracy of the predictions for a long-range horizon of 10 s. The receding horizon is switched between an upper and a lower value according to the amplitude of the solar power trend. Theoretical results show the relevance of horizon switching, according to a tradeoff between performance and prediction accuracy. Experimental results, obtained in a Hardware In the Loop (HIL) framework, show the relevance of the variable horizon approach. Power amplifiers allow us to simulate virtual components, such as a gas microturbine, and to blend their powers with that of real devices (storage unit, real solar panels). In this case, fuel savings, reaching 15%, obtained under unsteady operating conditions lead to a better overall performance of the hybrid cell. The overall savings obtained in the experiments amount to 12%.     

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.     

Ranking of aircraft maintenance organization based on human factor performance

Aircraft maintenance organisation is a complex socio-technical setup, where human factors influence the quality of aircraft maintenance service. Maintenance service quality is assessed based on the commitment of management and its ability to provide suitable facility, tools, spares and manpower supported with comfortable environment and maintenance procedures. Assessment of the service quality of the aircraft maintenance organisation is a complex process. Airlines, regulators, insurance companies and other agencies need decision support system, to assess the performance of a maintenance organisation. This paper provides criteria and scientific approach for assessing the maintenance organisation; it presents a methodology of applying Analytical Hierarchy Process to prioritise the key functions and to rank the maintenance organisations under study. The study has established that maintenance service quality in airline is directly correlated to its fleet size.     

浅谈亚欧海底光缆S2段远供电源(PFE)及其维护管理

以亚欧海底光缆S2段为例,介绍亚欧海底光缆远供电源(PFE)的供电方式,以及其在正常运行时和故障维修时的维护管理方法。探讨在实际维护中如何贯彻落实及灵活运用系统联合维护文档,总结适合中国国情的远供电源维护经验,确保亚欧海底光缆远供电源安全稳定运行。     

MIMO系统的约束广义预测控制

讨论了输出终端带不等式约束情形的多输入多输出系统，说明了这些约束可以通过修改输入柔化系数而使其得以满足，在柔化系数的选择范围确定过程中，为了避免矩阵求逆，采用利用已知数据辨识参数的方法来确定柔化系数，从而使得问题简化。降低了计算量且加快了收敛速度。     

Research and Development of a Network—Based Intelligent Maintenance Information System

A maintenance information system is an important part of equipment management.An intelli-gent maintenance information system(IMIS)is a synthesis of network technology,information technology and intelligent technology.The IMIS in used to finish flexible maintenance decision-making and fast main-tenance planning,which helps enterprises to effectively reduce maintenance cost and increase working effi-ciency.Because the IMIS integrates advanced technologies,its performance is better than a traditional one.The difference between an IMIS and a traditional maintenance information system,and the functions,struc-ture,important realizations,and application of an IMIS are discussed in this paper.     

动态矩阵控制在浆料浓度控制系统中的应用

针对PTA生产中浆料配制过程这一有纯滞后、大时间常数的非线性系统，进行系统的动态机理分析，与工作点附近的线性化，在此基础上设计DMC-PID串级加前馈控制方案。目前该系统在扬子石化化工厂PTA装置上已成功投运。