合环转供电是提高供电可靠性的关键手段,但直接合环可能产生较大冲击电流影响电网运行安全性。采用旋转潮流控制器(rotary power flow controller,RPFC)的方式能够实现台区的零感知合环,但电压调节轨迹不当将会带来RPFC接入点的电压越...合环转供电是提高供电可靠性的关键手段,但直接合环可能产生较大冲击电流影响电网运行安全性。采用旋转潮流控制器(rotary power flow controller,RPFC)的方式能够实现台区的零感知合环,但电压调节轨迹不当将会带来RPFC接入点的电压越限问题。对此,提出一种基于两阶段最优路径的RPFC配电网柔性合环方法。首先,对输出电压运行轨迹进行合理规划,将其分为两阶段:第1阶段要求合环点两端电压相位一致并约束电压幅值相等,实现端电压的平稳过渡;第2阶段在相位一致的基础上,控制RPFC输出电压至目标值,使合环点两端电压幅值一致。然后,采用分相量夹角计算和旋转角协调控制,选择就近的旋转角设定值作为目标值,从而实现合环点两端电压无差调节;最后,仿真和实验对比分析所提方法将电压越限至少降低至30%,展示RPFC在实现配电网柔性合环中的重要应用价值。展开更多
A novel algorithm, the immune genetic algorithm based on multi-agent, isproposed for the path planning of tightly coordinated two-robot manipulators, which constructsmainly immune operators accomplished by three steps...A novel algorithm, the immune genetic algorithm based on multi-agent, isproposed for the path planning of tightly coordinated two-robot manipulators, which constructsmainly immune operators accomplished by three steps: defining strategies and methods of multi-agent,calculating virtual forces acting on an agent, and constructing immune operators and performingimmunization during the evolutionary process. It is illustrated to be able to restrain thedegenerate phenomenon effectively and improve the searching ability with high converging speed.展开更多
This paper investigates the development,the breakdown process,and the discharge path selection of the lightning discharges in two-phase mixtures(TPMs).13 kinds of solid-gas mixtures and 3 kinds of liquid-gas mixtures ...This paper investigates the development,the breakdown process,and the discharge path selection of the lightning discharges in two-phase mixtures(TPMs).13 kinds of solid-gas mixtures and 3 kinds of liquid-gas mixtures are employed to study effect of two phase mixtures on the selection of the discharge path under lightning impulses.Grain size effects are shown upon these experimental results.When the diameter of solid or liquid grains is less than about 10 μm,the discharge path does not select TPM but air.And the discharge path selects TPM when the diameter is greater than about 100 μm.And when the diameter is between about 10 μm and 100 μm,the discharge path selects TPM under negative lightning impulses,but it has a greater selection of air than TPMs under positive lightning impulses.Volume fraction and permittivity of solid/liquid can also influence the selection of the discharge path.展开更多
The free path of a vibro-fluidized two-dimensional（2D） inelastic granular gas confined in a rectangular box is investigated by 2D event-driven molecular simulation. By tracking particles in the simulation, we analyz...The free path of a vibro-fluidized two-dimensional（2D） inelastic granular gas confined in a rectangular box is investigated by 2D event-driven molecular simulation. By tracking particles in the simulation, we analyze the local free path.The probability distribution of the free path shows a high tail deviating from the exponential prediction. The anisotropy of the free path is found when we separate the free path to x and y components. The probability distribution of y component is exponential, while x component has a high tail. The probability distribution of angle between the relative velocity and the unit vector joined two particle centers deviates from the distribution of two random vectors, indicating the existence of the dynamic heterogeneities in our system. We explain these results by resorting to the kinetic theory with two-peak velocity distribution. The kinetic theory agrees well with the simulation result.展开更多
This paper is devoted to find an intelligent and safe path for two-link robotic arm in dynamic environment. This paper focuses on computational part of motion planning in completely changing dynamic environment at eve...This paper is devoted to find an intelligent and safe path for two-link robotic arm in dynamic environment. This paper focuses on computational part of motion planning in completely changing dynamic environment at every motion sample domains,?since the local minima and sharp edges are the most common problems in all path planning algorithms. In addition, finding a path solution in a dynamic environment represents a challenge for the robotics researchers,?so in this paper, a proposed mixing approach was suggested to overcome all these obstructions. The proposed approach methodology?for obtaining robot interactive path planning solution in known dynamic environment utilizes?the use of modified heuristic D-star (D*) algorithm based on the full free Cartesian space analysis at each motion sample with the Particle Swarm Optimization (PSO) technique.?Also, a modification on the?D* algorithm has been done to match the dynamic environment requirements by adding stop and return backward cases which is not included in the original D* algorithm theory. The resultant interactive path solution was computed by taking into consideration the time and position changes of the moving obstacles. Furthermore, to insure the enhancement of the?final path length optimality, the PSO technique was used.?The simulation results are given to show the effectiveness of the proposed method.展开更多
文摘目前,多无人机(Unmanned Aerial Vehicle,UAV)在大规模任务场景下的任务分配问题仍是一个挑战性问题。传统启发式算法可在较低计算复杂度下得到满意的解,但收敛速度慢且难以收敛到全局最优解。为此提出一种基于UAV链、任务链和双阶段修复策略的遗传算法(Genetic Algorithm Based on UAV-chain,Task-chain,and Two-Stage Repair strategy,UTTSRGA)。在编码结构中设计UAV链和任务链来量化任务执行代价,增强了编码中的信息承载能力并显著提升搜索效率。针对交叉操作后出现任务缺失与任务重复问题,设计双阶段修复策略。第一阶段设计随机填充机制,增强对解空间的全局搜索能力;第二阶段设计邻接映射表修复机制,根据任务间的邻接关系提供进化方向,有效引导种群向当前最优解快速收敛。提出动态复合变异策略,融合自适应变异率与基于任务链值的变异点选择,并设计4种功能互补的变异算子,多维度协同优化解的质量。针对大规模场景下的路径交叉问题,引入路径优化策略,从实践角度进一步优化任务分配方案。实验结果表明,UTTSRGA在不同任务规模下,尤其是大规模复杂任务场景中,在解的质量、收敛速度和鲁棒性3个方面均表现出显著优势。
文摘合环转供电是提高供电可靠性的关键手段,但直接合环可能产生较大冲击电流影响电网运行安全性。采用旋转潮流控制器(rotary power flow controller,RPFC)的方式能够实现台区的零感知合环,但电压调节轨迹不当将会带来RPFC接入点的电压越限问题。对此,提出一种基于两阶段最优路径的RPFC配电网柔性合环方法。首先,对输出电压运行轨迹进行合理规划,将其分为两阶段:第1阶段要求合环点两端电压相位一致并约束电压幅值相等,实现端电压的平稳过渡;第2阶段在相位一致的基础上,控制RPFC输出电压至目标值,使合环点两端电压幅值一致。然后,采用分相量夹角计算和旋转角协调控制,选择就近的旋转角设定值作为目标值,从而实现合环点两端电压无差调节;最后,仿真和实验对比分析所提方法将电压越限至少降低至30%,展示RPFC在实现配电网柔性合环中的重要应用价值。
文摘A novel algorithm, the immune genetic algorithm based on multi-agent, isproposed for the path planning of tightly coordinated two-robot manipulators, which constructsmainly immune operators accomplished by three steps: defining strategies and methods of multi-agent,calculating virtual forces acting on an agent, and constructing immune operators and performingimmunization during the evolutionary process. It is illustrated to be able to restrain thedegenerate phenomenon effectively and improve the searching ability with high converging speed.
基金Project Supported by National Natural Science Foundation of China（50237010）.
文摘This paper investigates the development,the breakdown process,and the discharge path selection of the lightning discharges in two-phase mixtures(TPMs).13 kinds of solid-gas mixtures and 3 kinds of liquid-gas mixtures are employed to study effect of two phase mixtures on the selection of the discharge path under lightning impulses.Grain size effects are shown upon these experimental results.When the diameter of solid or liquid grains is less than about 10 μm,the discharge path does not select TPM but air.And the discharge path selects TPM when the diameter is greater than about 100 μm.And when the diameter is between about 10 μm and 100 μm,the discharge path selects TPM under negative lightning impulses,but it has a greater selection of air than TPMs under positive lightning impulses.Volume fraction and permittivity of solid/liquid can also influence the selection of the discharge path.
基金supported by the National Basic Research Program of China(Grant No.2012CB215003)the National Natural Science Foundation of China(Grant No.91334204)+1 种基金the Fund from the Chinese Academy of Sciences(Grant No.XDA07080100)China Postdoctoral Science Foundation(Grant No.2014M561071)
文摘The free path of a vibro-fluidized two-dimensional（2D） inelastic granular gas confined in a rectangular box is investigated by 2D event-driven molecular simulation. By tracking particles in the simulation, we analyze the local free path.The probability distribution of the free path shows a high tail deviating from the exponential prediction. The anisotropy of the free path is found when we separate the free path to x and y components. The probability distribution of y component is exponential, while x component has a high tail. The probability distribution of angle between the relative velocity and the unit vector joined two particle centers deviates from the distribution of two random vectors, indicating the existence of the dynamic heterogeneities in our system. We explain these results by resorting to the kinetic theory with two-peak velocity distribution. The kinetic theory agrees well with the simulation result.
文摘This paper is devoted to find an intelligent and safe path for two-link robotic arm in dynamic environment. This paper focuses on computational part of motion planning in completely changing dynamic environment at every motion sample domains,?since the local minima and sharp edges are the most common problems in all path planning algorithms. In addition, finding a path solution in a dynamic environment represents a challenge for the robotics researchers,?so in this paper, a proposed mixing approach was suggested to overcome all these obstructions. The proposed approach methodology?for obtaining robot interactive path planning solution in known dynamic environment utilizes?the use of modified heuristic D-star (D*) algorithm based on the full free Cartesian space analysis at each motion sample with the Particle Swarm Optimization (PSO) technique.?Also, a modification on the?D* algorithm has been done to match the dynamic environment requirements by adding stop and return backward cases which is not included in the original D* algorithm theory. The resultant interactive path solution was computed by taking into consideration the time and position changes of the moving obstacles. Furthermore, to insure the enhancement of the?final path length optimality, the PSO technique was used.?The simulation results are given to show the effectiveness of the proposed method.
