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Bingtuan Gao
School of Electrical Engineering, Southeast University, Nanjing, China

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Original article
Published: 10 June 2021 in Complex & Intelligent Systems
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Telemanipulation in power stations commonly require robots first to open doors and then gain access to a new workspace. However, the opened doors can easily close by disturbances, interrupt the operations, and potentially lead to collision damages. Although existing telemanipulation is a highly efficient master–slave work pattern due to human-in-the-loop control, it is not trivial for a user to specify the optimal measures to guarantee safety. This paper investigates the safety-critical motion planning and control problem to balance robotic safety against manipulation performance during work emergencies. Based on a dynamic workspace released by door-closing, the interactions between the workspace and robot are analyzed using a partially observable Markov decision process, thereby making the balance mechanism executed as belief tree planning. To act the planning, apart from telemanipulation actions, we clarify other three safety-guaranteed actions: on guard, defense and escape for self-protection by estimating collision risk levels to trigger them. Besides, our experiments show that the proposed method is capable of determining multiple solutions for balancing robotic safety and work efficiency during telemanipulation tasks.

ACS Style

Chuande Liu; Chuang Yu; Bingtuan Gao; Syed Awais Ali Shah; Adriana Tapus. Towards a balancing safety against performance approach in human–robot co-manipulation for door-closing emergencies. Complex & Intelligent Systems 2021, 1 -13.

AMA Style

Chuande Liu, Chuang Yu, Bingtuan Gao, Syed Awais Ali Shah, Adriana Tapus. Towards a balancing safety against performance approach in human–robot co-manipulation for door-closing emergencies. Complex & Intelligent Systems. 2021; ():1-13.

Chicago/Turabian Style

Chuande Liu; Chuang Yu; Bingtuan Gao; Syed Awais Ali Shah; Adriana Tapus. 2021. "Towards a balancing safety against performance approach in human–robot co-manipulation for door-closing emergencies." Complex & Intelligent Systems , no. : 1-13.

Research article
Published: 20 February 2021 in Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment
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In recent times, renewable energy demand is rapidly increasing worldwide. Offshore wind energy is one of the alternative solutions to the problems posed by non-renewable energy resources. The kinetic energy of the wind is converted to mechanical energy by using an offshore floating wind turbine (OFWT). The efficiency of the OFWT is dependent upon the vibrational effect induced by the environment. In this paper, for the mitigation of this vibrational effect, a new model of barge-type OFWT is designed by using an active control strategy called translational oscillator with a rotational actuator (TORA). The disturbance observer (DO) based advanced control techniques including robust backstepping sliding mode control (BSMC), backstepping integral sliding mode control (BISMC), backstepping nonsingular terminal sliding mode control (BNTSMC), and a new backstepping integral nonsingular terminal sliding mode control (BINTSMC) technique, are devised for the stabilization of OFWT model. The comparison of these techniques is carried out by using MATLAB/SIMULINK which validates the feasibility and correctness of the proposed OFWT model and control techniques.

ACS Style

Syed Awais Ali Shah; Bingtuan Gao; Nigar Ahmed; Chuande Liu. Advanced robust control techniques for the stabilization of translational oscillator with rotational actuator based barge-type OFWT. Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment 2021, 235, 327 -343.

AMA Style

Syed Awais Ali Shah, Bingtuan Gao, Nigar Ahmed, Chuande Liu. Advanced robust control techniques for the stabilization of translational oscillator with rotational actuator based barge-type OFWT. Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment. 2021; 235 (2):327-343.

Chicago/Turabian Style

Syed Awais Ali Shah; Bingtuan Gao; Nigar Ahmed; Chuande Liu. 2021. "Advanced robust control techniques for the stabilization of translational oscillator with rotational actuator based barge-type OFWT." Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment 235, no. 2: 327-343.

Journal article
Published: 29 January 2021 in Applied Sciences
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When wind power is transmitted via high-voltage direct current (HVDC), the problem of high-voltage ride-through (HVRT), caused by direct-current (DC) blocking must be seriously taken into account. All the wind turbines in a wind farm are usually equivalent to a single turbine in the existing research on HVRT, which ignores the generator terminal voltage distribution in a wind farm. In view of the fact that the severity of fault voltage felt by each wind turbine in the field is different, an improved HVRT strategy considering voltage distribution is proposed in this article. First, this article analyzes the mechanism of voltage swell failure caused by DC blocking, and the characteristics of the generator terminal voltage distribution in wind farms. Second, the reactive power characteristic equations of the synchronous condenser and the doubly-fed induction generator (DFIG) are derived. Third, based on the extraction of the key node voltage, this article takes the key node voltage as the compensation target, and put forwards a HVRT strategy combining the synchronous condenser and wind turbine. Finally, the simulation is carried out to demonstrate the effectiveness of the proposed strategy in improving the HVRT capability of all wind turbines.

ACS Style

Yanhui Qin; Zeyu Cao; Zhichao Yang; Bingtuan Gao; Xuetao Dong. High Voltage Ride through Strategy of Wind Farm Considering Generator Terminal Voltage Distribution. Applied Sciences 2021, 11, 1248 .

AMA Style

Yanhui Qin, Zeyu Cao, Zhichao Yang, Bingtuan Gao, Xuetao Dong. High Voltage Ride through Strategy of Wind Farm Considering Generator Terminal Voltage Distribution. Applied Sciences. 2021; 11 (3):1248.

Chicago/Turabian Style

Yanhui Qin; Zeyu Cao; Zhichao Yang; Bingtuan Gao; Xuetao Dong. 2021. "High Voltage Ride through Strategy of Wind Farm Considering Generator Terminal Voltage Distribution." Applied Sciences 11, no. 3: 1248.

Research article
Published: 22 October 2020 in International Journal of Energy Research
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Uncertainties from renewable energy resources (RESs) and energy demands have brought enormous challenges to the optimal operation of integrated energy system (IES). An interval optimization based operational strategy for IES is proposed to overcome uncertainties. Firstly, embarking from a deterministic IES operation model, an interval method is presented to quantify the uncertainties instead of possibility distribution so as to better characterize the impact of RESs and loads on the operation of the IES. Secondly, the interval optimization model under multiple uncertainties is presented. In the proposed model, the total daily cost is optimized and system operation constraints are fully considered. Thirdly, the order interval relation and possibility degree are adopted to transform the interval model to deterministic model, which is solved by CPLEX optimizer. Finally, case studies considering influence of different uncertainty objects and uncertainty possibility degree levels are performed and analyzed extensively. The simulation results show that the optimized interval numbers will be increased gradually as uncertainty fluctuation degree increased from ±5% to ±25%. Comparing with automatic robust convex optimization method, the robust optimized values are in accordance with the upper values of optimized interval number optimization method, and the midpoints of interval results optimized by interval method are 4.1%, 8.7%, 11.7%, 16.5%, and 8.0% less than robust optimization results, respectively.

ACS Style

Yuanmei Li; Kaike Wang; Bingtuan Gao; Bin Zhang; Xiaofeng Liu; Chen Chen. Interval optimization based operational strategy of integrated energy system under renewable energy resources and loads uncertainties. International Journal of Energy Research 2020, 45, 3142 -3156.

AMA Style

Yuanmei Li, Kaike Wang, Bingtuan Gao, Bin Zhang, Xiaofeng Liu, Chen Chen. Interval optimization based operational strategy of integrated energy system under renewable energy resources and loads uncertainties. International Journal of Energy Research. 2020; 45 (2):3142-3156.

Chicago/Turabian Style

Yuanmei Li; Kaike Wang; Bingtuan Gao; Bin Zhang; Xiaofeng Liu; Chen Chen. 2020. "Interval optimization based operational strategy of integrated energy system under renewable energy resources and loads uncertainties." International Journal of Energy Research 45, no. 2: 3142-3156.

Research article
Published: 03 September 2020 in IET Generation, Transmission & Distribution
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To guarantee the frequency stability of renewable energy sources (RESs) generation integrated into the power system, primary frequency regulation (PFR) for RES generation controlled by virtual synchronous generator (VSG) has been concerned extensively. This study mainly focuses on the dynamic and steady-state characteristics of VSG in the PFR dead-band. Based on the typical structure of VSG, small-signal model of the conventional VSG is established to analyse the issue of the sharp change of angular frequency. Consequently, a novel modified VSG (M-VSG) controller is proposed, which can ensure a stable angular frequency and synchronise with the grid without the phase-locked-loop. The inertia and damping properties of M-VSG are studied theoretically by eigenvalue analysis, and the design procedure of control parameters is presented. To enhance the practicability, a flexible PFR strategy of M-VSG is added considering inertia mode, bidirectional mode, and unidirectional mode according to the operation state of RES generation. Moreover, after PFR is added, the proposed controller is analysed with eigenvalue loci to guarantee the stability and dynamic characteristics outside the dead-band. Finally, hardware-in-the-loop experiment results based on RT-LAB demonstrate the validity of the theoretical analysis and the superiority of M-VSG in participating in flexible PFR.

ACS Style

Zhengyang Hu; Bingtuan Gao; Ning Chen; Linan Qu; Chenyu Peng. Modified virtual synchronous generator based‐primary frequency regulation for renewable generation integrated into power system. IET Generation, Transmission & Distribution 2020, 14, 4435 -4443.

AMA Style

Zhengyang Hu, Bingtuan Gao, Ning Chen, Linan Qu, Chenyu Peng. Modified virtual synchronous generator based‐primary frequency regulation for renewable generation integrated into power system. IET Generation, Transmission & Distribution. 2020; 14 (20):4435-4443.

Chicago/Turabian Style

Zhengyang Hu; Bingtuan Gao; Ning Chen; Linan Qu; Chenyu Peng. 2020. "Modified virtual synchronous generator based‐primary frequency regulation for renewable generation integrated into power system." IET Generation, Transmission & Distribution 14, no. 20: 4435-4443.

Journal article
Published: 18 December 2019 in Applied Sciences
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This paper proposes a self-insulating joint design based on the cable-driven parallel-series (CDPS) mechanism and electrical insulation analysis. The design provides the motions, mechanic support, and electrical insulation for robotic arms in live-line operation, which can maintain the equipment without manual intervention and power interruption. This CDPS mechanism can integrate four degrees of freedom (DOFs) motion in one joint, while the traditional series joint can only realize one DOF independently. The cable forces in the CDPS are calculated by the inverse kinematics to ensure the safe and flexible operation of the mechanism. The self-insulating joint has certain advantages over other designs because the electrical insulation is integrated into the joint instead of the traditional extra insulation layer. This integration reduces the weight of the arm mechanic structure. In addition, the structural complexity and weight are further reduced by separating the actuators and motors from the joint by using CDPS. Electric field distribution near the joint is calculated by the charge simulation method to analyze the insulation performance under the voltage of 35 kV. The cable forces and electric field distribution of the mechanism are measured to validate the simulation models. The inverse kinematics and insulation models of the self-insulating joint can provide detailed information for the mechanic and insulation design of the robotic arms.

ACS Style

Jiahong He; Weilun Xu; Bingtuan Gao. Self-Insulating Joint Design for Live-Line Operation Based on the Cable-Driven Parallel-Series Mechanism. Applied Sciences 2019, 10, 22 .

AMA Style

Jiahong He, Weilun Xu, Bingtuan Gao. Self-Insulating Joint Design for Live-Line Operation Based on the Cable-Driven Parallel-Series Mechanism. Applied Sciences. 2019; 10 (1):22.

Chicago/Turabian Style

Jiahong He; Weilun Xu; Bingtuan Gao. 2019. "Self-Insulating Joint Design for Live-Line Operation Based on the Cable-Driven Parallel-Series Mechanism." Applied Sciences 10, no. 1: 22.

Journal article
Published: 15 October 2019 in Energies
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This paper modeled the dry band formation and arcing processes on the composite insulator surface to investigate the mechanism of dry band arcing and optimize the insulator geometry. The model calculates the instantaneous electric and thermal fields before and after arc initialization by a generalized finite difference time domain (GFDTD) method. This method improves the field calculation accuracy at a high precision requirement area and reduces the computational complexity at a low precision requirement area. Heat transfer on the insulator surface is evaluated by a thermal energy balance equation to simulate a dry band formation process. Flashover experiments were conducted under contaminated conditions to verify the theoretical model. Both simulation and experiments results show that dry bands were initially formed close to high voltage (HV) and ground electrodes because the electric field and leakage current density around electrode are higher when compared to other locations along the insulator creepage distance. Three geometry factors (creepage factor, shed angle, and alternative shed ratio) were optimized when the insulator creepage distances remained the same. Fifty percent flashover voltage and average duration time from dry band generation moment to flashover were calculated to evaluate the insulator performance under contaminated conditions. This model analyzes the dry band arcing process on the insulator surface and provides detailed information for engineers in composite insulator design.

ACS Style

Jiahong He; Kang He; Bingtuan Gao. Modeling of Dry Band Formation and Arcing Processes on the Polluted Composite Insulator Surface. Energies 2019, 12, 3905 .

AMA Style

Jiahong He, Kang He, Bingtuan Gao. Modeling of Dry Band Formation and Arcing Processes on the Polluted Composite Insulator Surface. Energies. 2019; 12 (20):3905.

Chicago/Turabian Style

Jiahong He; Kang He; Bingtuan Gao. 2019. "Modeling of Dry Band Formation and Arcing Processes on the Polluted Composite Insulator Surface." Energies 12, no. 20: 3905.

Journal article
Published: 10 February 2019 in Applied Sciences
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Demand response (DR) aggregator controlling and aggregating flexible resource of residential users to participate in DR market will contribute the performance of DR project. However, DR aggregator has to face the risk that users may break the contract signed with aggregator and refuse to be controlled by aggregator due to the uncertainty factors of electricity consumption. Therefore, in this paper, community operator (i.e., DR aggregator) is proposed to equip auxiliary equipment, such as energy storage and gas boiler, to compensate for power shortage caused by users’ breach behavior. DR aggregated resource with different auxiliary equipment will have different characteristics, such as breach rate of DR resource. In the proposed DR framework, for selling the aggregated resource, community operator has to compete the market share with other operators in day-ahead DR market. In the competition, each operator will try its best to make the optimal bidding strategy by knowing as much information of its opponents as possible. But, some information of community operator (e.g., DR resource’s characteristic) belongs to privacy information, which is unknown to other operators. Accordingly, this paper focuses on the application of incomplete information game-theoretic framework to model the competition among community operators in DR bidding market. To optimize bidding strategy for the high profit with incomplete information, a Bayesian game approach is formulated. And, an effective iterative algorithm is also presented to search the equilibrium for the proposed Bayesian game model. Finally, a case study is performed to show the effectiveness of the proposed framework and Bayesian game approach.

ACS Style

Xiaofeng Liu; Bingtuan Gao; Yuanmei Li. Bayesian Game-Theoretic Bidding Optimization for Aggregators Considering the Breach of Demand Response Resource. Applied Sciences 2019, 9, 576 .

AMA Style

Xiaofeng Liu, Bingtuan Gao, Yuanmei Li. Bayesian Game-Theoretic Bidding Optimization for Aggregators Considering the Breach of Demand Response Resource. Applied Sciences. 2019; 9 (3):576.

Chicago/Turabian Style

Xiaofeng Liu; Bingtuan Gao; Yuanmei Li. 2019. "Bayesian Game-Theoretic Bidding Optimization for Aggregators Considering the Breach of Demand Response Resource." Applied Sciences 9, no. 3: 576.

Conference paper
Published: 04 October 2018 in Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
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Subscription and open access journals from SAGE Publishing, the world's leading independent academic publisher.

ACS Style

Chuande Liu; Bingtuan Gao; Jianguo Zhao; Syed Awais Ali Shah. Orbitally stabilizing control for the underactuated translational oscillator with rotational actuator system: Design and experimentation. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 2018, 1 .

AMA Style

Chuande Liu, Bingtuan Gao, Jianguo Zhao, Syed Awais Ali Shah. Orbitally stabilizing control for the underactuated translational oscillator with rotational actuator system: Design and experimentation. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering. 2018; ():1.

Chicago/Turabian Style

Chuande Liu; Bingtuan Gao; Jianguo Zhao; Syed Awais Ali Shah. 2018. "Orbitally stabilizing control for the underactuated translational oscillator with rotational actuator system: Design and experimentation." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering , no. : 1.

Journal article
Published: 05 September 2018 in Journal of Renewable and Sustainable Energy
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ACS Style

Bingtuan Gao; Xiaofeng Liu; Chen Chen; Yuanmei Li. Economic optimization for distributed energy network with cooperative game. Journal of Renewable and Sustainable Energy 2018, 10, 055101 .

AMA Style

Bingtuan Gao, Xiaofeng Liu, Chen Chen, Yuanmei Li. Economic optimization for distributed energy network with cooperative game. Journal of Renewable and Sustainable Energy. 2018; 10 (5):055101.

Chicago/Turabian Style

Bingtuan Gao; Xiaofeng Liu; Chen Chen; Yuanmei Li. 2018. "Economic optimization for distributed energy network with cooperative game." Journal of Renewable and Sustainable Energy 10, no. 5: 055101.

Journal article
Published: 14 August 2018 in Energies
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The forecasting of the load profile of the domestic sector is an area of increased concern for the power grid as it appears in many applications, such as grid operations, demand side management, energy trading, and so forth. Accordingly, a bottom-up forecasting framework is presented in this paper based upon bottom level data about the electricity consumption of household appliances. In the proposed framework, a load profile for group households is obtained with a similar day extraction module, household behavior analysis module, and household behavior prediction module. Concretely, similar day extraction module is the core of the prediction and is employed to extract similar historical days by considering the external environmental and household internal influence factors on energy consumption. The household behavior analysis module is used to analyse and formulate the consumption behavior probability of appliances according to the statistical characteristics of appliances’ switch state in historical similar days. Based on the former two modules, household behavior prediction module is responsible for the load profile of group households. Finally, a case study based on the measured data in a practical residential community is performed to illustrate the feasibility and effectiveness of the proposed bottom-up household load forecasting approach.

ACS Style

Bingtuan Gao; Xiaofeng Liu; Zhenyu Zhu. A Bottom-Up Model for Household Load Profile Based on the Consumption Behavior of Residents. Energies 2018, 11, 2112 .

AMA Style

Bingtuan Gao, Xiaofeng Liu, Zhenyu Zhu. A Bottom-Up Model for Household Load Profile Based on the Consumption Behavior of Residents. Energies. 2018; 11 (8):2112.

Chicago/Turabian Style

Bingtuan Gao; Xiaofeng Liu; Zhenyu Zhu. 2018. "A Bottom-Up Model for Household Load Profile Based on the Consumption Behavior of Residents." Energies 11, no. 8: 2112.

Research article
Published: 23 March 2018 in IET Generation, Transmission & Distribution
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Multi-microgrid is an integrated system of microgrids, distributed generations, and battery energy storage system (BESS). As the significant equipment in microgrid, BESS can perform multitasking, such as load management and peak shaving. This study mainly focuses on the energy consumption scheduling of multi-microgrid considering the optimisation of BESS capacity. Energy management with BESS optimisation is studied by considering the cost of distributed generations, cost of BESS, and bidirectional energy trading. The optimisation problem is tackled from two different aspects: an individual-oriented optimisation and a coalition-based optimisation. In the first approach, each microgrid is optimised individually with a non-cooperative game; while in the second approach, the joint optimisation of all microgrids is formulated through cooperation among multi-microgrids. In order to achieve the optimal energy consumption strategy and BESS capacity, distributed algorithms for two formulations are presented, which combine particle swarm optimisation and interior point method. Simulation results show that both approaches can contribute to peak shaving and reducing the daily cost of multi-microgrid.

ACS Style

Xiaofeng Liu; Bingtuan Gao; Zhenyu Zhu; Yi Tang. Non‐cooperative and cooperative optimisation of battery energy storage system for energy management in multi‐microgrid. IET Generation, Transmission & Distribution 2018, 12, 2369 -2377.

AMA Style

Xiaofeng Liu, Bingtuan Gao, Zhenyu Zhu, Yi Tang. Non‐cooperative and cooperative optimisation of battery energy storage system for energy management in multi‐microgrid. IET Generation, Transmission & Distribution. 2018; 12 (10):2369-2377.

Chicago/Turabian Style

Xiaofeng Liu; Bingtuan Gao; Zhenyu Zhu; Yi Tang. 2018. "Non‐cooperative and cooperative optimisation of battery energy storage system for energy management in multi‐microgrid." IET Generation, Transmission & Distribution 12, no. 10: 2369-2377.

Article
Published: 16 January 2018 in Journal of Modern Power Systems and Clean Energy
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With the development of smart grids, a renewable energy generation system has been introduced into a smart house. The generation system usually supplies a storage system with the capability to store the produced energy for satisfying a user’s future demand. In this paper, the main objective is to determine the best strategies of energy consumption and optimal storage capacities for residential users, which are both closely related to the energy cost of the users. Energy management with storage capacity optimization is studied by considering the cost of renewable energy generation, depreciation cost of storage and bidirectional energy trading. To minimize the cost to residential users, the non-cooperative game-theoretic method is employed to formulate the model that combines energy consumption and storage capacity optimization. The distributed algorithm is presented to understand the Nash equilibrium which can guarantee Pareto optimality in terms of minimizing the energy cost. Simulation results show that the proposed game approach can significantly benefit residential users. Furthermore, it also contributes to reducing the peak-to-average ratio (PAR) of overall energy demand.

ACS Style

Bingtuan Gao; Xiaofeng Liu; Cheng Wu; Yi Tang. Game-theoretic energy management with storage capacity optimization in the smart grids. Journal of Modern Power Systems and Clean Energy 2018, 6, 656 -667.

AMA Style

Bingtuan Gao, Xiaofeng Liu, Cheng Wu, Yi Tang. Game-theoretic energy management with storage capacity optimization in the smart grids. Journal of Modern Power Systems and Clean Energy. 2018; 6 (4):656-667.

Chicago/Turabian Style

Bingtuan Gao; Xiaofeng Liu; Cheng Wu; Yi Tang. 2018. "Game-theoretic energy management with storage capacity optimization in the smart grids." Journal of Modern Power Systems and Clean Energy 6, no. 4: 656-667.

Journal article
Published: 03 November 2017 in Applied Sciences
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The uncertainty of wind power results in wind power forecasting errors (WPFE) which lead to difficulties in formulating dispatching strategies to maintain the power balance. Demand response (DR) is a promising tool to balance power by alleviating the impact of WPFE. This paper offers a control method of combining DR and automatic generation control (AGC) units to smooth the system’s imbalance, considering the real-time DR potential (DRP) and security constraints. A schematic diagram is proposed from the perspective of a dispatching center that manages smart appliances including air conditioner (AC), water heater (WH), electric vehicle (EV) loads, and AGC units to maximize the wind accommodation. The presented model schedules the AC, WH, and EV loads without compromising the consumers’ comfort preferences. Meanwhile, the ramp constraint of generators and power flow transmission constraint are considered to guarantee the safety and stability of the power system. To demonstrate the performance of the proposed approach, simulations are performed in an IEEE 24-node system. The results indicate that considerable benefits can be realized by coordinating the DR and AGC units to mitigate the WPFE impacts.

ACS Style

Jia Ning; Yi Tang; Bingtuan Gao. A Time-Varying Potential-Based Demand Response Method for Mitigating the Impacts of Wind Power Forecasting Errors. Applied Sciences 2017, 7, 1132 .

AMA Style

Jia Ning, Yi Tang, Bingtuan Gao. A Time-Varying Potential-Based Demand Response Method for Mitigating the Impacts of Wind Power Forecasting Errors. Applied Sciences. 2017; 7 (11):1132.

Chicago/Turabian Style

Jia Ning; Yi Tang; Bingtuan Gao. 2017. "A Time-Varying Potential-Based Demand Response Method for Mitigating the Impacts of Wind Power Forecasting Errors." Applied Sciences 7, no. 11: 1132.

Research article
Published: 30 August 2017 in Shock and Vibration
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The paper focuses on the design and nonlinear control of the humanoid wrist/shoulder joint based on the cable-driven parallel mechanism which can realize roll and pitch movement. In view of the existence of the flexible parts in the mechanism, it is necessary to solve the vibration control of the flexible wrist/shoulder joint. In this paper, a cable-driven parallel robot platform is developed for the experiment study of the humanoid wrist/shoulder joint. And the dynamic model of the mechanism is formulated by using the coupling theory of the flexible body’s large global motion and small flexible deformation. Based on derived dynamics, antivibration control of the joint robot is studied with a nonlinear control method. Finally, simulations and experiments were performed to validate the feasibility of the developed parallel robot prototype and the proposed control scheme.1. IntroductionLive working is a better option for executing related tasks of the electric system. In consideration of the fact that traditional live working is mainly accomplished by the labour, it is dangerous and easy to cause personal casualty accidents. In order to avoid the accident in the artificial live working, it has urgent realistic meaning and important research value that the robot replaces the labour to execute live working. The traditional live working robot [1] has some drawbacks such as low ratio of load to mass and high insulation cost mainly due to the serial mechanism of the robot arm with embedded electrical driving parts, respectively. It is suggested to develop a self-insulated robot arm without embedded electric parts. Inspired by human arm’s anatomical structure, the robot arm with cable-driven joints in parallel arrangement has already been studied [2]. According to the study, wrist/shoulder joint is the key module of the humanoid robot arm. Aiming at self-insulated requirement, the wrist/shoulder joint in [2] is simplified and redesigned as shown in Figure 1. The wrist/shoulder joint mechanism is in parallel arrangement with flexible spine and driven by three motors via three cables mimicking human muscles. Because of the existence of flexible parts in the mechanism which will cause vibration during motion control, it is necessary to study the problem of dynamics and vibration control for the wrist/shoulder joint. Figure 2 shows the developed robot prototype for the experimental study of the flexible wrist/shoulder joint mechanism in this paper.Figure 1: Structure design of the cable-driven wrist/shoulder joint.Figure 2: Prototype of the cable-driven parallel robot with a flexible spring.Due to large workspace, high quality of load ratio, and small inertia, the cable-driven robot technology which stems from the crane system has become a research hot spot in the field of the robot [3, 4]. The cable-driven parallel robots include the cable-driven planar robots and the cable-driven space robots. However, the cable-driven space robots are mostly cable-suspended parallel robots. The cable-driven parallel robots which have successful application have early RoboCrane [5] and SkyCam [6] which has an extensive application in television at present. A 500 m aperture spherical telescope (FAST) which performs the coarse positioning scheme by six driving cables is developed in China. Through the relevant research, the researchers obtain a series of research results [7, 8]. Because the cables are soft and light and transmit the powerful action force, the cables are often used to actuate the bionic elephant-trunk [9] and the bionic cephalopods [10] which belong to cable-driven continuous/soft-bodied bionic robots [11].The designed cable-driven parallel robot with a flexible spring belongs to the cable-driven parallel robot with an upholder. Little research highlights how to design and control a robotic wrist/shoulder joint which moves smoothly like the people’s wrist/shoulder joint. In light of the inspiration of people’s wrist/shoulder joint structure, we elaborate a 2-DOF (roll and pitch) cable-driven parallel robot with a flexible spring. It includes a cable-driven parallel mechanism and the auxiliary mechanisms which consist of three guide mechanisms, four pillars, three driving mechanisms, a pedestal, an attitude measuring mechanism, three cable force measuring mechanisms, three cable length measuring mechanisms, and so on. The cable-driven parallel mechanism is the key mechanism of the proposed parallel robot. The spring replaces the articular bone in people’s wrist/shoulder joint to support the moving platform and bends to one side to produce 2-DOF (roll and pitch) movements. Three driving cables are equally spaced at 120° on both the fixed base and the moving platform. The wrist/shoulder joint’s 2-DOF (roll and pitch) movements are actuated by three cables which replace people’s wrist/shoulder joint muscle. Three cables are pulled by three driving mechanisms mounted on the pedestal via three guide mechanisms on the pedestal.Seeing that the proposed parallel robot has some flexible bodies such as the cylindrical compression spring and three cables, the moving platform must generate the flexible vibration during the parallel robot moves. In view of short length, light weight, and small diameter of the cables, cables are assumed to be linear elements that can only work in tension and the dynamical characteristics of cables themselves, such as the vibration and elongation, can be neglected [12, 13]. As a result, the proposed parallel robot’s vibration is mainly caused through the flexible cylindrical spring. Some researchers [14] studied the flexible system’s kinematics and statics. However, they did not study the flexible body’s vibration control problem. Therefore, we need to formulate a proper dynamical model of the parallel robot to establish a reasonable controller which can suppress the spring’s vibration and enhance the parallel robot’s location precision.The issues of the flexible body’s dynamics attract the researchers’ attentions [15, 16]. The dynamical modeling of the flexible body is usually formulated by the finite element method (FEM), the lumped mass method (LMM), and the assumed mode method (AMM). AMM has better computational efficiency and can establish more convenient control model than FEM and LMM. As a result, we establish the dynamic model of the parallel robot through AMM in this paper. Some researchers [17, 18] focus on the vibration control of the flexible mechanism. In [19], the research of Moallem et al. shows that the nonlinear control method based on inverse dynamics can effectively accomplish a trajectory tracking control with a small error of the flexible mechanism. Thus, we use nonlinear control method to design the vibration controller of the parallel robot in this paper.The rest of this paper is organized as follows. In Section 2, the parallel robot design is presented. Then, the dynamic model of the parallel robot is established in Section 3. In Section 4, a nonlinear controller is designed based on the derived dynamical model. Next, the results of the simulation and the experiment are presented to validate the rationality of the robot prototype and the proposed control method in Section 5. Finally, conclusions and future work are summarized in Section 6.2. Robot Design This section will elaborate the parallel robot design which includes mechanical design and electrical design.2.1. Mechanical DesignThe solid model of the parallel robot is illustrated in Figure 3. As shown in Figures 2 and 3, the whole parallel robot mainly consists of the cable-driven parallel mechanism, the driving mechanism, and the cable force measuring mechanism. The local mechanical design of the parallel robot is depicted in Figure 4.Figure 3: Solid model of the cable-driven parallel robot with a flexible spring.Figure 4: Local mechanical design of the parallel robot: (a) cable force transmission mechanism, (b) perspective 1 of the cable force measuring mechanism, and (c) perspective 2 of the cable force measuring mechanism.As shown in Figure 3, the cable-driven parallel mechanism consists of the moving platform, the fixed base, the flexible spring, and three cables. The aluminium alloy is applied in the moving platform and the fixed base. The cotton rope of 3 mm diameter is used as the cable material. The top and the bottom of the helical compression spring are all planar. The moving platform and the fixed base are connected by the flexible spring. The power epoxy is used in the interfaces of the flexible spring and the moving platform and the fixed base; namely, the connection types between the spring and the moving platform and the fixed based are rigid-jointed free end and rigid-jointed fixed end, respectively. Each cable and the moving platform are connected by the knot. The friction force between each cable and the fixed base is reduced using the fillet in each hole in the fixed base. The whole weight of the cable-driven parallel mechanism is supported by four pillars.Each driving mechanism is made up of a direct current (DC) motor and a reducer. The parameters of the DC gear motor are given in Table 1. The assembly diagram of the DC motor and the reducer is shown in Figure 3.Table 1: Parameters of the DC gear motor.Each cable force is a very important measurand in cable-based architectures. In order to perform a measurement, a low-cost mechanism is presented for the cable force measuring in the proposed parallel robot. The mechanical design of the cable force measuring mechanism is illustrated in Figures 4(b) and 4(c). The cable force measuring mechanism mainly includes the nylon pulleys, the brackets, and the force transducer. Each cable’s winding direction is shown in Figure 4(c). The cables between nylon pulley 1 and nylon pulley 2 on the force transducer’s both sides are all vertical. denotes the cable force at a given time , denotes the gross weight of the bracket 1, nylon pulley 1, and the shaft, and represents

ACS Style

Leijie Jiang; Bingtuan Gao; Zhenyu Zhu. Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot. Shock and Vibration 2017, 2017, 1 -14.

AMA Style

Leijie Jiang, Bingtuan Gao, Zhenyu Zhu. Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot. Shock and Vibration. 2017; 2017 ():1-14.

Chicago/Turabian Style

Leijie Jiang; Bingtuan Gao; Zhenyu Zhu. 2017. "Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot." Shock and Vibration 2017, no. : 1-14.

Journal article
Published: 24 August 2017 in Energies
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With the increasing penetration of renewable energy in power systems, fluctuation of renewable energy power plants has great influence on stability of the system, and renewable power curtailment is also becoming more and more serious due to the insufficient consumptive ability of local power grid. In order to maximize the utilization of renewable energy, this paper focuses on the generation scheduling optimization for a wind-solar-thermal hybrid system considering that the produced energy will be transmitted over a long distance to satisfy the demands of the receiving end system through ultra-high voltage (UHV) transmission lines. Accordingly, a bilevel optimization based on a non-cooperative game method is proposed to maximize the profit of power plants in the hybrid system. Users in the receiving end system are at the lower level of the bilevel programming, and power plants in the transmitting end system are at the upper level. Competitive behavior among power plants is formulated as a non-cooperative game and the profit of power plant is scheduled by adjusting generation and bidding strategies in both day-ahead markets and intraday markets. In addition, generation cost, wheeling cost, and carbon emissions are all considered in the non-cooperative game model. Moreover, a distributed algorithm is presented to obtain the generalized Nash equilibrium solution, which realizes the optimization in terms of maximizing profit. Finally, several simulations are implemented and analyzed to verify the effectiveness of the proposed optimization method.

ACS Style

Tiejiang Yuan; Tingting Ma; Yiqian Sun; Ning Chen; Bingtuan Gao. Game-Based Generation Scheduling Optimization for Power Plants Considering Long-Distance Consumption of Wind-Solar-Thermal Hybrid Systems. Energies 2017, 10, 1260 .

AMA Style

Tiejiang Yuan, Tingting Ma, Yiqian Sun, Ning Chen, Bingtuan Gao. Game-Based Generation Scheduling Optimization for Power Plants Considering Long-Distance Consumption of Wind-Solar-Thermal Hybrid Systems. Energies. 2017; 10 (9):1260.

Chicago/Turabian Style

Tiejiang Yuan; Tingting Ma; Yiqian Sun; Ning Chen; Bingtuan Gao. 2017. "Game-Based Generation Scheduling Optimization for Power Plants Considering Long-Distance Consumption of Wind-Solar-Thermal Hybrid Systems." Energies 10, no. 9: 1260.

Journal article
Published: 04 August 2017 in Energies
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Aiming for large-scale renewable energy sources (RES) integrated to power systems with power electronic devices, the technology of virtual synchronous generator (VSG) has been developed and studied in recent years. It is necessary to analyze the damping characteristics of the power system with RES generation based on VSG and develop its corresponding damping controller to suppress the possible low frequency oscillation. Firstly, the mathematical model of VSG in a per unit (p.u) system is presented. Based on the single-machine infinite bus system integrated with an RES power plant, the influence of VSG on the damping characteristics of the power system is studied qualitatively by damping torque analysis. Furthermore, the small-signal model of the considered system is established and the damping ratio of the system is studied quantitatively by eigenvalue analysis, which concluded that adjusting the key control parameters has limited impacts on the damping ratio of the system. Consequently, referring to the configuration of traditional power system stabilizer (PSS), an auxiliary damping controller (ADC) for VSG is designed to suppress the low frequency oscillation of the power system. Finally, simulations were performed to verify the validity of theoretical analysis and the effectiveness of designed ADC.

ACS Style

Bingtuan Gao; Chaopeng Xia; Ning Chen; Khalid Mehmood Cheema; Libin Yang; Chunlai Li. Virtual Synchronous Generator Based Auxiliary Damping Control Design for the Power System with Renewable Generation. Energies 2017, 10, 1146 .

AMA Style

Bingtuan Gao, Chaopeng Xia, Ning Chen, Khalid Mehmood Cheema, Libin Yang, Chunlai Li. Virtual Synchronous Generator Based Auxiliary Damping Control Design for the Power System with Renewable Generation. Energies. 2017; 10 (8):1146.

Chicago/Turabian Style

Bingtuan Gao; Chaopeng Xia; Ning Chen; Khalid Mehmood Cheema; Libin Yang; Chunlai Li. 2017. "Virtual Synchronous Generator Based Auxiliary Damping Control Design for the Power System with Renewable Generation." Energies 10, no. 8: 1146.

Journal article
Published: 13 June 2017 in Entropy
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Bilateral contract transaction among generation companies and large consumers is attracting much attention in the electricity market. A large consumer can purchase energy from generation companies directly under a bilateral contract, which can guarantee the economic interests of both sides. However, in pursuit of more profit, the competitions in the transaction exist not only between the company side and the consumer side, but also among generation companies. In order to maximize its profit, each company needs to optimize bidding price to attract large consumers. In this paper, a master–slave game is proposed to describe the competitions among generation companies and large consumers. Furthermore, a Bayesian game approach is formulated to describe the competitions among generation companies considering the incomplete information. In the model, the goal of each company is to determine the optimal bidding price with Bayesian game; and based on the bidding price provided by companies and the predicted spot price, large consumers decide their personnel purchase strategy to minimize their cost. Simulation results show that each participant in the transaction can benefit from the proposed game.

ACS Style

Yi Tang; Jing Ling; Cheng Wu; Ning Chen; Xiaofeng Liu; Bingtuan Gao. Game-Theoretic Optimization of Bilateral Contract Transaction for Generation Companies and Large Consumers with Incomplete Information. Entropy 2017, 19, 272 .

AMA Style

Yi Tang, Jing Ling, Cheng Wu, Ning Chen, Xiaofeng Liu, Bingtuan Gao. Game-Theoretic Optimization of Bilateral Contract Transaction for Generation Companies and Large Consumers with Incomplete Information. Entropy. 2017; 19 (6):272.

Chicago/Turabian Style

Yi Tang; Jing Ling; Cheng Wu; Ning Chen; Xiaofeng Liu; Bingtuan Gao. 2017. "Game-Theoretic Optimization of Bilateral Contract Transaction for Generation Companies and Large Consumers with Incomplete Information." Entropy 19, no. 6: 272.

Journal article
Published: 04 May 2017 in Energies
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In a competitive electricity market with substantial involvement of renewable electricity, maximizing profits by optimizing bidding strategies is crucial to different power producers including conventional power plants and renewable ones. This paper proposes a game-theoretic bidding optimization method based on bi-level programming, where power producers are at the upper level and utility companies are at the lower level. The competition among the multiple power producers is formulated as a non-cooperative game in which bidding curves are their strategies, while uniform clearing pricing is considered for utility companies represented by an independent system operator. Consequently, based on the formulated game model, the bidding strategies for power producers are optimized for the day-ahead market and the intraday market with considering the properties of renewable energy; and the clearing pricing for the utility companies, with respect to the power quantity from different power producers, is optimized simultaneously. Furthermore, a distributed algorithm is provided to search the solution of the generalized Nash equilibrium. Finally, simulation results were performed and discussed to verify the feasibility and effectiveness of the proposed non-cooperative game-based bi-level optimization approach.

ACS Style

Yi Tang; Jing Ling; Tingting Ma; Ning Chen; Xiaofeng Liu; Bingtuan Gao. A Game Theoretical Approach Based Bidding Strategy Optimization for Power Producers in Power Markets with Renewable Electricity. Energies 2017, 10, 627 .

AMA Style

Yi Tang, Jing Ling, Tingting Ma, Ning Chen, Xiaofeng Liu, Bingtuan Gao. A Game Theoretical Approach Based Bidding Strategy Optimization for Power Producers in Power Markets with Renewable Electricity. Energies. 2017; 10 (5):627.

Chicago/Turabian Style

Yi Tang; Jing Ling; Tingting Ma; Ning Chen; Xiaofeng Liu; Bingtuan Gao. 2017. "A Game Theoretical Approach Based Bidding Strategy Optimization for Power Producers in Power Markets with Renewable Electricity." Energies 10, no. 5: 627.

Journal article
Published: 13 April 2017 in Energies
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Demand response (DR) is counted as an effective method when there is a large-capacity power shortage in the power system, which may lead to peak loads or a rapid ramp. This paper proposes a bi-level coordinated optimization strategy by quantitating the DR potential (DRP) of smart appliances to descend the steep ramp and balance the power energy. Based on dynamic characteristics of the smart appliances, the mathematic models of online DRP are presented. In the upper layer, a multi-agent coordinated distribution method is proposed to allocate the demand limit to each agent from the dispatching center considering the online DRP. In the lower layer, an optimal smart appliances-controlling strategy is presented to guarantee the total household power consumption of each agent below its demand limit considering the consumers’ comfort and response times. Simulation results indicate the feasibility of the proposed strategy.

ACS Style

Jia Ning; Yi Tang; Qian Chen; Jianming Wang; Jianhua Zhou; Bingtuan Gao. A Bi-Level Coordinated Optimization Strategy for Smart Appliances Considering Online Demand Response Potential. Energies 2017, 10, 525 .

AMA Style

Jia Ning, Yi Tang, Qian Chen, Jianming Wang, Jianhua Zhou, Bingtuan Gao. A Bi-Level Coordinated Optimization Strategy for Smart Appliances Considering Online Demand Response Potential. Energies. 2017; 10 (4):525.

Chicago/Turabian Style

Jia Ning; Yi Tang; Qian Chen; Jianming Wang; Jianhua Zhou; Bingtuan Gao. 2017. "A Bi-Level Coordinated Optimization Strategy for Smart Appliances Considering Online Demand Response Potential." Energies 10, no. 4: 525.