Bionic bimanual robot teleoperation can transfer the grasping and manipulation skills of human dual hands to the bionic bimanual robots to realize natural and flexible manipulation.The motion capture of dual hands pla...Bionic bimanual robot teleoperation can transfer the grasping and manipulation skills of human dual hands to the bionic bimanual robots to realize natural and flexible manipulation.The motion capture of dual hands plays an important role in the teleoperation.The motion information of dual hands can be captured through the hand detection,localization,and pose estimation and mapped to the bionic bimanual robots to realize the teleoperation.However,although the motion capture technology has achieved great achievements in recent years,visual dual-hand motion capture is still a great challenge.So,this work proposed a dual-hand detection method and a 3-dimensional(3D)hand pose estimation method based on body and hand biological inspiration to achieve convenient and accurate monocular dual-hand motion capture and bionic bimanual robot teleoperation.First,a dual-hand detection method based on body structure constraints is proposed,which uses a parallel structure to combine hand and body relationship features.Second,a 3D hand pose estimation method with bone-constraint loss from single RGB images is proposed.Then,a bionic bimanual robot teleoperation method is designed by using the proposed hand detection and pose estimation methods.Experiment results on public hand datasets show that the performances of the proposed hand detection and 3D hand pose estimation outperform state-of-the-art methods.Experiment results on a bionic bimanual robot teleoperation platform shows the effectiveness of the proposed teleoperation method.展开更多
This paper presents an algorithm that combines model predictive control(MPC)with MINLP optimization and demonstrates its application for coal-fired power plants retrofitted with solvent based post-combustion CO_(2) ca...This paper presents an algorithm that combines model predictive control(MPC)with MINLP optimization and demonstrates its application for coal-fired power plants retrofitted with solvent based post-combustion CO_(2) capture(PCC)plant.The objective function of the optimization algorithm works at a primary level to maximize plant economic revenue while considering an optimal carbon capture profile.At a secondary level,the MPC algorithm is used to control the performance of the PCC plant.Two techno-economic scenarios based on fixed(capture rate is constant)and flexible(capture rate is variable)operation modes are developed using actual electricity prices(2011)with fixed carbon prices($AUD 5,25,50/tonne-CO_(2))for 24 h periods.Results show that fixed operation mode can bring about a ratio of net operating revenue deficit at an average of 6%against the superior flexible operation mode.展开更多
二氧化碳捕集和封存(carbon capture and storage,CCS)是实现电力低碳化发展的关键技术,具有光明的发展前景。作为未来重要的电源选择,碳捕集电厂的运行性能与调整能力将对电网运行的安全性与高效性产生重大影响。结合碳捕集技术的基本...二氧化碳捕集和封存(carbon capture and storage,CCS)是实现电力低碳化发展的关键技术,具有光明的发展前景。作为未来重要的电源选择,碳捕集电厂的运行性能与调整能力将对电网运行的安全性与高效性产生重大影响。结合碳捕集技术的基本原理,深入研究了碳捕集电厂内部的能量流,量化分析了碳捕集电厂的运行区间,并揭示了碳捕集电厂的调峰性能。在此基础上,提出基于"电力系统调峰成本曲线"的分析方法,以直观、简明的方式实现了电力系统的调峰优化决策;并以具有复杂电源结构的电力系统为例进行调峰效果分析,特别测算了碳捕集电厂对电力系统容纳大规模风电接入的贡献率,评估了碳捕集电厂在提高电网运行安全裕度与降低系统调峰成本上的显著效益。展开更多
基金supported in part by the National Natural Science Foundation of China under Grant 62006204in part by the Guangdong Basic and Applied Basic Research Foundation under Grant 2022A1515011431+1 种基金in part by the Shenzhen Science and Technology Program under Grant RCBS20210609104516043Grant JSGG20220606142803007。
文摘Bionic bimanual robot teleoperation can transfer the grasping and manipulation skills of human dual hands to the bionic bimanual robots to realize natural and flexible manipulation.The motion capture of dual hands plays an important role in the teleoperation.The motion information of dual hands can be captured through the hand detection,localization,and pose estimation and mapped to the bionic bimanual robots to realize the teleoperation.However,although the motion capture technology has achieved great achievements in recent years,visual dual-hand motion capture is still a great challenge.So,this work proposed a dual-hand detection method and a 3-dimensional(3D)hand pose estimation method based on body and hand biological inspiration to achieve convenient and accurate monocular dual-hand motion capture and bionic bimanual robot teleoperation.First,a dual-hand detection method based on body structure constraints is proposed,which uses a parallel structure to combine hand and body relationship features.Second,a 3D hand pose estimation method with bone-constraint loss from single RGB images is proposed.Then,a bionic bimanual robot teleoperation method is designed by using the proposed hand detection and pose estimation methods.Experiment results on public hand datasets show that the performances of the proposed hand detection and 3D hand pose estimation outperform state-of-the-art methods.Experiment results on a bionic bimanual robot teleoperation platform shows the effectiveness of the proposed teleoperation method.
基金The authors wish to acknowledge financial assistance provided through Australian National Low Emissions Coal Research and Development(ANLEC R&D).ANLEC R&D is supported by Australian Coal Association Low Emissions Technology Limited and the Australian Government through the Clean Energy Initiative.
文摘This paper presents an algorithm that combines model predictive control(MPC)with MINLP optimization and demonstrates its application for coal-fired power plants retrofitted with solvent based post-combustion CO_(2) capture(PCC)plant.The objective function of the optimization algorithm works at a primary level to maximize plant economic revenue while considering an optimal carbon capture profile.At a secondary level,the MPC algorithm is used to control the performance of the PCC plant.Two techno-economic scenarios based on fixed(capture rate is constant)and flexible(capture rate is variable)operation modes are developed using actual electricity prices(2011)with fixed carbon prices($AUD 5,25,50/tonne-CO_(2))for 24 h periods.Results show that fixed operation mode can bring about a ratio of net operating revenue deficit at an average of 6%against the superior flexible operation mode.
文摘二氧化碳捕集和封存(carbon capture and storage,CCS)是实现电力低碳化发展的关键技术,具有光明的发展前景。作为未来重要的电源选择,碳捕集电厂的运行性能与调整能力将对电网运行的安全性与高效性产生重大影响。结合碳捕集技术的基本原理,深入研究了碳捕集电厂内部的能量流,量化分析了碳捕集电厂的运行区间,并揭示了碳捕集电厂的调峰性能。在此基础上,提出基于"电力系统调峰成本曲线"的分析方法,以直观、简明的方式实现了电力系统的调峰优化决策;并以具有复杂电源结构的电力系统为例进行调峰效果分析,特别测算了碳捕集电厂对电力系统容纳大规模风电接入的贡献率,评估了碳捕集电厂在提高电网运行安全裕度与降低系统调峰成本上的显著效益。
