With the increasing integration of low-voltage distributed photovoltaics (PVs), effective nonintrusive detection methods of user-side PV have become critical for the operators of active distribution networks. However, existing methods are mostly offline, requiring long-term data accumulation and lacking rapid response capability. This study proposes a data-driven method for fast detection and capacity estimation of user-side PVs. A cloud-edge collaborative framework is constructed to maximize the utilization of data features from smart meters. Within this framework, a lightweight rolling detection and capacity estimation method is proposed, reducing the required data volume and thus enhancing efficiency. A validation model based on historical data is developed in addition to ensuring the reliability of estimation results. Case studies verify that, with only 4 h of data, the proposed method can attain accuracies similar to existing methods that require multiple days of data. In addition, it can capture the uncertain variations in PV capacity within a short time, enabling operational applications such as PV monitoring and control in active distribution networks.

Underwater Gliders have found broad applications in ocean sampling. In this paper, the nonlinear dynamic model of the glider developed by the Shenyang Institute of Automation, Chinese Academy of Sciences, is established. Based on this model, we solve for the parameters that characterize steady state spiraling motions of the glider. A set of nonlinear equations are simplified so that a recursive algorithm can be used to find the solutions.

A wheel-propeller-leg integrated amphibious robot with multi-modes motion is presented as a new type of robot, which can both crawl on land and swim underwater in certain depth. The performance of swimming with the mixed thrusters composed of wheel-propellers and legs shows its propulsive capability when the robot swims in water. Based on analysis of propulsive principle of the wheel-propeller and the leg, hydrodynamic characters of the mixed thrusters are calculated, and the approximate models for propulsion of the wheel-propeller and leg are obtained according to computational calculation and simulation with commercial software. Considering the feature of energy-taking by itself, the optimal distribution of propulsion based on the wheel-propeller-leg mixed thrusters with the maximal navigational distance is studied using multi-objective optimization theory. As a result, the optimized driving parameters for the mixed thrusters are achieved to bring the maximal propulsion while consuming the minimal energy. Experiments carried out in the pool prove the validity and rationality of the optimization results.

The operation capabilities of robot in the amphibious environments (such as shallow water fields, surf zones, and beaches) are critical for military and civilian. In this paper, we introduce a novel amphibious robot with wheel-propeller-leg integrated driving devices, developed by Shenyang Institute of Automation, which can realize both crawling locomotion on the ground and swimming locomotion in the water without changing its driving devices. This paper describes the design of the overall robot structure, the design of the novel driving devices, and the design of the embedded control system, respectively. All the driving devices of the robot are driven by independent motor, thus the amphibious robot can conveniently switch its locomotion modes according to the operational environments. The embedded control system is a distributed control system based on CAN bus, which makes it is easy to expend sensors and devices for the robot in the future. Finally, the hydrodynamic performances of the wheel-propeller device are analyzed by using CFX hydrodynamic calculation software, and some primary experiments have been done for verifying the fundamental locomotion functions of the robot.