Zhiyi Lin | Searcharxiv

arXiv2022

Semantic localization on BIM-generated maps using a 3D LiDAR sensor

Conventional sensor-based localization relies on high-precision maps, which are generally built using specialized mapping techniques involving high labor and computational costs. In the architectural, engineering and construction industry, Building Information Models (BIM) are available and can provide informative descriptions of environments. This paper explores an effective way to localize a mobile 3D LiDAR sensor on BIM-generated maps considering both geometric and semantic properties. First, original BIM elements are converted to semantically augmented point cloud maps using categories and locations. After that, a coarse-to-fine semantic localization is performed to align laser points to the map based on iterative closest point registration. The experimental results show that the semantic localization can track the pose successfully with only one LiDAR sensor, thus demonstrating the feasibility of the proposed mapping-free localization framework. The results also show that using semantic information can help reduce localization errors on BIM-generated maps.

cs.RO↗

arXiv2021

Economic Dispatch of an Integrated Microgrid Based on the Dynamic Process of CCGT Plant

Intra-day economic dispatch of an integrated microgrid is a fundamental requirement to integrate distributed generators. The dynamic energy flows in cogeneration units present challenges to the energy management of the microgrid. In this paper, a novel approximate dynamic programming (ADP) approach is proposed to solve this problem based on value function approximation, which is distinct with the consideration of the dynamic process constraints of the combined-cycle gas turbine (CCGT) plant. First, we mathematically formulate the multi-time periods decision problem as a finite-horizon Markov decision process. To deal with the thermodynamic process, an augmented state vector of CCGT is introduced. Second, the proposed VFA-ADP algorithm is employed to derive the near-optimal real-time operation strategies. In addition, to guarantee the monotonicity of piecewise linear function, we apply the SPAR algorithm in the update process. To validate the effectiveness of the proposed method, we conduct experiments with comparisons to some traditional optimization methods. The results indicate that our proposed ADP method achieves better performance on the economic dispatch of the microgrid.

eess.SY↗