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This paper aim to solve the problem of low assembly success rate for 3c assembly lines designed based on classical control algorithms due to inevitable random disturbances and other factors,by incorporating intelligent algorithms into the assembly line, the assembly process can be extended to uncertain assembly scenarios.

This work proposes a reinforcement learning framework based on digital twins. First, the authors used Unity3D to build a simulation environment that matches the real scene and achieved data synchronization between the real environment and the simulation environment through the robot operating system. Then, the authors trained the reinforcement learning model in the simulation environment. Finally, by creating a digital twin environment, the authors transferred the skill learned from the simulation to the real environment and achieved stable algorithm deployment in real-world scenarios.

In this work, the authors have completed the transfer of skill-learning algorithms from virtual to real environments by establishing a digital twin environment. On the one hand, the experiment proves the progressiveness of the algorithm and the feasibility of the application of digital twins in reinforcement learning transfer. On the other hand, the experimental results also provide reference for the application of digital twins in 3C assembly scenarios.

In this work, the authors designed a new encoder structure in the simulation environment to encode image information, which improved the model’s perception of the environment. At the same time, the authors used the fixed strategy combined with the reinforcement learning strategy to learn skills, which improved the rate of convergence and stability of skills learning. Finally, the authors transferred the learned skills to the physical platform through digital twin technology and realized the safe operation of the flexible printed circuit assembly task.

Wheeled mobile robots (WMR) are the most widely used robots. Avoiding obstacles in unstructured environments, especially dynamic obstacles such as pedestrians, is a serious challenge for WMR. This paper aims to present a hybrid obstacle avoidance method that combines an informed-rapidly exploring random tree* algorithm with a three-dimensional (3D)-object detection approach and model prediction controller (MPC) to conduct obstacle perception, collision-free path planning and obstacle avoidance for WMR in unstructured environments.

Given a reference orientation and speed, the hybrid method uses parametric ellipses to represent obstacle expansion boundaries based on the 3D target detection results, and a collision-free reference path is planned. Then, the authors build on a model predictive control for tracking the collision-free reference path by incorporating the distance between the robot and obstacles. The proposed framework is a mapless method for WMR.

The authors present experimental results with a mobile robot for obstacle avoidance in indoor environments crowded with obstacles, such as chairs and pedestrians. The results show that the proposed hybrid obstacle avoidance method can satisfy the application requirements of mobile robots in unstructured environments.

In this study, the parameter ellipse is used to represent the area occupied by the obstacle, which takes the velocity as the parameter. Therefore, the motion direction and position of dynamic obstacles can be considered in the planning stage, which enhances the success rate of obstacle avoidance. In addition, the distance between the obstacle and robot is increased in the MPC optimization function to ensure a safe distance between the robot and the obstacle.

This study aims to form a new concept of power-to-gas-based virtual power plant (GVPP) and propose a low-carbon economic scheduling optimization model for GVPP considering carbon emission trading.

In view of the strong uncertainty of wind power and photovoltaic power generation in GVPP, the information gap decision theory (IGDT) is used to measure the uncertainty tolerance threshold under different expected target deviations of the decision-makers. To verify the feasibility and effectiveness of the proposed model, nine-node energy hub was selected as the simulation system.

GVPP can coordinate and optimize the output of electricity-to-gas and gas turbines according to the difference in gas and electricity prices in the electricity market and the natural gas market at different times. The IGDT method can be used to describe the impact of wind and solar uncertainty in GVPP. Carbon emission rights trading can increase the operating space of power to gas (P2G) and reduce the operating cost of GVPP.

This study considers the electrical conversion and spatio-temporal calming characteristics of P2G, integrates it with VPP into GVPP and uses the IGDT method to describe the impact of wind and solar uncertainty and then proposes a GVPP near-zero carbon random scheduling optimization model based on IGDT.

This study designed a novel structure of the GVPP integrating P2G, gas storage device into the VPP and proposed a basic near-zero carbon scheduling optimization model for GVPP under the optimization goal of minimizing operating costs. At last, this study constructed a stochastic scheduling optimization model for GVPP.