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This paper aims to present a hybrid model to mid-term forecast the load of transmission substations based on the knowledge of expert site and multi-objective posterior framework. The main important challenges in load forecasting are the different behavior of load in specific days. Regular days, holidays and special holidays, days after a holidays and days of load shifting are characterized by abnormal load profiles. The knowledge of these days is verified by expert operators in regional dispatching centers.

In this paper, a hybrid model for power prediction of transmission substations based on the combination of similar day selection and multi-objective posterior technique has been proposed. In the first step, the important data for prediction is provided. Posterior method is used in the second step for prediction that it is based on kernel functions. A multi-objective optimization has been formulated with three type of output accuracy measurement function that it is solved by non-dominated sorting genetic technique II (NSGT-II) method. TOPSIS way is used to find the best point of Pareto.

The presented method has been tested in four scenarios for three different transmission stations, and the test results have been compared. The presented results indicate that the presentation method has better results and is robust to different load characteristics, which can be used for better forecasting of different stations for better planning of repairs and network operation.

The main contributions of this paper can be categorized as follows: A hybrid model based on similar days selection and multi-objective framework posterior is presented. Similar day selection is done by expert site that the day type and days with scheduled repair are considered. Hyperparameters of posterior process are found by NSGT-II based on TOPSIS method.

This paper aims to propose an innovative adaptive control method for lower-limb rehabilitation robots.

Despite carrying out various studies on the subject of rehabilitation robots, the flexibility and stability of the closed-loop control system is still a challenging problem. In the proposed method, surface electromyography (sEMG) and human force-based dual closed-loop control strategy is designed to adaptively control the rehabilitation robots. A motion analysis of human lower limbs is performed by using a wavelet neural network (WNN) to obtain the desired trajectory of patients. In the outer loop, the reference trajectory of the robot is modified by a variable impedance controller (VIC) on the basis of the sEMG and human force. Thenceforward, in the inner loop, a model reference adaptive controller with parameter updating laws based on the Lyapunov stability theory forces the rehabilitation robot to track the reference trajectory.

The experiment results confirm that the trajectory tracking error is efficiently decreased by the VIC and adaptively correct the reference trajectory synchronizing with the patients’ motion intention; the model reference controller is able to outstandingly force the rehabilitation robot to track the reference trajectory. The method proposed in this paper can better the functioning of the rehabilitation robot system and is expandable to other applications of the rehabilitation field.

The proposed approach is interesting for the design of an intelligent control of rehabilitation robots. The main contributions of this paper are: using a WNN to obtain the desired trajectory of patients based on sEMG signal, modifying the reference trajectory by the VIC and using model reference control to force rehabilitation robot to track the reference trajectory.