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ICINCO 2008 - Proceedings of the 5th international conference on Informatics in Control, automation and robotics 2008年 2 RA卷 XIII-XIV页

作者： Filipe, Joaquim Andrade-Cetto, Juan Ferner, Jean-Louis Polytechnic Institute of Setúbal INSTICC Portugal Institut de Robotica i Informatica Industrial CSIC-UPC Spain LISA-ISTIA Université d'Angers France

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ISBN: (纸本)9789898111319

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Study on factors affecting the harmonics of large-scale rectification device in power grid

Study on factors affecting the harmonics of large-scale rect...

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international Universities Power Engineering conference (UPEC)

作者： J. Jiang B.H. Zhang Z.G. Hao Y.Y. Yuan Z.Q. Bo A. Klimek State Key Laboratory of Electrical Insulation and Power Equipment Xi'an Jiaotong University Xi'an China AREVA T&D Automation슠and Information Systems Stafford UK

In recent years, with the rapid development of the power electronic technology, various power electronic devices and nonlinear elements, especially of many kinds of rectifier and switcher, are applied widely in power system. Harmonics have produced serious adverse effects in the equipment of power generators and distribution system, and of their control and protection, as well as the users and the communication fields. Due to the increasing requirements of power quality, the influence of harmonics of large scale power rectifier couldn't be ignored. Harmonic voltage and harmonic current are in a high level relatively because of the large power consumption of the rectifier. this paper mostly studies the factors which affects the content of harmonics. this paper briefly introduces the main structure of the aluminum electrolyzation rectifying system and operating principle, and the reason that harmonics caused and its harm, also analyzes the harmonics of the system about a real rectifying system. On the foundation of the work done above, electromagnetic transient simulation model of the aluminum electrolyzation rectifying system is established at PSCAD/EMTDC. Harmonics of the system either in all units or all except standby unit on is analyzed. In all units on, characteristic harmonics (84n±1, including harmonic voltage and harmonic current) and uncharacteristic harmonics (3rd, 5th, 7th) are negligible. And in all except standby unit on, characteristic harmonics are still almost the same, while many new uncharacteristic harmonics (12n±1, especially 11th and 13th) are generated. In addition, certain uncharacteristic harmonics will be produced because of the asymmetric system and transformer parameters such as leakage resistance and three-phase voltage. Finally, the paper briefly discusses several solutions to decrease harmonics and improve the power quality.

关键词： Harmonic analysis Rectifiers Power harmonic filters Aluminum Electrochemical processes

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DATICS-2010: Welcome message from workshop organizers: FutureTech 2010

2010 5th International Conference on Future Information Tech...

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2010 5th international conference on Future Information Technology, FutureTech 2010 - Proceedings 2010年

作者： Man, Ka Lok Mercaldi, Michele Hahanov, Vladimir Prinetto, Paolo Poncino, Massimo MacIi, Alberto Choi, Joongho Li, Wei Schellekens, Michel Popovici, Emanuel Seon, Jong-Kug Rossi, Umberto Fummi, Franco Pravadelli, Graziano Lam, Yui Fai PavLov, Vladimir Patel, Ajay Huang, Jinfeng Vallee, thierry Boubekeur, Menouer Sokolova, Ana Almerares, Sergio Donno, Monica Cho, Jun-Dong Alam, Ahm Zahirul Provan, Gregory Velev, Miroslav N. Nasir Uddin, M. Botchkarev, Alexei Bosnacki, Dragan Hickey, Dave O'Keeffe, Maria Krilavičius, Tomas Pastrnak, Milan Herbert, John Lu, Zhe-Ming Pan, Jeng-Shyang Chang, Chin-Chen Horng, Mong-Fong Chen, Liang Lim, Chee-Peng Tao, Ngo Quoc Deb, Suash Merniz, Salah Valero, Oscar Yi, Yang Woods, Damien Vedrine, Franck Monsuez, Bruno Yen, Kang Matsuura, Takenobu Timothy Edwards, R. Tveretina, Olga Fino, Maria Helena O'Riordan, Adrian Patrick Labiak, Grzegorz Gaur, M.S. Chang, Jian Chung, Yeh-Ching Derezinska, Anna Cho, Kyoung-Rok Zhang, Yong Liutkevičius, R. Zeng, Yuanyuan Vasudevan, D.P. Bukowiec, Arkadiusz Kitsos, Paris Goudarzi, Maziar Dong, Jin Song Bhalla, Ateet Al-Khalili, Dhamin Navabi, Zainalabedin Zinchenko, Lyudmila Anjum, Muhammad Almas Narasimha, Deepak Laxmi Hughes, Danny Tadjouddine, Emmanuel M Wang, Jun Kumar, A.P. Sathish Jaisankar, N. Mansoor, Atif Hollands, Steven Mohammadi, Siamak Klein, Felipe Westermann, Peter English, Tom Planas, Miquel Moreto Chung, Chelho Chakrabarti, Amlan Lei, Chi-Un Bamakhrama, Mohamed Naik, B. Rajendra Harte, Sean Yin, Alexander Giancardi, Luigi Mady, Alie El-Din Joseph, Arun Khandekar, Prasad D. Pandey, Hari Mohan Xi'an Jiaotong-Liverpool University China Kharkov National University of Radio Electronics Italy Politecnico di Torino Italy University of Seoul China Fudan University Ireland University College Cork Ireland System LSI Lab. LS Industrial Systems R and D Center Korea Republic of STMicroelectronics Italy University of Verona Hong Kong Hong Kong University of Science and Technology Hong Kong Hong Kong International Software and Productivity Engineering Institute United States Intelligent Support Ltd. United Kingdom Philips and LiteOn Digital Solutions Netherlands Netherlands Georgia Southern University Statesboro GA Austria University of Salzburg Korea Republic of Sung Kyun Kwan University Malaysia International Islamic University Malaysia Malaysia Aries Design Automation United States Lakehead University Canada IEEE Canada Board of Directors Canada Eindhoven University of Technology Lithuania Vytautas Magnus University Greece Siemens IT Solutions and Services Slovakia Sun Yat-Sen University China National Kaohsiung University of Applied Sciences Taiwan Feng Chia University Taiwan Shu-Te University Canada University of Northern British Columbia Australia University of South Australia Viet Nam Vietnamese Academy of Science and Technology Viet Nam C. V. Raman College of Engineering India Mentouri University Constantine Spain University of Balearic Islands Spain University of Seville France CEA France ENSTA France Florida International University Japan Tokai University Japan MultiGiG Inc. United States Karlsruhe University Portugal Universidade Nova de Lisboa Poland University of Zielona Gora India Malaviya National Institute of Technology Jaipur India Texas Instruments Inc United States National Tsing-Hua University Poland Warsaw University of Technology Korea Republic of Chungbuk National University China Shenzhen University Lithuania Vytautas Magnus University Kaunas Greece Hellenic Open University Patras Singapore National University of Singapore Sing

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Robotic wheelchair trajectory control considering user comfort

Robotic wheelchair trajectory control considering user comfo...

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5th international conference on Informatics in Control automation and robotics, ICINCO 2008

作者： Solea, Razvan Nunes, Urbano Department of Electrical and Computer Engineering ISR - Institute of Systems and Robotics University of Coimbra Coimbra 3030-290 Portugal Department of Automation and Industrial Informatics Dunarea de Jos University of Galati Galati 800-008 Romania

ISBN: (纸本)9783642002700

this paper analyzes the comfort of wheelchair users when a sliding-mode trajectory-tracking controller is used. the transmission of the horizontal (fore-and-aft) vibration to the head-neck complex (HNC) in the seated human body may cause unacceptable discomfort and motion sickness. A double-inverted pendulum model with two degrees of freedom is considered as a model for the HNC. the user comfort is examined not only in the time domain (using the fourth power vibration dose value), but also in the frequency domain (using the cross-spectral density method). For measuring the acceleration of the wheelchair, along the trajectory, an inertial measurement unit was used. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Degrees of freedom (mechanics)

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Safe test flights for small rotorcrafts

Safe test flights for small rotorcrafts

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5th international conference on Informatics in Control automation and robotics, ICINCO 2008

作者： Vitzilaios, Nikos Tsourveloudis, Nikos Intelligent Systems and Robotics Laboratory Department of Production Engineering and Management Technical University of Crete Chania 73300 Greece

ISBN: (纸本)9783642002700

In this paper we present an experimental test bed for the development and evaluation of unmanned helicopters control. Main component of the suggested test bed is a flying stand which permits all possible movements but, also, prevents helicopters' damage because of crashing. A variety of sensors mounted on the stand, monitor and feedback rotorcraft's attitude and operational states. Based on the sensory information, a fuzzy logic controller has been developed and tested on a real rotorcraft, using the developed test bed. this controller proved able to perform hovering and altitude control. Experimental results are presented for various test cases. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Fuzzy control

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Informatics in Control, automation and robotics 2009

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丛书名： Lecture Notes in Electrical Engineering

2009年

作者： Juan Andrade Cetto Jean-Louis Ferrier Joaquim Filipe

ISBN: (数字)9783642002717

ISBN: (纸本)9783642002700

the present book includes a set of selected papers from the 5th "international conference on Informatics in Control automation and robotics" (ICINCO 2008), held in Funchal-Madeira, Portugal, 11-15 May 2008. the conference was organized in three simultaneous tracks: "Intelligent Control systems and Optimization", "robotics and automation" and "systems Modeling, Signal Processing and Control". the book is based on the same structure. the purpose of this conference is to bring together researchers, engineers and practitioners interested in the application of informatics to Control, automation and robotics. Informatics applications are pervasive in many areas of Control, automation and robotics, and this conference intends to emphasize this connection, therefore, most papers highlight applications of Information Technology (IT) in these areas and present ideas on how to solve problems using IT, both in R&D and industrial applications. A diversity of papers are included in the book, ranging from papers describing advanced prototypes, systems, tools and techniques to papers presenting surveys indicating future directions.

关键词： Control theory.automation.robotics.

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Hybrid controller for tracking systems

Hybrid controller for tracking systems

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5th international conference on Informatics in Control automation and robotics, ICINCO 2008

作者： Wachten, Christian Ament, Christoph Friedrich, Lars Müller, Claas Reinecke, Holger Department of Microsystems Technology University of Freiburg Georges-Koehler-Allee 103 Freiburg 79110 Germany Institute for Automation and Systems Engineering TU Ilmenau Gustav-Kirchhoff-Straße 1 Ilmenau 98693 Germany

ISBN: (纸本)9783642002700

this chapter presents a hybrid controller which can be used with tracking systems especially with laser tracker systems. the controller consists of an analog PI controller and a microcontroller. Special features like e.g. an absolute distance measurement technique or a search algorithm in case of beam loss is implemented. With the help of the distance measurement the controller gain is adjusted automatically by digital potentiometers. Due to the usage of standard elements it is cost effective and easy to use. the controller is designed for working with an interferometer in a laser tracker system but can also act as an autonomous system because of the integrated absolute distance measurement technique. A distance of about eight meters between the tracker unit and the reflector is easily achieved in experiment without static tracking errors. Furthermore, the lateral offset of the laser beam does not exceed a quarter of the beam diameter and thus guarantees stable interferometer functionality. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Interferometers

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Mobile robot teleoperation via wireless multihop networks - Parameter tuning of protocols and real world application scenarios

Mobile robot teleoperation via wireless multihop networks - ...

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5th international conference on Informatics in Control automation and robotics, ICINCO 2008

作者： Zeiger, Florian Krämer, Nikolaus Sauer, Markus Schilling, Klaus University of Wuerzburg Department of Robotics and Telematics Am Hubland Wuerzburg Germany

ISBN: (纸本)9783642002700

Currently, the use of wireless networks is very common in the field of networked robotics and can be considered as a key issue for capable multi robot systems with a high grade of mobility. Nevertheless, this mobility requests for special features of the communication infrastructure, which leads to the integration of mobile robots into wireless ad-hoc networks. Since the late nineties, more than 80 ad-hoc routing protocols were developed and nowadays some of them are implemented and ready to use in real world applications. A comparison of four ad-hoc routing protocols (AODV, DSR, OLSR, and BATMAN) showed shortfalls of the default parameter settings not allowing a reliable teleoperation of mobile robots while using AODV, OLSR, or BATMAN. this work is focused on the parameter tuning of the routing protocols to use them in wireless ad-hoc networks of mobile robots. the time required for route reestablishing, as well as the packet loss during rerouting is investigated in hardware tests of a network with dynamic network topology consisting of mobile robots. It could be demonstrated, that an appropriate parameter setting of OLSR and BATMAN allow the teleoperation of mobile robots in outdoor environments via a wireless ad-hoc network. Finally a small application is presented to show the interaction of the different protocol layers in order to provide a communication network for services and applications to increase the capabilities of networked mobile robots. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Mobile robots

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the adaptive path planning research for a shape-shifting robot using particle swarm optimization

The adaptive path planning research for a shape-shifting rob...

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5th international conference on Natural Computation, ICNC 2009

作者： Liu, Tonglin Wu, Chengdong Li, Bin Liu, Jinguo State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate School Chinese Academy of Sciences Beijing China School of Information Science and Engineering Northeastern University Shenyang China

ISBN: (纸本)9780769537368

shape-shifting robot with diverse configurations, named AMOEBA-I has been developed for search and rescue tasks. the accessibility of this robot to uneven environments was efficiently enlarged by changing its configurations. In this paper, for optimizing the path of the robot through an environment containing static polygonal obstacles, we present an adaptive path planning method for the AMOEBA-I, which integrates the reconfigurable ability of the robot into the particle swarm optimization (PSO). the unique accessibility of the AMOEBA-I is thus fully displayed. the modified PSO method can reduce the computational load and has certain degree of robustness on selecting dimension of particles. It can generate smooth paths by string of cubic splines. Experiment results show that the robot can change its configurations to perform the adaptive path planning corresponding to the environmental variation and current reconfigurable ability of AMOEBA-I. As a result, the path length has been reduced successfully and effectively. © 2009 IEEE.

关键词： Motion planning

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Modeling the buoyancy system of a wave energy power plant

Modeling the buoyancy system of a wave energy power plant

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5th international conference on Informatics in Control automation and robotics, ICINCO 2008

作者： Pedersen, Tom Søndergaard Nielsen, Kirsten Mølgaard Department of Automation and Control Aalborg University Fr. Bajersvej 7 Aalborg 9000 Denmark

ISBN: (纸本)9783642002700

A nonlinear dynamic model of the buoyancy system in a wave energy power plant is presented. the plant ("Wave Dragon") is a floating device using the potential energy in overtopping waves to produce power. A water reservoir is placed on top of the WD, and hydro turbines lead the water to the sea producing electrical power. through air chambers it is possible to control the level of the WD. It is important to control the level in order to maximize the power production in proportion to the wave height, here the amount of overtopping water and the amount of potential energy is conflicting. the pressures in the air chambers may be individually controlled by an air fan through an array of valves. the paper presents a model describing the dynamics from the air inlet to the level. Results from validation of the model against plant data are presented. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Dynamic models

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