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IEEE International Conference on Robotics and Automation (ICRA)

作者： Bruno Chapdelaine Mathis Celce Charles Vidal Lionel Birglen Bruno Monsarrat NRC’s Aerospace Research Centre Montréal CAN Polytechnique Montréal Montréal CAN

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper details the simulation and experimental validation of an autonomous perching and take-off method for a multirotor unmanned aerial vehicle (UAV) using a suction cup perching mechanism on vertical surfaces. The suction cup interaction with different surface types is characterized with experimental tests to accurately model the perching manoeuvre. The resulting model is used to develop a realistic hardware-in-the-loop (HIL) simulation of the perching and take-off manoeuvre of the UAV in Gazebo. A control method is developed to automate the perching and take-off manoeuvre. The method is tested in simulation and is experimentally validated with flight tests. Comparisons between simulation and experimental data demonstrate that the simulation is accurate and can be used to continue the development of autonomous perching methods.

关键词： Laser radar Accuracy hardware-in-the-loop simulation Autonomous aerial vehicles Aerodynamics Robotics and automation

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Risk-Free Formation Reconfiguration Guidance for Unmanned Surface Vehicles Based on Polar-Coordinate Vector Fields

Risk-Free Formation Reconfiguration Guidance for Unmanned Su...

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Asian Control Conference

作者： Nan Gu Jianshuo Zhang Lu Liu Xiaohua Ge Qing-Long Han School of Science Computing and Engineering Technologies Swinburne University of Technology Melbourne Australia School of Marine Electrical Engineering Dalian Maritime University Dalian China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

This paper investigates the formation reconfiguration of multiple underactuated unmanned surface vehicles (USVs) navigating a complex marine environment with multiple static obstacles. A formation reconfiguration guidance method is proposed for multiple USVs such that a collision-free behavior is achieved during the transformation of formation patterns. First, a polar-coordinate vector field (PCVF) method is implemented to generate local parameterized guidance vector fields around the static and dynamic obstacles. Next, a hybrid PCVFs is obtained by mixing all PCVFs based on a weight-based fusion method. Then, the orientation of the hybrid PCVFs is integrated with the desired formation reconfiguration heading through a moving weight average method. Finally, a saturated formation reconfiguration guidance method is proposed to depict the resultant speed and the yaw rate signals to track the desired composite heading signal, resulting in a collision-free formation reconfiguration behavior. It is proven that the closed-loop formation reconfiguration guidance system is input-to-state stable. simulation results are provided to demonstrate the proposed risk-free formation reconfiguration guidance method for USVs.

关键词： Navigation hardware-in-the-loop simulation Dynamics Force Vectors Stability analysis Hybrid power systems

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Realization of Real-Time simulation of Power Electronics Systems in Applications - A Review of Requirements and Methods

Realization of Real-Time Simulation of Power Electronics Sys...

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IEEE International Symposium on Power Electronics for Distributed Generation Systems (PEDG)

作者： Julian Saele Ian O'Bryan Real-Time Test & Development Solutions dSPACE GmbH Paderborn Germany Application Engineering dSPACE Inc. Wixom MI USA

ISBN: (数字)9798350361001

ISBN: (纸本)9798350361018

Power electronics systems consist of two or more power electronics basic circuits. Common are combinations of a rectifier and at least one DC/DC converter, however topologies with several DC/DC converters for creating different voltage levels are a usual approach for certain applications. Different control strategies exist for these systems, either dedicated controls for each device or a single control for multiple devices at a time. This paper describes how these systems, regardless of their control strategy, can be modeled to run in a real-time simulation. Large or complex systems need to be split into individual models which are then simulated on individual hardware platforms. The required communication between the models and the hardware platforms to run the models synchronously is included as well. simulation results prove that this approach works well.

关键词： Reviews Computational modeling hardware-in-the-loop simulation Rectifiers Real-time systems Power electronics hardware

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Real-Time-Capable Oversampling Model of a Fast-Switching CLLC Resonant Converter with Small Step-Size and Enhanced PWM Resolution

Real-Time-Capable Oversampling Model of a Fast-Switching CLL...

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European Conference on Power Electronics and Applications

作者： Axel Kiffe Thorben Hoffstadt dSPACE GmbH Paderborn Germany

ISBN: (数字)9798350364446

ISBN: (纸本)9798350364453

Onboard chargers in electric vehicles often include a DC/DC converter between active rectifier and HV battery, such as a CLLC resonant converter. To test its control unit by using HIL simulation, a real-time-capable model of the topology is required. This paper addresses the modeling and realization of a real-time-capable model for a CLLC resonant converter with a small step-size and enhanced time resolution for considering the gate-signals by applying model-pipelining and averaging.

关键词： hardware-in-the-loop simulation Europe Rectifiers Resonant converters Logic gates Pulse width modulation Vectors Topology Integrated circuit modeling Field programmable gate arrays

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Thinking Beyond Bus-off: Targeted Control Falsification in CAN

Thinking Beyond Bus-off: Targeted Control Falsification in C...

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IEEE/ACM International Conference on Cyber-Physical Systems (ICCPS)

作者： Ipsita Koley Sunandan Adhikary Soumyajit Dey Dept. of CSE IIT Kharagpur

ISBN: (数字)9798350369274

ISBN: (纸本)9798350369281

Controller Area Network (CAN) is considered to be the de facto standard for intra-vehicular communication of modern automobiles. Due to the lack of strong authentication and confidentiality schemes, CAN has been the popular target of a multitude of attacks in the last two decades. Among such attacks, the Bus-off attack (BoA) is considered an important attack vector since it helps the attacker impersonate a trusted safety-critical controller while actually sending false *** this paper, we uncover the limitations of classical BoA along with the recent variants in the context of targeting specific automotive safety-critical control loops. In particular, we show that state-of-the-art system-agnostic BoAs are actually futile in the presence of rudimentary range and gradient-based signal monitors that filter out signals exhibiting drastic changes. Instead, we propose a new attack model FalCAN that maximally impacts a given automotive closed-loop while maintaining stealth against monitors. Given the control and bus network specifications, the attack first figures out maximal delays that can be introduced for targeted control loops while attempting BoA. The attack then identifies suitable false data sequences for such delayed actuations that maximize the state error while staying undetected. We implement this attack model on automotive-grade ECUs with benchmark CAN traffic and visualize the impact by real-time emulation of the plant using hardware-in-loop (HIL) simulation.

关键词： System dynamics hardware-in-the-loop simulation Reverse engineering Vectors Real-time systems Delays Safety

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Control of a 3-Phase 9-level Symmetrical Utility Interactive Inverter for Renewable Energy Applications

Control of a 3-Phase 9-level Symmetrical Utility Interactive...

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International Conference on Electrical and Computer Engineering (ICECE)

作者： M Rukonuzzaman Department of EEE American International University - Bangladesh (AIUB) Dhaka Bangladesh

ISBN: (数字)9798331531782

ISBN: (纸本)9798331507923

In this paper, a three-phase, 9-level symmetric, utility interactive inverter that is designed for the solar powered renewable energy applications is presented. This inverter topology, designed with only 10 IGBT switches, features a lower number of switches compared to other 9-level conventional inverters that require more semiconductor switches for the operation. A comprehensive examination of multilevel carrier based sinusoidal PWM technique using phase opposition disposition (POD) is provided in this paper. A 3-phase solar powered 9-level symmetric Multilevel Inverter (MLI) connected to the utility grid is designed and its implementation is substantiated with the PSIM ® simulator. The feedback control algorithm of this utility interactive inverter is implemented using $\mathbf{C}$ programming language such that the control section’s code can be embedded directly in the feedback controller without any modifications in the microprocessor as in the case of hardware-in-the-loop (HIL) simulation.

关键词： Renewable energy sources Codes Microprocessors hardware-in-the-loop simulation Multilevel inverters Feedback control Topology Reliability Adaptive control Testing

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Coordinated Control of Distributed Thermostatically Controlled Load for Frequency Regulation and Impact on Voltage Profile of a Microgrid

Coordinated Control of Distributed Thermostatically Controll...

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International Conference on Renewable Energy Research and Applications (ICRERA)

作者： Divine Okeke Elena Gryazina Federico M. Ibanez Abdullatif Albaseer Mohamed Abdallah Center for Energy Science and Technology Skolkovo Institute of Science and Technology Moscow Russia Division of Information and Computing Technology College of Science and Engineering Hamad Bin Khalifa University Doha Qatar

ISBN: (数字)9798350375589

ISBN: (纸本)9798350375596

Thermostatically controlled loads (TCLs) offer significant potential for frequency regulation in power systems, particularly as the integration of renewable energy sources introduces greater variability. This paper presents a novel approach to TCL control, treating them as distributed units rather than aggregated units, to avoid coordination challenges that could lead to grid instability. A robust control algorithm was developed and tested using a hardware-in-the-loop (HIL) simulation environment to evaluate its effectiveness in frequency regulation and its impact on voltage profiles. The results demonstrate that coordinated TCLs significantly enhance frequency stability and that using TCLs for frequency regulation can impact node voltages. It is important to explore the full potential of TCLs to utilize them not only for frequency regulation but also for voltage management.

关键词： Robust control Renewable energy sources hardware-in-the-loop simulation Power system stability Stability analysis Power system reliability Reliability Voltage control Frequency control Optimization

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Adaptive Beamsteering Architecture Based on AoA Estimation with Phase Shift on LO-Path for 5G NR

Adaptive Beamsteering Architecture Based on AoA Estimation w...

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International Multidisciplinary Conference on Computer and Energy Science (SpliTech)

作者： Antonello Florio Giuseppe Coviello Claudio Talarico Gianfranco Avitabile Department of Electrical and Information Engineering Polytechnic University of Bari Bari BA Italy Department of Electrical and Computer Engineering Gonzaga University Spokane WA USA

ISBN: (数字)9789532901351

ISBN: (纸本)9798350390797

In modern telecommunications systems, high frequencies lead to higher losses. One way to mitigate the path loss contribution is in the use of beam steering and beamforming techniques, which allow to improve the antenna system gain. Nowadays, the interest is put in adaptive systems, which steer the antenna pattern towards the position of a given target. In this work, we proposed a novel architecture for adaptive beam steering based on the Angle-of-Arrival (AoA) estimation. The phase shift is introduced in the Local Oscillator (LO) path thanks to a modified and lightweight DDS-PLL structure. After having described the architecture, the main dimensioning equations are presented. The architecture is validated through a hardware-in-the-loop (HiL) simulation campaign.

关键词： Local oscillators Beam steering Power demand hardware-in-the-loop simulation Estimation Prototypes Mathematical models

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Seamless Transitions Between Grid-Tied and Islanded Operation in a Brazilian Microgrid

Seamless Transitions Between Grid-Tied and Islanded Operatio...

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IEEE General Meeting Power& Energy Society

作者： Jesus Flores Huaman Lucas E. dos Santos Jose Carlos Ugaz Pena J. A. Pomilio Daniel Dotta University of Campinas Campinas Brazil

ISBN: (数字)9798350381832

ISBN: (纸本)9798350381849

One of the main features of microgrids is their ability to operate in grid-connected and islanded modes. In each mode of operation, distributed energy resources (DERs) can be managed through grid forming or grid following control strategies. A microgrid may experience significant voltage and frequency fluctuations during unintentional isolation events. This papers proposes an adaptation of the control strategy known as Virtual Synchornous Machine with the aims to smooth the transition to islanded mode without depending on any external command signal for islanding detection. The proposed control strategy is applied to a 1 MW, 1.2 MWh Battery Energy Storage System that will act as the grid former in an 11.9 kV microgrid currently being deployed at the State University of Campinas (Brazil). hardware-in-the-loop simulations result of the system with the control strategy implemented in a digital signal processor (DSP) are presented for validation.

关键词： Voltage fluctuations Islanding Fluctuations hardware-in-the-loop simulation Digital signal processors Process control Microgrids Control systems Testing Grid forming

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Bridge to Real Environment with hardware-in-the-loop for Wireless Artificial Intelligence Paradigms

arXiv

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arXiv 2024年

作者： Redondo, Jeffrey Aslam, Nauman Zhang, Juan Yuan, Zhenhui Jimenez, David University of Northumbria Newcastle United Kingdom University of Warwick Coventry United Kingdom V-TRON Company Netherlands

Nowadays, many machine learning (ML) solutions to improve the wireless standard IEEE802.11p for Vehicular Adhoc Network (VANET) are commonly evaluated in the simulated world. At the same time, this approach could be cost-effective compared to real-world testing due to the high cost of vehicles. There is a risk of unexpected outcomes when these solutions are implemented in the real world, potentially leading to wasted resources. To mitigate this challenge, the hardware-in-the-loop is the way to move forward as it enables the opportunity to test in the real world and simulated worlds together. Therefore, we have developed what we believe is the pioneering hardware-in-the-loop for testing artificial intelligence, multiple services, and HD map data (LiDAR), in both simulated and real-world settings. Copyright © 2024, The Authors. All rights reserved.

关键词： hardware-in-the-loop simulation

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