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Analysis of UTM Tracking Performance for Conformance Monitoring via Hybrid SITL Monte Carlo Methods

DRONES 2023年第10期7卷

作者： Dai, Wei Quek, Zhi Hao Pang, Bizhao Feroskhan, Mir Nanyang Technol Univ Sch Mech & Aerosp Engn Singapore 639798 Singapore Nanyang Technol Univ Air Traff Management Res Inst Singapore 637460 Singapore

Conformance monitoring supports UTM safety by observing if unmanned aircraft (UA) are adhering to declared operational intent. As a supporting system, robust cooperative tracking is critical. Nevertheless, tracking systems for UAS traffic management (UTM) are in an early stage and under-standardized, and existing literature hardly addresses the problem. To bridge this gap, this study aims to probabilistically evaluate the impact of the change in tracking performances on the effectiveness of conformance monitoring. We propose a Monte Carlo simulation-based method. To ensure a realistic simulation environment, we use a hybrid software-in-the-loop (SITL) scheme. The major uncertainties contributing to the stochastic evaluation are measured separately and are integrated into the final Monte Carlo simulation. Latency tests were conducted to assess the performance of different communication technologies for cooperative tracking. Flight technical error generation via SITL simulations and navigational system error generation based on flight experiments were employed to model UA trajectory uncertainty. Based on these tests, further Monte Carlo simulations were used to study the overall impacts of various tracking key performance indicators in UTM conformance monitoring. Results suggest that the extrapolation of UA position enables quicker non-conformance detection, but introduces greater variability in detection delay, and exacerbates the incidence of nuisance alerts and missed detections, particularly when latencies are high and velocity errors are severe. Recommendations for UA position update rates of >= 1 Hz remain consistent with previous studies, as investments in increasing the update rate do not lead to corresponding improvements in conformance monitoring performance according to simulation results.

关键词： UTM Monte Carlo conformance monitoring software-in-the-loop simulation Remote ID tracking

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Comparison of Power Hardware-in-the-loop Approaches for the Testing of Smart Grid Controls

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ENERGIES 2018年第12期11卷 3381-3381页

作者： Ebe, Falko Idlbi, Basem Stakic, David E. Chen, Shuo Kondzialka, Christoph Casel, Matthias Heilscher, Gerd Seitl, Christian Bruendlinger, Roland Strasser, Thomas I. Ulm Univ Appl Sci Smart Grids Res Grp D-89075 Ulm Germany AIT Austrian Inst Technol Elect Energy Syst Ctr Energy A-1210 Vienna Austria

The fundamental changes in the energy sector, due to the rise of renewable energy resources and the possibilities of the digitalisation process, result in the demand for new methodologies for testing Smart Grid concepts and control strategies. Using the Power Hardware-in-the-loop (PHIL) methodology is one of the key elements for such evaluations. PHIL and other in-the-loop concepts cannot be considered as plug'n'play and, for a wider adoption, the obstacles have to be reduced. This paper presents the comparison of two different setups for the evaluation of components and systems focused on undisturbed operational conditions. The first setup is a conventional PHIL setup and the second is a simplified setup based on a quasi-dynamic PHIL (QDPHIL) approach which involves fast and continuously steady state load flow calculations. A case study which analyses a simple superimposed voltage control algorithm gives an example for the actual usage of the quasi-dynamic setup. Furthermore, this article also provides a comparison and discussion of the achieved results with the two setups and it concludes with an outlook about further research.

关键词： Hardware-in-the-loop software-in-the-loop Power-Hardware-in-the-loop Quasi-Dynamic Power-Hardware-in-the-loop smart grids real-time simulation validation and testing decentralised energy system smart grids control strategies

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Model predictive control and protection of MMC-based MTDC power systems

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INTERNATIONAL JOURNAL OF ELECTRICAL POWER & ENERGY SYSTEMS 2023年 146卷

作者： Shetgaonkar, Ajay Liu, Le Lekic, Aleksandra Popov, Marjan Palensky, Peter Delft Univ Technol Intelligent Elect Power Grids IEPG ESE Delft Netherlands

Meshed offshore grids (MOGs) present a viable option for a reliable bulk power transmission topology. The station-level control of MOGs requires faster dynamics along with multiple objective functions, which is realized by the model predictive control (MPC). This paper provides control, and protection design for the Modular Multilevel Converter (MMC) based multi-terminal DC (MTDC) power system using MPC. MPC is defined using a quadratic cost function, and a dqz rotating frame voltage inputs are represented using Laguerre orthonormal functions. MPC has been applied for the control of both grid forming and grid following converters in a four-terminal MTDC setup, implemented for real-time Electromagnetic Transient (EMT) simulation. By applying numerous time-domain simulations, the advantages of the MPC when dealing with AC and DC side disturbances are investigated. The investigation highlights the MPC's inherent feature of fast response and high damping during-and post-disturbance, which is compared to the traditional PI controller performance. The analysis provides a comprehensive insight into the transient behavior of the MTDC during disturbances.

关键词： Model predictive control Wind power plant GTFPGA MMC MTDC VARC DC CB software-in-the-loop

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An IoT-based energy management system for AC microgrids with grid and security constraints

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APPLIED ENERGY 2023年第1期337卷

作者： Silva, Jessica Alice A. Lopez, Juan Camilo Guzman, Cindy Paola Arias, Nataly Banol Rider, Marcos J. da Silva, Luiz C. P. State Univ Campinas UNICAMP Sch Elect & Comp Engn FEEC Dept Syst & Energy DSE Campinas SP Brazil Univ Lisbon Inst Superior Tecn IST Dept Elect & Comp Engn INESC ID Lisbon Portugal Univ Twente Dept Elect Engn Math & Comp Sci EEMCS Enschede Overijssel Netherlands

This paper proposes an Internet-of-Things (IoT) based energy management system (EMS) for the optimal operation of unbalanced three-phase AC microgrids. The system utilizes a software architecture based on microservices, which includes a stochastic economic dispatch optimizer (EDO), a database, a web-based graphical user interface (GUI), and an application programming interface (API). The EDO uses a mixed-integer linear programming (MILP) model to ensure the day-ahead dispatch of the distributed energy resources (DERs) in the microgrid while adhering to grid constraints such as voltage, current, and power limits. Additionally, the optimization module takes into account security constraints for unplanned islanded operation, as well as stochastic scenarios of local demand and renewable generation. To assess the performance of the proposed IoT-based EMS, tests are conducted using a real-time simulator in a software-in-the-loop (SIL) experimental setup. Actual data from a microgrid located at the State University of Campinas (UNICAMP) in Brazil is utilized for the tests. The microgrid consisted of a photovoltaic (PV) system, a battery energy storage system (BESS), a thermal generation unit, and variable demands. Results indicated the effectiveness of the proposed IoT-based EMS in monitoring the operation of the microgrid and defining the optimal day-ahead dispatch of local DERs.

关键词： Energy management system Grid and security constraints Internet-of-Things (IoT) Microgrids software-in-the-loop

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A distributed communication framework for smart Grid control applications based on data distribution service

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ELECTRIC POWER SYSTEMS RESEARCH 2021年 201卷 107547-107547页

作者： Saxena, Shivam Farag, Hany E. Z. El-Taweel, Nader King Fahd Univ Acad Belt Rd Dhahran 31261 Saudi Arabia York Univ Dept Elect Engn & Comp Sci 4700 Keele St Toronto ON M3J 1P3 Canada

The successful implementation of multi-agent control strategies (MAS) within smart grid applications is heavily reliant on communication frameworks that enable robust inter-agent messaging. In this regard, a promising communication framework is Data Distribution Service (DDS), which is fully distributed, enables low-latency messaging, and provides configurable Quality of Service (QoS) profiles that customize messaging parameters. As such, this paper proposes a DDS-based, fully distributed communication framework (DCF) for smart grid applications. The proposed DCF is configured with QoS profiles that discard outdated messages when agents experience intermittent connection issues, thereby preventing the misaligned execution of distributed control strategies. The performance of the proposed DCF is validated by developing a software-in-the-loop platform, where agents utilize the DCF to execute the Asynchronous Weak Commitment (AWC) control strategy within the application of distributed voltage regulation. Experimental results show that the proposed DCF delivers messages at latencies between 4-36 milliseconds, which is sufficient for smart grid applications. The proposed DCF also enhances the efficacy of the AWC strategy when performing voltage regulation by discarding outdated messages and preventing unnecessary control actions in resolving voltage violations. The proposed DCF is validated at a real-world Canadian microgrid, where overvoltage violations are resolved in a timely manner.

关键词： Data distribution service Voltage regulation software-in-the-loop Internet of Things (IoT) Multi-agent Smart grid

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On the model flexibility of the geographical distributed real-time co-simulation: The of ENET-RT lab

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SUSTAINABLE ENERGY GRIDS & NETWORKS 2024年 40卷

作者： Mazza, A. Benedettoa, G. Ponsa, E. Bompard, E. De Paola, A. Thomas, D. Kotsakis, E. Fulli, G. Vogel, S. Gild, A. Acosta Monti, A. Bruno, S. Iurlaro, C. La Scala, M. Bonfiglio, A. Cepollini, P. D'Agostino, F. Invernizzi, M. Rossi, M. Silvestro, F. De Caro, F. Giannoccaro, G. Villacci, D. Politecn Torino Dept Energy Turin Italy European Commiss Smart Grid Interoperabil Lab Joint Res Ctr Via Enrico Fermi 2749 I-21027 Ispra Italy OPAL RT Germany Aachen Germany RWTH Aachen Univ Aachen Inst Automat Complex Power Syst Aachen Germany Politecn Bari Dept Elect & Informat Engn Bari Italy Univ Genoa Elect Elect & Telecom Engn & Naval Architecture De Genoa Italy Univ Sannio Dept Engn Benevento Italy Univ Napoli Federico II Dept Ind Engn Naples Italy European Climate Infrastruct & Environm Execut Agc Brussels Belgium

The decarbonization of the energy sector represents a challenge that requires new tools and approaches of analysis. This paper aims to demonstrate the fundamental role that geographical distributed real-time co- simulations (GD-RTDS) can play in this regard. To this end, three different case studies have been analyzed with GD-RTDS, covering a wide range of applications for the energy sector decarbonization: (a) implementation of Renewable Energy Communities for supporting the share increase of Renewable Energy Sources, (b) the integration and management of Onshore Power Supply, and (c) the integration of a forecasting tool for the management of the Electric Vehicle charging. The performed experiments included fully simulated components, together with (power) hardware-in-the-loop and software-in-the-loop elements. These components have been simulated in different laboratory facilities in Italy and Germany, all operating in a synchronized manner under the presented geographically-distributed setup. The results show that the proposed architecture is flexible enough to be used for modeling all the different case studies;moreover, they highlight the significant contribution that the GD-RTDS methodology can give in informing and driving energy transition policies and the fundamental role of power systems to spearhead the complete decarbonization of the energy sector.

关键词： Real time co-simulation Power hardware-in-the-loop software-in-the-loop Control-in-the-loop Frequency control

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Guidance for Autonomous Underwater Vehicles in Confined Semistructured Environments

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SENSORS 2020年第24期20卷 7237-7237页

作者： Milosevic, Zorana Suarez Fernandez, Ramon A. Dominguez, Sergio Rossi, Claudio Univ Politecn Madrid Ctr Automat & Robot UPM CSIC Madrid 28006 Spain

In this work, we present the design, implementation, and testing of a guidance system for the UX-1 robot, a novel spherical underwater vehicle designed to explore and map flooded underground mines. For this purpose, it needs to navigate completely autonomously, as no communications are possible, in the 3D networks of tunnels of semistructured but unknown environments and gather various geoscientific data. First, the overall design concepts of the robot are presented. Then, the guidance system and its subsystems are explained. Finally, the system's validation and integration with the rest of the UX-1 robot systems are presented. A series of experimental tests following the software-in-the-loop and the hardware-in-the-loop paradigms have been carried out, designed to simulate as closely as possible navigation in mine tunnel environments. The results obtained in these tests demonstrate the effectiveness of the guidance system and its proper integration with the rest of the systems of the robot, and validate the abilities of the UX-1 platform to perform complex missions in flooded mine environments.

关键词： underwater robots guidance 3D navigation field robotics software-in-the-loop hardware-in-the-loop

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When Excellence in Research is not enough: the IFAC TC5.1 Benchmarking Platform

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IFAC Proceedings Volumes 2013年第7期46卷 53-56页

作者： Paul Valckenaers Chair of IFAC Technical Committee 5.1 Mechanical Engineering Department KU Leuven Leuven Belgium IWT Department KHLim Diepenbeek Belgium

This paper first discusses the science policies that govern our scientific and technological research. From this discussion, the need for a benchmarking platform for manufacturing plant control systems is uncovered. The main characteristics and design choice of this platform are presented accompanied by pointers to the on-line sources of more detailed information. The development of this IFAC TC5.1 benchmarking platform is work-in-progress, aiming at continuous improvement and enhancement by the IFAC TC5.1 research community and beyond.

关键词： Manufacturing Plant Control digital mock-up software-in-the-loop benchmarking

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FVMS: A Novel SiL Approach on the Evaluation of Controllers for Autonomous MAV

FVMS: A Novel SiL Approach on the Evaluation of Controllers ...

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IEEE Aerospace Conference

作者： Rafael C. B. Sampaio Marcelo Becker Adriano A. G. Siqueira Leonardo W. Freschi Marcelo P. Montanher University of S?o Paulo - EESC - Mechatronics Group - Mobile Robotics - Aerial Robots Team (ART) S?o Carlos/SP Brazil -13566-590

ISBN: (纸本)9781467318129

The originality of this work is to propose a novel SiL (software-in-the-loop) platform using Microsoft Flight Simulator (MSFS) to assist control design regarding the stabilization problem found in AscTec Pelican platform. Aerial Robots Team (USP/EESC/LabRoM/ART) has developed a custom C++/C# software named FVMS (Flight Variables Management System) that interfaces the communication between the virtual Pelican and the control algorithms allowing the control designer to perform fast full closed loop real time algorithms. Emulation of embedded sensors as well as the possibility to integrate OpenCV Optical Flow algorithms to a virtual downward camera makes the SiL even more reliable. More than a strictly numeric analysis, the proposed SiL platform offers an unique experience, simultaneously offering both dynamic and graphical responses. Performance of SiL algorithms is presented and discussed.

关键词： MSFS software-in-the-loop MAV KLHL2 gene Controllers Computer algorithms Embedded sensor Creativity pelicans

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A new fast algorithm for connecting the INET simulation framework to applications in real-time 11

A new fast algorithm for connecting the INET simulation fram...

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Proceedings of the 4th International ICST Conference on Simulation Tools and Techniques

作者： Irene Rüngeler Michael Tüxen Brad Penoff Alan Wagner Münster University of Applied Sciences Steinfurt Germany University of British Columbia Vancouver BC Canada

ISBN: (纸本)9781936968008

The coupling of real implementations with simulations helps the developer to better understand the behavior of the real system by shifting to the simulation the parts of the overall system that he cannot influence. This was done for MPI programs in MPI-NeTSim. where the network and transport protocol are simulated in OMNeT++ but the original MPI code executes unchanged. We previously developed a static time factoring algorithm to accurately handle the discrepancies between the wall clock time of the application and the virtual simulation time. However, the original algorithm proved to be too slow for simulations with a higher number of hosts and a greater amount of data. In this paper, we introduce a faster adaptive algorithm that no longer uses time factors nor requires a full system-wide synchronization but still meets the conditions of the ordering of events in a distributed system. The new algorithm scales to significantly more hosts and data.

关键词： real-time scheduler software-in-the-loop OMXeT++ adaptive time synchronization MPI network simulation

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