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IEEE International Conference on Mechatronics and Automation

作者： Kyriacos Tsapparellas Nickolay Jelev Jonathon Waters Sabine Brunswicker Lyudmila S Mihaylova Department of Automatic Control and Systems Engineering University of Sheffield UK Windracers Distributed Avionics Healthaid House Malborough Hill London UK Research Center for Digital Innovation Purdue University USA

Introducing autonomy is a task of paramount importance and is currently investigated in many areas, especially for autonomous cars and Unmanned Aerial Vehicles (UAVs). Most UAVs are still remotely human-controlled. A necessity is to implement on-board solutions, able to work in all weather conditions and at any time. Hence, on this topic, we give an overview of recent advances for vision-based landing of UAVs. A thorough classification of the main recently developed methods is introduced with a discussion of their advantages and disadvantages. The paper presents a new solution for autonomous UAV vision-based landing, focusing on runway detection using a hybrid approach combining multi-image matching, SIFT and object tracking. The results are evaluated and validated using simulated images sampled with the X-Plane 11 flight simulator and real-world videos collected during automated flights performed by the ULTRA vehicle, one of the biggest UAVs in the UK [1]. The statistical analysis from the validation of the proposed approach shows a high level of accuracy around 94.89% in clear weather conditions and real-time computational performance.

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Roblets: Robotic Tablets That Self-Assemble and Self-Fold into a Robot

Roblets: Robotic Tablets That Self-Assemble and Self-Fold in...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Junyi Han Daniela Rus Shuhei Miyashita Automatic Control and Systems Engineering Department University of Sheffield Sheffield UK Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA Insigneo Institute for in silico Medicine

Inspired by human proteins that are synthesized from only 20 types of amino acids, the development of self-assembly methods that allow robots to be built simply by randomly stirring the parts has been explored for many years. The key challenges include how to synthesize parts in pieces into a three-dimensional functional structure in a practical time, and subsequently, achieve a controlled robotic motion, all with minimal human intervention. This study proposes a method of self-assembling a 3D robot by first self-assembling random parts into a 2D structure and then self-folding it into a 3D shape. Once self-folded, the robot, whose compositional parts contain magnets, becomes capable of performing basic tasks such as block-pushing upon an application of an external magnetic field. Self-assembly from parts into a two-dimensional structure was performed by repeatedly colliding the parts with each other, and combining them with complementary-shaped parts, like matching jigsaw puzzle pieces. Self-folding was performed by shrinking a heat-responsive film attached across the hinge of each assembly part in hot water, causing the entire 2D structure to self-fold. The experiment demonstrated a series of 13 parts self-assembling into the shape of a 3D beetle, then walking and pushing an object in 13 minutes. The self-assembly process is programmed (mechanically) to generate the same geometry even if the number of parts is greater than the necessary number for the structure, thus is capable of generating multiple structures simultaneously.

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3, 2, 1, Drones Go! A Testbed to Take off UAV Swarm Intelligence for Distributed Sensing

arXiv

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arXiv 2022年

作者： Qin, Chuhao Candan, Fethi Mihaylova, Lyudmila Pournaras, Evangelos School of Computing University of Leeds Leeds United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom

This paper introduces a testbed to study distributed sensing problems of Unmanned Aerial Vehicles (UAVs) exhibiting swarm intelligence. Several Smart City applications, such as transport and disaster response, require efficient collection of sensor data by a swarm of intelligent and cooperative UAVs. This often proves to be too complex and costly to study systematically and rigorously without compromising scale, realism and external validity. With the proposed testbed, this paper sets a stepping stone to emulate, within small laboratory spaces, large sensing areas of interest originated from empirical data and simulation models. Over this sensing map, a swarm of low-cost drones can fly allowing the study of a large spectrum of problems such as energy consumption, charging control, navigation and collision avoidance. The applicability of a decentralized multi-agent collective learning algorithm (EPOS) for UAV swarm intelligence along with the assessment of power consumption measurements provide a proof-of-concept and validate the accuracy of the proposed testbed. Copyright © 2022, The Authors. All rights reserved.

关键词： Drones

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Developing Digital Twin for Electromechanical System of Rolling Stand in Simulink Real Time

Developing Digital Twin for Electromechanical System of Roll...

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International Ural Conference on Measurements (UralCon)

作者： Andrey A. Radionov Alexandr S. Karandaev Boris M. Loginov Vadim R. Khramshin Department of Automation and Control Moscow Polytechnic University Moscow Russia Magnitogorsk Iron and Steel Works Magnitogorsk Russia Power Engineering and Automated Systems Institute Nosov Magnitogorsk State Technical University Magnitogorsk Russia

ISBN: (数字)9798350386028

ISBN: (纸本)9798350386035

The development of digital twins (DTs) of industrial electrical systems is attributed to the need for the reduction of time and material resource inputs during their virtual commissioning (VC). The same problem occurs during renovation with complete or partial equipment replacement and/or control systems. These problems can be efficiently solved by developing object-oriented DTs based on the Simulink Real Time software and using hardware-in-the-loop simulation (HIL). This software is compatible with Matlab Simulink and the Simscape package, which makes it suitable for the industrial usage. The authors suggest a HIL-based approach that helps make a virtual real-time computer model, with process control signals coming from the industrial PLC that controls the real physical object. This problem occurred during the renovation of the horizontal stand electric drives of a 5000 plate mill. The authors provide the flow charts of the electromechanical system and the object-oriented DT. The implementation of DT in Matlab Simulink Desktop Real Time is reviewed in laboratory settings. The authors present the block structures that make up a virtual model of the electromechanical system. The developed DT was used to adjust control algorithms and controllers and study the dynamic modes over a rolling cycle. The adequacy of the processes was tested by comparing the oscillograms obtained with the developed DT and the rolling mill. The authors stress the feasibility of developing DTs on the Simulink Real Time platform using HIL simulation during VC and renovation of complex industrial objects.

关键词： Software packages Object oriented modeling Hardware-in-the-loop simulation Heuristic algorithms control systems Real-time systems Mathematical models Digital twins Electromechanical systems MATLAB

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Dc Leakage Current in Isolated Grid-Connected dc Nanogrid - Origins and Elimination Methods

Dc Leakage Current in Isolated Grid-Connected dc Nanogrid - ...

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Compatibility in Power Electronics (CPE)

作者： Mohammadreza Azizi Oleksandr Husev Oleksandr Veligorskyi Marek Turzvński Ryszard Strzelecki Department of Radiotechnic and Embedded Systems Chernihiv Polytechnic National University Chernihiv Ukraine Department of Electric Electronic and Automation Engineering University of Extremadura Badajoz Spain Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallinn Estonia Faculty of Electrical and Control Engineering Gdansk University of Technology Gdansk Poland

ISBN: (数字)9798350318265

ISBN: (纸本)9798350318272

The LV dc system is a relatively new trend in the distribution sector, which seems to grow widely in the near future due to its promising advantages. In this context, LV dc protection and grounding are challenging issues. Although the galvanically isolated connection mode of dc nanogrid to the ac grid has high reliability, the leakage current can still be injected into the ac grid through the interwinding capacitors and the insulation resistance between the primary and secondary windings of the transformer. The way of grounding the dc nanogrid can also be a determining factor in the leakage current and its dc components. This study deals with the leakage current in the galvanically isolated dc nanogrid. Then, it examines the dc leakage current and its relationship with the dc nanogrid grounding and finally provides solutions to remove the dc components in the leakage current.

关键词： Resistance Insulation Grounding Simulation Windings Capacitors Leakage currents

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Optimization of Neural Networks using Swarm Intelligence Techniques for Achieving Energy Efficiency in Smart Building Architecture

Optimization of Neural Networks using Swarm Intelligence Tec...

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Cognitive Robotics and Intelligent systems (ICC - ROBINS), International Conference on

作者： M. Karthick Raja Makhbuba Shermatova Mohammed Saleh Al Ansari Shokhjakhon Abdufattokhov Vuda Sreenivasa Rao I. Infant Raj Department of Computer Science and Engineering Sri Eshwar College of Engineering Coimbatore Civil Engineering and Architecture Department Turin Polytechnic University in Tashkent Tashkent Uzbekistan College of Engineering Department of Chemical Engineering University of Bahrain Bahrain Automatic Control and Computer Engineering Dept Turin Polytechnic University Dept of Information Technologies Tashkent Intl. University of Education Tashkent Uzbekistan Department of Computer Science and Engineering Koneru Lakshmaiah Education Fou. Green Fields Vaddeswaram A.P India Department of Computer Science and Engineering K. Ramakrishnan College of Engineering Trichy Tamil Nadu India

ISBN: (数字)9798350372748

ISBN: (纸本)9798350372755

The increasing prevalence of smart building architectures, driven by the integration of Internet of Things (IoT) devices and automation systems, has led to a surge in energy consumption. This research explores the application of swarm intelligence techniques as an innovative approach to optimize neural networks, aiming to strike a balance between maintaining the desired performance levels and minimizing energy consumption. The study investigates the integration of swarm-based optimization algorithms, such as Particle Swarm Optimization (PSO) into the training and operation of neural networks. These algorithms enable the networks to dynamically adapt and optimize their parameters in response to changing environmental conditions and user requirements. The research focuses on developing a comprehensive framework that considers the specific challenges posed by smart building architectures, including real-time data processing, sensor integration, and adaptive control. The proposed approach aims to achieve optimal neural network configurations that minimize energy consumption while ensuring reliable and responsive operation of smart building systems. The results demonstrate the potential of swarm intelligence to significantly improve the energy efficiency of neural network-enabled smart building architectures, providing a promising avenue for sustainable and intelligent infrastructure. The proposed model has an accuracy of 98.23% which is 7.64% higher than that of the traditional approaches.

关键词： Training Energy consumption Smart buildings Architecture Heuristic algorithms Neural networks Energy efficiency

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Semi-supervised Domain Adaptation on Graphs with Contrastive Learning and Minimax Entropy

arXiv

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arXiv 2023年

作者： Xiao, Jiaren Dai, Quanyu Shen, Xiao Xie, Xiaochen Dai, Jing Lam, James Kwok, Ka-Wai Department of Mechanical Engineering The University of Hong Kong Hong Kong Department of Computing The Hong Kong Polytechnic University Hong Kong School of Computer Science and Technology Hainan University Haikou China Department of Automation Harbin Institute of Technology Shenzhen China Institute for Automatic Control and Complex Systems University of Duisburg-Essen Duisburg Germany

Label scarcity in a graph is frequently encountered in real-world applications due to the high cost of data labeling. To this end, semi-supervised domain adaptation (SSDA) on graphs aims to leverage the knowledge of a labeled source graph to aid in node classification on a target graph with limited labels. SSDA tasks need to overcome the domain gap between the source and target graphs. However, to date, this challenging research problem has yet to be formally considered by the existing approaches designed for cross-graph node classification. This paper proposes a novel method called SemiGCL to tackle the graph Semi-supervised domain adaptation with Graph Contrastive Learning and minimax entropy training. SemiGCL generates informative node representations by contrasting the representations learned from a graph’s local and global views. Additionally, SemiGCL is adversarially optimized with the entropy loss of unlabeled target nodes to reduce domain divergence. Experimental results on benchmark datasets demonstrate that SemiGCL outperforms the state-of-the-art baselines on the SSDA tasks. © 2023, CC BY-NC-ND.

关键词： Entropy

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RTLAB-Based Performance Validation of PV- Powered Single-Phase Asynchronous Motor Pumps

RTLAB-Based Performance Validation of PV- Powered Single-Pha...

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International Conference on Advanced Electrical engineering (ICAEE)

作者： Fezazi Omar Abdelkader Semmak Hasan Köten Mohammed Abd El Djalil Djehaf Ayad Ahmed Nour El Islam Biswadip Basu Mallik ICEPS Laboratory (Intelligent Control & Electrical Power Systems) Djillali Liabes University Sidi Bel-Abbes Algeria Department of Automatic Control Faculty of Electrical Engineering Djillali Liabes University Sidi Bel-Abbes Algeria Mechanical Engineering Department Mechanical Engineering Department Engineering Faculty Istanbul Medeniyet University North Campus Uskudar Istanbul TURKEY Kasdi merbah university Ouargla Algeria Department of Basic Science and Humanities Institute of Engineering & Management University of Engineering & Management Kolkata West Bengal India

ISBN: (数字)9798350349351

ISBN: (纸本)9798350349368

In this paper, a comprehensive investigation of the performance evaluation and validation of a single-phase asynchronous motor pump system coupled with a photovoltaic (PV) power source is presented. The purpose of this study was to evaluate the practicality and effectiveness of this configuration for pumping applications. The RTLAB platform, which enables real-time simulation and emulation of dynamic systems, includes important components, such as the use of a single-phase asynchronous motor as the pump's power source, the incorporation of a PV system to supply renewable energy, and the use of RTLAB for real-time validation. Through rigorous simulation and experimentation, the motor response performance, such as speed, torque, and current response, was analyzed under varying solar irradiance and load conditions. In addition, the PV power and DC bus voltage were supervised after motor driving. This research fills the knowledge gap between the theoretical analysis and real-world applications of single-phase asynchronous motor pump systems combined with PV sources. This approach, which validates the results using RTLAB, provides a validation method to evaluate the performance and guide design choices for effective and environmentally friendly pumping solutions. Keywords- Single-phase asynchronous motors, PV, RTLAB validation, SimPower System MATLAB.

关键词： Maximum power point trackers Solar irradiance Renewable energy sources Radiation effects Torque systems operation Motors Real-time systems Stability analysis Robustness

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Acoustic Positioning of Partial Discharges in High-Voltage Transformer Tank

Acoustic Positioning of Partial Discharges in High-Voltage T...

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International Ural Conference on Measurements (UralCon)

作者： Alexandr S. Karandaev Andrey B. Loginov Andrey A. Nikolaev Department of Automation and Control Moscow Polytechnic University Moscow Russia Power Engineering and Automated Systems Institute Nosov Magnitogorsk State Technical University Magnitogorsk Russia Magnitogorsk Iron and Steel Works Magnitogorsk Russia

ISBN: (数字)9798350386028

ISBN: (纸本)9798350386035

This report reviews an example of acoustic positioning of partial discharges (PD) in the tank of a high-voltage oil-filled transformer. The literature review confirms the importance of PD monitoring and justifies the feasibility of positioning discharge activity centers. The precise positioning of PD sources is required to determine the location of insulation defects. The authors provide brief information on the development of PD positioning methods and note that their practical application has been insufficiently covered in publications. They present the results of electromagnetic and acoustic PD positioning in a 110 kV transformer. Some details are provided on the devices and measurement methods used, including the localization of areas with increased PD intensity using one acoustic sensor and the subsequent center localization through the installation of 4 sensors at even intervals. The authors provide PD signals and defect impulses received from each of the sensors and demonstrate the difference in the registration time of these signals. They explain the principle behind PD center positioning, which is determined considering delays in signal reception. The authors demonstrate the usage of the Inva (Portable) software for the processing and visualization of acoustic positioning results. They note that changes in the propagation rate of acoustic waves in a heterogeneous medium result in the reduced accuracy of results. The authors also outline the prospects of the research into the elimination of occurring defects.

关键词： Partial discharges Location awareness Visualization Reviews High-voltage techniques Oil insulation Fault location Software Monitoring Power transformer insulation

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Multi-Target Tracking Using a Swarm of UAVs by Q-learning Algorithm

Multi-Target Tracking Using a Swarm of UAVs by Q-learning Al...

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Sensor Signal Processing for Defence (SSPD)

作者： Seyed Ahmad Soleymani Shidrokh Goudarzi Xingchi Liu Lyudmila Mihaylova Wenwu Wang Pei Xiao Centre for Vision Speech and Signal Processing (CVSSP) The University of Surrey UK School of Computing and Engineering University of West London UK Department of Automatic Control and Systems Engineering The University of Sheffield UK Institute for Communication Systems (5GIC) The University of Surrey UK

This paper proposes a scheme for multiple un-manned aerial vehicles (UAVs) to track multiple targets in challenging 3-D environments while avoiding obstacle collisions. The scheme relies on Received-Signal-Strength-Indicator (RSSI) measurements to estimate and track target positions and uses a Q-Learning (QL) algorithm to enhance the intelligence of UAVs for autonomous navigation and obstacle avoidance. Considering the limitation of UAVs in their power and computing capacity, a global reward function is used to determine the optimal actions for the joint control of energy consumption, computation time, and tracking accuracy. Extensive simulations demonstrate the effectiveness of the proposed scheme, achieving accurate and efficient target tracking with low energy consumption.

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