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Error analysis of transformer hot spot temperature measurement

Distributed Generation and Alternative Energy Journal 2021年第4期36卷 403-424页

作者： Zhao, Zhengang Yang, Zhengyu Wang, Yuyuan Liang, Ke Jin, Nengsi Shi, Kaiqiang Li, Chuan Li, Yingna Faculty of Information Engineering and Automation Kunming University of Science and Technology Yunnan Kunming China Yunnan Key Laboratory of Computer Technology Applications Yunnan Kunming China Yunnan Institute of Measuring and Testing Technology Yunnan Kunming China

According to the national standard GB/T 1094.7-2008, the method of hot spot measurement of oil-immersed transformer is used to place several temperature sensors inside the gasket within the predicted hot spot position to measure the temperature of winding transformer. The highest temperature measured is regarded as the hot spot temperature of transformer. Since the winding and gasket are bad conductors of heat, there exists certain temperature difference between the gasket and the hot spot temperature of the winding. This temperature difference is not mentioned in the national standard GB/T 1094.7-2008, which is bound to affect the accuracy of the transformer hot spot temperature *** order to ensure safe operation of transformer, the thermal environment of temperature measuring point is analyzed and the discrete equation of boundary node is established. The parameters are set according to the heat transfer mode of the oil-immersed transformer and the temperature characteristics of each heat transfer node is analyzed. Gauss-Seidel Iteration method is used to calculate the theoretical value of the measuring point of the oil-immersed transformer and the heat transfer model of the measuring point is established for further analysis. The experimental platform of the oil-immersed transformer simulator is established according to the method described in the national standard and used to measure the hot spot temperature and winding surface temperature. The results show that when the winding temperature is 77◦C, the heat transfer model of the temperature measuring point is 74.7◦C and the experimental temperature of the temperature measuring point is 74.9◦C. The relative error between theoretical calculation temperature and experimental temperature is 0.27%. As the temperature of the experiment increases, the temperature difference between the temperature point and the winding temperature gradually increases, and the maximum absolute error is 2.1◦C. © 2021 River Pu

关键词： Temperature measurement

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Improved harris hawks optimization algorithm based on collaborative quantization 6

Improved harris hawks optimization algorithm based on collab...

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6th International Conference on Mechatronics and Intelligent Robotics, ICMIR 2022

作者： Li, Yan Zhang, Xiang Qian, Qian Pan, Jiawen Feng, Yong Fu, Yunfa Faculty of Information Engineering and Automation Kunming University of Science and Technology Kunming Yunnan650500 China Yunnan Key Laboratory of Computer Technology Applications Kunming University of Science and Technology Kunming Yunnan650500 China Logistic Service Group Yunnan University Kunming Yunnan650500 China

ISBN: (纸本)9781510656635

Harris hawk optimization algorithm (HHO) is one of the population-based algorithms proposed by in *** has received great attention from researchers. However, HHO algorithm still has some problems, such as the exploitation ability is too large compared with the exploration ability, which leads to low optimization accuracy, slow convergence speed and so on. Therefore, the collaborative strategy and quantization strategy are introduced. With the support of the two strategies, the algorithm can avoid falling into local extremum in the early phase of iteration and improve its optimization accuracy at the late phase of iteration. Through the test of four representative functions, compared with the other three basic algorithms, the proposed algorithm greatly improves the optimization accuracy and convergence speed of the optimal solution, and the ability to find global extremum is greatly improved. © 2022 SPIE.

关键词： Optimization

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Human-Aware Navigation in Crowded Environments Using Adaptive Proxemic Area and Group Detection

Human-Aware Navigation in Crowded Environments Using Adaptiv...

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

作者： Carlos Medina-Sánchez Simon Janzon Matteo Zella Jesús Capitán Pedro J. Marrón Faculty of Business Administration and Economics Institute for Computer Science and Business Information Systems (ICB) University of Duisburg-Essen Essen Germany Faculty of Electrical Engineering and Computer Science University of Applied Sciences Niederrhein Krefeld Germany Department of System Engineering and Automation University of Seville Seville Spain

Navigation is an essential task for social robots. However, certain rules must be followed to allow them to move without causing distraction or discomfort to people. Considering that the context surrounding robots and persons affects the expected behavior, this work defines a social area around a person that adapts to the real situation. In addition, the social context of a person is extended to identify groups of people, which the robot should take into account while navigating. With this understanding of the surrounding of the robot together with the ability to predict the trajectory of individuals as well as groups, the proposed solution not only effectively addresses collision avoidance while promoting socially acceptable behavior but also outperforms the majority of recent works in terms of accuracy. Furthermore, a dedicated policy is introduced to react to social navigation conflicts. The evaluation performed in a simulated environment shows that the computation of our proposed solution is at least 8 times faster than the best state-of-the-art approach while preserving comparable social conduct. Also, the results of realistic experiments performed using Gazebo and a real robot are reported.

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Robotic fish:Opening a new era of underwater detection

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The Innovation 2025年第3期6卷 13-14页

作者： Dongfang Li Suet To Zhicheng Xu Guanghong Liu Rob Law Edmond Q.Wu Limin Zhu State Key Laboratory of Ultraprecision Machining Technology Department of Industrial and Systems EngineeringThe Hong Kong Polytechnic UniversityHong Kong 999077China School of Electrical Engineering and Automation Fuzhou UniversityFujian 350108China China Electronics Technology Group Corporation Information Science Research InstituteBeijing 100086China School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China Asia-Pacific Academy of Economics and Management Faculty of Business AdministrationUniversity of MacaoMacao 999078China Department of Computer Science and Engineering Shanghai JiaoTong UniversityShanghai 200240China

Escalating competition within aquatic environments,particularly in oceans,underscores the imperative for innovative solutions in underwater *** solutions necessitate the development of intelligent underwater equipment,with robotic fish emerging as a promising contender.1 Leveraging advancements in robotics and artificial intelligence,robotic fish offer a suite of advantages that position them as transformative assets in underwater exploration and *** fish are autonomous robots designed based on biomimetics principles that mimic the appearance of fish and can autonomously swim and perform specific tasks in water.

关键词： robotic fish intelligent underwater equipmentwith autonomous robots underwater detection oceans artificial intelligencerobotic fish aquatic environments innovative solutions

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Stability Analysis of Cyber-Physical Systems via Dynamic Feedback Linearization and Linear Matrix Inequalities

Stability Analysis of Cyber-Physical Systems via Dynamic Fee...

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Innovative Research in Applied science, Engineering and Technology (IRASET),Conference on

作者： Rachid Boutssaid Said Kririm Bensalem Boukili Noureddine Chaibi Laboratory of Materials Signals Systems and Physical Modeling Ibn Zohr University Faculty of Sciences Agadir Agadir Morocco Computer Science Signal Automation and Cognitivism Laboratory Faculty of Sciences Dhar El Mahraz Sidi Mohamed Ben Abdellah University Fez Morocco

ISBN: (数字)9798331532970

ISBN: (纸本)9798331532987

Nonlinear control is a challenging aspect in modeling and controlling complex systems, specifically Cyber-Physical Systems (CPSs), where the system dynamics are inherently nonlinear. Robotics and autonomous vehicle applications mandate the need for stability and robustness guarantees despite such nonlinearities. This paper addresses these challenges by employing dynamic feedback linearization, which extends classical feedback linearization by incorporating dynamic compensators to transform nonlinear systems into linear systems via appropriate state, feedback, and compensator transformations. The linear system can be altered to incorporate classical control techniques in a simpler form to analyze. Moreover, the stability of the transformed system will be analyzed extensively based on Lyapunov quadratic functions and Linear Matrix Inequalities (LMIs) to come up with a robust and systematic toolbox for stability analysis. Additionally, its applicative effectiveness to an autonomous vehicle model will demonstrate its usefulness for addressing practical CPS scenarios. This work develops novel knowledge regarding the behavior of nonlinear systems in the framework of stability, and this is crucial for the design and deployment of CPSs in complex applications.

关键词： Linear systems Cyber-physical systems Stability analysis Robustness Feedback linearization Linear matrix inequalities Nonlinear dynamical systems Safety Vehicle dynamics Autonomous vehicles

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Surface Electric Field Measurement of Composite Insulator Using an Optical Waveguide Sensor

SSRN

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SSRN 2023年

作者： Zhang, Jiahong Li, Weichang Shi, Jiali Faculty of Information Engineering and Automation Kunming University of Science and Technology Kunming650000 China Yunnan Key Laboratory of Computer Technology Applications Kunming University of Science and Technology Kunming650000 China

In this paper, an integrated optical waveguide sensor is designed and developed to comprehensively analyze the surface electric field distribution characteristics of composite insulators. Based on the optical waveguide electric field sensor, a measuring system for the surface axial and radial electric fields of composite insulators is built, and the axial and radial electric fields along the surface of composite insulator is measured under normal, damaged and internally defects. Based on the optical waveguide electric field sensor, an experimental system is setup for measuring the axial and radial electric fields along surface of composite insulators under normal, damaged and internally defective conditions. The experimental results showed that when a 10 kV power frequency voltage is connected, the radial and axial electric fields at the low and high voltage ends of the normal insulator are 21.53 kV/m, 53.07 kV/m and 47.55 kV/m, 105.12 kV/m respectively. When the insulator surface is damaged, the radial and axial electric field intensities at the damaged locations increased by 37.59%-204.85% and 12.89%-32.69%, respectively. When an internal defect occurred, the radial and axial electric field along the defect area increased by 18% and decreased by 127.72%, respectively. The radial electric field is more affected by the defect. The comparison with the calculated results shows that the integrated optical waveguide electric field sensor has great potential capability to be used for measuring the surface electric field of insulators. © 2023, The Authors. All rights reserved.

关键词： Electric fields

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Enhanced nonlinear sliding mode control technique for wind power generation systems application: Theoretical design and comparative study

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e-Prime - Advances in Electrical Engineering, Electronics and Energy 2025年 11卷

作者： El Fadili, Yattou Boumhidi, Ismail Computer Science Signal Automation and Cognitivism Laboratory Physics Department Faculty of Sciences Dhar El Mahraz (FSDM) University of Sidi Mohamed Ben Abdellah (USMBA) Fez Morocco

Wind power generation systems (WPGSs) have emerged as a vital source of clean energy, appreciated for their renewable nature and zero fuel costs. However, controlling these systems is challenging due to their nonlinear dynamics, unpredictable disturbances, parameter uncertainties, and rapid wind speed fluctuations. To address these challenges, robust control strategies are essential. This study presents a novel robust nonlinear controller for regulating the electromagnetic torque of horizontal-axis, variable-speed WPGSs with three blades connected to the grid. The proposed controller is designed to enhance system efficiency and profitability by maximizing electricity production, reducing torque ripples, eliminating peak overshoots, and achieving precise setpoint tracking with optimal transient performance. The controller combines sliding mode (SM) control with fractional calculus (FC) to exploit the benefits of both methods. SM control, known for its effectiveness in controlling nonlinear systems, stabilizes the system and ensures finite-time convergence to the desired state. The incorporation of fractional-order operators into the sliding surface introduces greater flexibility, leveraging the long-term memory properties of FC to enhance system stability and robustness while mitigating chattering effects. The stability of the proposed controller is rigorously validated through Lyapunov theory. The simulation phase is carried out in MATLAB under various wind conditions and operating scenarios demonstrate the controller's superior performance. The results show its ability to reduce chattering phenomena, improve power quality, and minimize high peaks in the input controller by achieving reductions of 38.0856 KN.m in the first test and 280.2039 KN.m in the second test. Additionally, this controller ensures system stability, with a Lyapunov function standard deviation of 0.0105 and 0.1755 for the first and second tests, respectively. The controller also achieves a high e

关键词： Boundary layer technique fractional integral operator Lyapunov stability theory maximum power point tracking (MPPT) Sliding mode control (SMC) Variable-speed wind power generation systems

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Multi-Virtual-Vector-Based Predictive Current Control for Fault-Tolerant Inverter-Fed Dual Three-Phase Permanent Magnet Synchronous Machines

Multi-Virtual-Vector-Based Predictive Current Control for Fa...

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2023 IEEE International Conference on Predictive Control of Electrical Drives and Power Electronics, PRECEDE 2023

作者： Li, Ze Rodriguez, Jose Xia, Jinhui Guo, Yuanbo Gao, Xiaonan Zhang, Xiaohua Hebei University College of Electronic and Information Engineering Baoding China Faculty of Engineering Universidad San Sebastian Santiag Chile Southeast University School of Automation Nanjing China Dalian University of Technology School of Electrical Engineering Dalian China School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)9798350396867

Dual three-phase permanent magnet synchronous machine (DTP-PMSM) has received extensive interests due to its inherent fault-tolerant capability. However, conventional single-virtual-vector-based predictive current control (SVV-PCC) for DTP-PMSM with open-phase fault (OPF) presents poor steady-state performance and high computational burden. To address these issues, a multi-virtual-vector-based PCC (MVV-PCC) for DTP-PMSM with OPF is proposed in this paper. Therein, two virtual vectors and one zero vector with optimal duty cycles are determined in each sampling period to improve the steady-state performance. A simplification strategy for selecting the optimal virtual vectors and calculating the optimal duty cycles is established to reduce the computational burden in digital implementation. Extensive comparisons are conducted to verify the effectiveness of the proposed MVV-PCC scheme. © 2023 IEEE.

关键词： Vectors

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ROBUST: 221 Bugs in the Robot Operating System

arXiv

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arXiv 2024年

作者： Timperley, Christopher S. van der Hoorn, Gijs Santos, André Deshpande, Harshavardhan Wąsowski, Andrzej School of Computer Science Carnegie Mellon University United States Department of Cognitive Robotics faculty of Mechanical Maritime and Materials Engineering Delft University of Technology Netherlands VORTEX CoLab Portugal Fraunhofer Institute for Manufacturing Engineering and Automation IPA Germany Department of Computer Science IT University of Copenhagen Denmark

As robotic systems such as autonomous cars and delivery drones assume greater roles and responsibilities within society, the likelihood and impact of catastrophic software failure within those systems is increased. To aid researchers in the development of new methods to measure and assure the safety and quality of robotics software, we systematically curated a dataset of 221 bugs across 7 popular and diverse software systems implemented via the Robot Operating System (ROS). We produce historically accurate recreations of each of the 221 defective software versions in the form of Docker images, and use a grounded theory approach to examine and categorize their corresponding faults, failures, and fixes. Finally, we reflect on the implications of our findings and outline future research directions for the community. © 2024, CC BY-NC-SA.

关键词： Robot Operating System

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Online B-Spline Based Trajectory Planning for Swarm of Agents Using Distributed Model Predictive Control

Online B-Spline Based Trajectory Planning for Swarm of Agent...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Cong Khanh Dinh Ionela Prodan Florin Stoican Univ. Grenoble Alpes Grenoble INP† LCIS Valence France The Faculty of Automation Control and Computer Science Institute of Engineering and Management Univ. Grenoble Alpes University Politehnica of Bucharest Romania

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

This paper deals with the motion planing in real-time for swarm of agents using distributed Model Predictive Control (DMPC). Optimization-based control helps both to stabilize the motion dynamics of the robots and to enforce the system's constraints. However, the price is a significant increase in complexity as the scale of the system surges. To improve the scalability for a large formation, we propose a DMPC framework that considers B-spline parameterizations for the agents' trajectories. The proposed approach has great promise for multi-drones system, as illustrated with simulation examples using a state of the art quadcopter model.

关键词： Trajectory planning Scalability Prediction algorithms Real-time systems Trajectory Splines (mathematics) Surges

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