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International Conference on electrical Machines

作者： Fernando J. T. E. Ferreira Fernando J. P. Lopes Institute of Systems and Robotics (ISR-UC) Department of Electrical and Computer Engineering University of Coimbra Dep. of Electrical Engineering Polytechnic Institute of Coimbra (IPC/ISEC)

ISBN: (纸本)9781509025398

Rotational speed measurement is a key issue in most industries, either for process control, characterization or fault diagnosis. In electric motor driven systems it can be used, for example, to estimate the motor load or pulley-belt transmission slip. Encoders and resolvers are typically used for continuous speed monitoring, requiring mechanical coupling with the rotating shaft/part. If the speed is to be measured at a given instant or during a few moments, noninvasive contactless optical tachometers can be used, using optical reflection or stroboscopic principles. In most cases, stroboscopic tachometers require no reflective elements/strips in the rotating part. However, if the user wants to continuously measure the speed of a given rotating part during the audit/characterization period, with real-time data logging and without sticking reflective strips or introducing shaft-coupled encoders/resolvers, there is no low-cost commercial solution to perform such task. For example, if the user's aim is to continuously estimate the load variation of an induction motor over a day or week, on the basis of the slip/speed value, it is not possible with conventional commercial low-cost contactless equipment, unless the user uses expensive online-operation equipment estimating the speed by means of input voltage/current. Moreover, in some rotating systems/parts not directly driven by an electric motor, the online equipment cannot be used and it is not practical, and in some cases even impossible, to couple an encoder/resolver or stick some reflective strips. In this paper, an innovative nonintrusive low-cost webcam-based tachometer is proposed, developed and experimentally tested. It can be used to easily estimate and record the speed over time in, for example, electrical motors, pulleys, shafts and wind turbines.

关键词： In-field speed measurement Motor speed Noninvasive speed measurement Rotational speed Tachometer Video camera Webcam Motor load estimation

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Common spatial pattern with feature scaling (FSc-CSP) for motor imagery classification 17th

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17th International Conference on Asia Simulation, AsiaSim 2017

作者： Prathama, Yohanes de Britto Hertyasta Shapiai, Mohd Ibrahim Aris, Siti Armiza Mohd Ibrahim, Zuwairie Jaafar, Jafreezal Fauzi, Hilman Department of Electronic Systems Engineering Malaysia-Japan International Institute of Technology Universiti Teknologi Malaysia Jalan Sultan Yahya Petra Kuala LumpurWP Kuala Lumpur54100 Malaysia Centre for Artificial Intelligence and Robotics Universiti Teknologi Malaysia Jalan Sultan Yahya Petra Kuala LumpurWP Kuala Lumpur54100 Malaysia Razak School of Engineering and Advanced Technology Universiti Teknologi Malaysia Jalan Sultan Yahya Petra Kuala LumpurWP Kuala Lumpur54100 Malaysia Faculty of Electrical and Electronic Engineering Universiti Malaysia Pahang PekanPahang26600 Malaysia Department of Computer and Information Sciences Faculty of Science and Information Technology Universiti Teknologi Petronas Seri Iskandar Malaysia Faculty of Electrical Engineering Telkom University Bandung Indonesia

ISBN: (纸本)9789811064623

Brain-computer Interface (BCI) is a way to translate human thoughts into computer commands. One of the most popular BCI type is Electroencephalography (EEG)-based BCI, where motor imagery is considered one of the most effective ways. Previously, to extract useful information, various filters are introduced, such as spatial, temporal, and spectral filtering. A spatial filtering algorithm called Common Spatial Pattern (CSP) was developed and known to have excellent performance, especially in motor imagery for BCI application. In general, there are several approaches in improving CSP such as regularization approach, analytic approach, and frequency band selection. In general, the existing techniques for band selection is either to select or reject the band by ignoring the importance of the band. For example, Binary Particle Search Optimization Common Spatial Pattern (BPSO-CSP) was proposed to choose multiple possible best bands to be used in processing the data. In this paper, we propose an algorithm called Feature Scaling Common Spatial Pattern (FSc-CSP) to overcome the problem of feature selection. Instead of selecting features, the proposed algorithm employs a feature scaling system to scale the importance of each band by using Genetic Algorithm (GA) altogether with Extreme Learning Machine (ELM) as classifier, with 1 signifying the most important bands, declining until 0 for the unused bands, as opposed to the 1 and 0 selection system used in BPSO-CSP. Conducted experiments show that by employing feature scaling, better results can be achieved especially compared to vanilla CSP and feature selection with 100 hidden nodes in three from five BCI Competition III datasets IVa, namely aa, aw and ay, with around 5–8% better results compared to vanilla CSP and feature selection. © Springer Nature Singapore Pte Ltd. 2017.

关键词： Brain computer interface

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Integrated mechatronics design of flexure joint and controller in dual-drive gantry: a constrained H2 optimization approach

Integrated mechatronics design of flexure joint and controll...

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2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017

作者： Ma, Jun Chen, Si-Lu Kamaldin, Nazir Teo, Chek Sing Tay, Arthur Mamun, Abdullah Al Tan, Kok Kiong Department of Electrical and Computer Engineering SIMTech-NUS Joint Lab on Precision Motion Systems National University of Singapore 117582 Singapore Department of Electrical and Computer Engineering National University of Singapore 117576 Singapore Mechatronics Group Singapore Institute of Manufacturing Technology 138634 Singapore Zhejiang Provincial Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo Institute of Industrial Technology Chinese Academy of Sciences Ningbo Zhejiang315121 China NUS Grad. School for Inte. Sci. and Eng. and Department of Electrical Computer Engineering National University of Singapore 119077 Singapore

ISBN: (纸本)9781509059980

The dual-drive H gantry is widely used in many industrial processes that require high precision Cartesian motion. The conventional rigid-link version suffers breaking down of joints if any de-synchronization between the two carriages occurs. To prevent above potential risk, a novel biaxial gantry with flexure-links is designed to allow a small rotation angle of the cross-Arm. Nevertheless, the chattering of control signals and inappropriate design of the flexure joint will possibly induce resonant modes of the end effector. Thus, in this work, the design requirements in terms of tracking accuracy, biaxial synchronization, and resonant mode suppression are achieved by integrated optimization of the stiffness of flexures and PID controller parameters for a class of point-To-point trajectories with same dynamics but different steps. From here, an H2 optimization with defined constraints is formulated, and an efficient iterative solver is proposed by hybridizing direct computation of constrained projection gradient and line search of optimal steps. Comparative experiments results obtained on the testbed are presented to verify the effectiveness of proposed method. © 2017 IEEE.

关键词： Constrained optimization

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Computationally efficient learning in large-scale games: Sampled fictitious play revisited

Computationally efficient learning in large-scale games: Sam...

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Asilomar Conference on Signals, systems & computers

作者： Brian Swenson Soummya Kar João Xavier Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Institute for Systems and Robotics (ISR/IST) Universidade de Lisboa Portugal

ISBN: (纸本)9781538639559

Fictitious Play (FP) is a popular algorithm known to achieve Nash equilibrium learning in certain large-scale games. However, for games with many players, the computational demands of the FP algorithm can be prohibitive. Sampled FP (SFP) is a variant of FP that mitigates computational demands via a Monte Carlo approach. While SFP does mitigate the complexity of FP, it can be shown that SFP still uses information in an inefficient manner. The paper generalizes the SFP convergence result and studies a stochastic-approximation-based variant that significantly reduces the complexity of SFP.

关键词： Games Convergence Monte Carlo methods Approximation algorithms Complexity theory Probability distribution Nash equilibrium

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Stator Winding Short-Circuit Fault Diagnosis in Induction Motors using Random Forest

Stator Winding Short-Circuit Fault Diagnosis in Induction Mo...

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IEEE International Electric Machines and Drives Conference

作者： Tiago dos Santos Fernando J. T. E. Ferreira Joao Moura Pires Carlos Damasio Department of Computer Science NOVA-LINCS Nova University of Lisbon (FCT/UNL) Lisbon Portugal Dep. of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Coimbra Portugal

ISBN: (纸本)9781509042821

In this paper, an approach to detect stator winding short-circuit faults in squirrel-cage induction motors based on Random Forest and Park's Vector is proposed. This is accomplished by scoring the unbalance in the current and voltage waveforms as well as in Park's Vector, both for current and voltage. To score the unbalance in the d-q space, a Principal Component Analysis is applied to Park's Vector and with the first two principal components the eccentricity is calculated, while the first principal component is used to determine the phase in short-circuit. The proposed strategy has been experimentally tested on a special 400-V, 50-Hz, 4-pole, 2.2-kW induction motor with reconfigurable stator windings in which it was possible to emulate different types of inter-turn short-circuits. The results are quite promising, even only using 1-kHz sampling frequency to acquire the current and voltage waveforms in the three phases, and the use of the Fast Fourier Transform is avoided. The developed solution may be used for tele-monitoring of the motor condition and to implement advanced predictive maintenance strategies.

关键词： Fault diagnosis Induction motor Inter-turn short-circuit Stator winding PCA Predictive maintenance Machine learning Classification Random forest

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Social activity recognition based on probabilistic merging of skeleton features with proximity priors from RGB-D data

Social activity recognition based on probabilistic merging o...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Claudio Coppola Diego R. Faria Urbano Nunes Nicola Bellotto L-CAS School of Computer Science University of Lincoln (UK) Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal

ISBN: (纸本)9781509037636

Social activity based on body motion is a key feature for non-verbal and physical behavior defined as function for communicative signal and social interaction between individuals. Social activity recognition is important to study human-human communication and also human-robot interaction. Based on that, this research has threefold goals: (1) recognition of social behavior (e.g. human-human interaction) using a probabilistic approach that merges spatio-temporal features from individual bodies and social features from the relationship between two individuals;(2) learn priors based on physical proximity between individuals during an interaction using proxemics theory to feed a probabilistic ensemble of activity classifiers;and (3) provide a public dataset with RGB-D data of social daily activities including risk situations useful to test approaches for assisted living, since this type of dataset is still missing. Results show that using the proposed approach designed to merge features with different semantics and proximity priors improves the classification performance in terms of precision, recall and accuracy when compared with other approaches that employ alternative strategies.

关键词： Feature extraction Skeleton Mixture models Robots Covariance matrices Probabilistic logic

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A contribution of demand response for the reliability of a power system

A contribution of demand response for the reliability of a p...

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IEEE International Conference on Environment and electrical engineering

作者： Claudia Gaspar Alvaro Gomes Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra 3030-290 Coimbra Portugal INESC Coimbra Department of Electrical and Computer Engineering University of Coimbra 3030-290 Coimbra Portugal

ISBN: (纸本)9781509023219

Reliability is a crucial issue in modern power systems, being, in simple words, the ability to continuously and efficiently supply loads without neglecting the quality of service while keeping the power grid stable. In general, reliability can be improved by using more reliable components (generators) or by adding redundancy, being this extra generation known as reserves. Insufficient reserve margin may originate instability and severe problems in power systems. Adequacy is related with the provision of sufficient generation resources to meet the demand and the reserves requirements. The higher the redundancy level the higher the costs, thus a trade-off between the reliability degree and the investment requirements is needed. In this work is investigated if controllable demand can be actively used as an alternative to generation units for guaranteeing adequate reliability indices in short term operation of power systems. The goal is assessing the feasibility of using demand side resources -controllable demand- instead of generation for improving the reliability indices. An evolution strategy has been implemented to design adequate control actions, to be applied over end-use loads, and their impacts on the reliability indices have been assessed. The obtained results showed that, when adequately designed, demand control actions can effectively contribute for a more reliable operation of the power system, being an alternative to the redundant generation in short term.

关键词： alternative generation units guaranteeing

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DAC-h3: A proactive robot cognitive architecture to acquire and express knowledge about the world and the self

arXiv

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arXiv 2017年

作者： Moulin-Frier, Clément Fischer, Tobias Petit, Maxime Pointeau, Grégoire Puigbo, Jordi-Ysard Pattacini, Ugo Low, Sock Ching Camilleri, Daniel Nguyen, Phuong Hoffmann, Matej Chang, Hyung Jin Zambelli, Martina Mealier, Anne-Laure Damianou, Andreas Metta, Giorgio Prescott, Tony J. Demiris, Yiannis Dominey, Peter Ford Verschure, Paul F.M.J. Laboratory for Synthetic Perceptive Emotive and Cognitive Systems Universitat Pompeu Fabra Barcelona08002 Spain Barcelona Spain Personal Robotics Laboratory Department of Electrical and Electronic Engineering Imperial College London SW7 2AZ United Kingdom Robot Cognition Laboratory INSERM U846 Stem Cell and Brain Research Institute Bron69675 France Italian Institute of Technology iCub Facility Via Morego 30 Genova Italy Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Department of Computer Science University of Sheffield United Kingdom

This paper introduces a cognitive architecture for a humanoid robot to engage in a proactive, mixed-initiative exploration and manipulation of its environment, where the initiative can originate from both the human and the robot. The framework, based on a biologically-grounded theory of the brain and mind, integrates a reactive interaction engine, a number of state-of-the art perceptual and motor learning algorithms, as well as planning abilities and an autobiographical memory. The architecture as a whole drives the robot behavior to solve the symbol grounding problem, acquire language capabilities, execute goal-oriented behavior, and express a verbal narrative of its own experience in the world. We validate our approach in human-robot interaction experiments with the iCub humanoid robot, showing that the proposed cognitive architecture can be applied in real time within a realistic scenario and that it can be used with naive users. Copyright © 2017, The Authors. All rights reserved.

关键词： Human robot interaction

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Automation of Humanitarian Demining: The 2016 Humanitarian robotics and Automation Technology Challenge

Automation of Humanitarian Demining: The 2016 Humanitarian R...

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International Conference on robotics and Automation for Humanitarian Applications

作者： Lino Marques Edson Prestes Sedat Dogru Jose Prado Joao Pedro Macedo Renata Neuland Mathias Mantelli Renan Maffei Raj Madhavan Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Informatics Institute Federal University of Rio Grande do Sul Humanitarian Robotics Technologies (HRT) LLC

ISBN: (纸本)9781509052042

This paper introduces the problem of detection of landmines and unexploded ordnances. This is a serious humanitarian problem affecting dozens of countries across the world. A solution using robots for cleaning affected areas would have a huge positive impact for the life of persons living there and has for long been foreseen, but this approach has its own difficulties. The paper presents a Challenge aiming to engage researchers across the world into this problem and helping to improve robotics demining. The different phases of the Humanitarian robotics and Automation Technology Challenge (HRATC) are described and the progresses achieved after three years of running the Challenge are analyzed and discussed.

关键词： robotics and automation Automation Humanitarian demining ANTITANK MINES robotics Robot Developing Countries Persons Demining

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Influence of slot geometry on air gap magnetic flux density of rotating machines

Influence of slot geometry on air gap magnetic flux density ...

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IEEE International Conference on Environment and electrical engineering

作者： Rodrigo Alves de Lima A. C. Paulo Coimbra Tony Almeida Viviane Margarida Gomes Thiago Martins Pereira Aylton José Alves Wesley Pacheco Calixto Program in Electronic Systems and Automation PGEA Department of Electrical Engineering ENE University of Brasilia UnB Institute of Systems and Robotics ISR University of Coimbra UC Experimental & Technological Research and Study Group NExT Federal Institute of Goias IFG

ISBN: (纸本)9781509023219

The objective of this work is to investigate the influence of slotted air gap constructive parameters on magnetic flux density of rotating machines. For this purpose, different approaches were used to solve the air gap field diagram using finite element method and the magnetic field distribution uniformity was evaluated by Carter's factor calculation. Sensitivity analysis of slot constructive parameters was performed and results show that slot geometry modifies the magnetic flux on air gap and shifts the air gap magnetic equipotential midline of double slotted machines.

关键词： Carter's factor finite elements method rotating machines

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