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Position estimation of the mobile robot using the Kalman filter 18

Position estimation of the mobile robot using the Kalman fil...

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18th Conference on applied Mathematics, APLIMAT 2019

作者： Slovák, Juraj Vašek, Pavol Melicher, Markus Mikuláš, Erik Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology in Bratislava Nám. slobody 17 Bratislava812 31 Slovakia

ISBN: (纸本)9781510882140

The paper presents need of using Kalman filtering to optimize location of mobile robotic systems and more accurate navigation. Theoretical knowledge was verified on real system represented by mobile robotic system (MRS) with mecanum wheel. Construction deficiencies causes large deviations in movement from desired trajectory, which makes using Kalman filter more efficient. Localization was performed in indoor hall using odometry from motion sensors and tracking landmarks placed on the hall ceiling with infrared camera Stargazer. On obtained data was used discrete KF, subsequently modified data were used to regulate motion. Acquired motion trajectories were compared at the end of the article. © applied Mathematics, APLIMAT *** right reserved.

关键词： Kalman filters

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Experimental Analysis of Immersion & Invariance Adaptive Control for an Interleaved DC/DC Boost Converter with Unknown Load Type

Experimental Analysis of Immersion & Invariance Adaptive Con...

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IEEE PES Innovative Smart Grid Technologies Conference Europe (ISGT Europe)

作者： Jan Wachter Lutz Gröll Veit Hagenmeyer Karlsruhe Institute of Technology Institute for Automation and Applied Informatics Karlsruhe Germany

The retrofit of the energy system leads to new challenges for the control of power electronic devices. To account for parametric uncertainties of passive elements, or unknown ambient conditions in real-world applications, the use of proportional-integral (PI) controllers in cascaded schemes is common. Observer based adaptive control approaches can be leveraged to accommodate such uncertainties and at the same time provide parameter estimates and enable model based control approaches. From an application perspective, the question arises about the consequences of wrong modelling assumptions, for example regarding the often unknown load type. In this work an interleaved DC/DC boost converter is considered, that supplies a DC-bus to which generally unknown loads can be connected, such as a grid-tied three phase inverter. This paper illustrates the design of an observer based adaptive controller using the Immersion & Invariance framework with an energy shaping plus damping injection passivity based controller. A highly simplified, large signal plant model as well as the assumption of a purely resistive load are used for the design. The provided experimental results show that the adaptive controller is able to cope with violations of the modeling assumptions concerning the load type in a real-world application scenario.

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The Price of Uncertainty: Chance-constrained OPF vs. In-hindsight OPF

The Price of Uncertainty: Chance-constrained OPF vs. In-hind...

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Power Systems Computation Conference

作者： Tillmann Muhlpfordt Veit Hagenmeyer Timm Faulwasser Institute for Automation and Applied Informatics Karlsruhe Institute of Technology Karlsruhe Germany

The operation of power systems has become more challenging due to feed-in of volatile renewable energy sources. Chance-constrained optimal power flow (ccOPF) is one possibility to explicitly consider volatility via probabilistic uncertainties resulting in mean-optimal feedback policies. These policies are computed before knowledge of the realization of the uncertainty is available. On the other hand, the hypothetical case of computing the power injections knowing every realization beforehand - called in-hindsight OPF (hOPF) - cannot be outperformed w.r.t. costs and constraint satisfaction. In this paper, we investigate how CCOPF feedback relates to the full-information HOPF. To this end, we introduce different dimensions of the price of uncertainty. Using mild assumptions on the uncertainty we present sufficient conditions when ccOPF is identical to hOPF. We suggest using the total variational distance of probability densities to quantify the performance gap of hOPF and CCOPF. Finally, we draw upon a tutorial example to illustrate our results.

关键词： Chance constraints Optimal power flow Optimization Uncertainty

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A New Julia-Based Parallel Time-Domain Simulation Algorithm for Analysis of Power System Dynamics

A New Julia-Based Parallel Time-Domain Simulation Algorithm ...

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International Workshop/Symposium on Distributed Simulation and Real-Time Applications (DS-RT)

作者： Michael Kyesswa Philipp Schmurr Hüseyin K. Çakmak Uwe Kühnapfel Veit Hagenmeyer Institute for Automation and Applied Informatics Karlsruhe Institute of Technology Karlsruhe Germany

ISBN: (数字)9781728173436

ISBN: (纸本)9781728173443

The present paper describes a new parallel time-domain simulation algorithm using a high performance computing environment - Julia - for the analysis of power system dynamics in large networks. The parallel algorithm adapts a parallel-in-space decomposition scheme to a previously sequential algorithm in order to develop a new parallelizable numerical solution of the power system equations. The parallel-in-space decomposition is based on the block bordered diagonal form, which reformulates the network admittance matrix into sub-blocks that can be solved in parallel. For the optimal spatial decomposition of the network, a new extended graph partitioning strategy is developed for load balancing and minimizing the communication between subnetworks. The new parallel simulation algorithm is tested using standard test networks of varying complexity. The simulation results are compared to those obtained from a sequential implementation in order to validate the solution accuracy and to determine the performance improvement in terms of computational speedup. Test simulations are conducted using the ForHLR II supercomputing cluster and show a huge potential in computational speedup with increasing network complexity.

关键词： Mathematical model Computational modeling Power system stability Power system dynamics Heuristic algorithms Partitioning algorithms Analytical models

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Robust control of temperature fields of casting mould as distributed parameter system 10

Robust control of temperature fields of casting mould as dis...

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2009 10th European Control Conference, ECC 2009

作者： Belavy, C. Bucek, P. Noga, P. Hulko, G. Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology in Bratislava Nám. Slobody 17 Bratislava81 231 Slovakia

ISBN: (纸本)9783952417393

In the paper, a robust control of temperature fields of the casting mould in the benchmark casting plant is presented. Temperature fields are represented as distributed parameter systems with dynamic models in the form of lumped-input/distributed-output system. This representation enables decomposition of control synthesis problem to time domain and space domain tasks. Control synthesis in the space domain is solved as an approximation problem. In time domain, it is possible to apply various control synthesis methods established well for lumped parameter systems. For robust control synthesis with internal model control structure, model uncertainty of the controlled system was considered. Simulation analysis of the robust control of the temperature field in the casting mould was carried out using the Distributed Parameter Systems Blockset for MATLAB & Simulink - Third-party MathWorks product. © 2009 EUCA.

关键词： Uncertainty analysis

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Modular Platform for Automated Characterisation of Printed Structures, Devices and Circuits

Modular Platform for Automated Characterisation of Printed S...

引用

Design, Test, Integration and Packaging of MEMS/MOEMS

作者： Liane Koker Klaus-Martin Reichert Ulrich Gengenbach Markus Reischl Martin Ungerer Institute for Automation and Applied Informatics Karlsruhe Institute of Technology Karlsruhe Germany

ISBN: (数字)9798350378269

ISBN: (纸本)9798350378276

We present a real-time-controlled platform applied for automated characterisation of structures, devices and circuits printed on planar substrates. Its modular setup allows for implementation of different probe heads and a large number of instruments for electrical testing. Microscope optics are used to capture high-resolution images of entire printed substrates. Based on these images printed structures on the substrates are optically inspected for printing errors by means of image processing and electrically tested. Applications include fast identification of optimal printing parameters for various ink-substrate combinations, characterisation of complex printed devices and circuits and identification of known-good structures for multi-stage printing.

关键词： Printing Optical microscopy Microscopy Circuits Packaging Optical imaging Object recognition

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A New Communication Concept for Efficient Configuration of Energy Systems Integration Co-Simulation

A New Communication Concept for Efficient Configuration of E...

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International Workshop/Symposium on Distributed Simulation and Real-Time Applications (DS-RT)

作者： Anselm Erdmann Hüseyin K. Çakmak Uwe Kühnapfel Veit Hagenmeyer Institute for Automation and Applied Informatics Karlsruhe Institute of Technology Karlsruhe Germany

By combining several existing simulators, co-simulation approaches are designed for efficient simulator development. Especially for energy systems integration simulations involving different physical domains, co-simulation is the required approach. However, co-simulation setup is complex, time-consuming, and additionally, error-prone for large simulations, especially if visualizations are included. Therefore, for an intensive information exchange between simulators, the present paper introduces a new network-based communication concept including the co-simulation setup procedure. The proposed setup concept enables an efficient configuration for the coupling of distributed simulation modules. The evaluation of the implemented concept on an exemplary power grid simulation with integration of power-to-gas and gas-to-power components and power grid visualization shows the ability for efficient handling of a high amount of exchanged simulation data.

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Semantical support for a CPS data marketplace to prepare Big Data analytics in smart manufacturing environments 1

Semantical support for a CPS data marketplace to prepare Big...

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1st IEEE International Conference on Industrial Cyber-Physical Systems, ICPS 2018

作者： Nagorny, K. Scholze, S. Ruhl, M. Colombo, A.W. Institut für Angewandte Systemtechnik Bremen GmbH Bremen Germany Institute for Industrial Informatics Automation and Robotics of the University of Applied Sciences Emden/Leer Emden Germany

ISBN: (纸本)9781538665312

(Big) Data analysis techniques are able to mine hidden correlations in data sets and/or data streams. Based on identified correlations, a causality analysis can generate new knowledge about happenings in a digitalised environment such as in smart manufacturing systems. Such knowledge can be suitable for further exploitation e.g. in system observation, diagnosis or optimization. However - in general, (Big) Data analysis of complex systems needs highly trained data scientists and application domain experts to define objectives and to perform the analysis of the data (streams). One research objective in smart manufacturing is the unification and provision of semantical meta data which describe structures, abilities, specifications, life-cycle information, etc. of a cyber-physical system (CPS), enrichable with dynamic context information (as the current location of a mobile CPS). This work describes an approach to use such meta-data and (dynamic) context data to support the data preparation phase (search, filter, select and prepare data (streams)) through a semantical supported CPS Data Marketplace. © 2018 IEEE.

关键词： Big data

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Optimised Inkjet-Printing Parameters and Processing Techniques for an Exemplary Structure of an Oxygen Sensor on a Polyimide Substrate

Optimised Inkjet-Printing Parameters and Processing Techniqu...

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IEEE International Conference on Flexible and Printable Sensors and Systems (FLEPS)

作者： Lisa Petanil Anja Schweizer Christian Pylatiuk Peter Stiller Klaus-Martin Reichert Ulrich Gengenbach Martin Ungerer Institute for Automation and Applied Informatics Karlsruhe Institute of Technology Karlsruhe Germany

Inkjet-printing of electrochemical sensors is a rapidly developing fabrication method. Careful selection of pre-processing methods, inkjet-printing parameters, and post-processing methods is crucial for the features of the final sensor. In particular the interaction of inks and substrate is essential for setting the pre- and post-processing conditions as well as the inkjet-printing parameters. Here, commercial gold, silver, and passivation inks are printed onto a Polyimide substrate and investigated with different processing parameters. A literature search has shown that there is a lack of systematic investigation of the processing conditions for this material combination. Optimal processing parameters are presented here for this combination of materials. With the identified processing parameters, we reproducibly achieve low resistivities for gold and silver nanoparticle inks.

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Origami robot model via an elliptic curve? 14

Origami robot model via an elliptic curve?

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14th IEEE International Symposium on Intelligent Systems and informatics, SISY 2016

作者： Markechova, I. Cipkova Hamplova, L. Institute of Applied Informatics Automation and Mechatronics Faculty of Materials Science and Technology in Trnava Slovak University of Technology in Bratislava Trnava Slovakia Gamča High School Bratislava Slovakia

ISBN: (纸本)9781509028665

An aim of the paper is to present a simple algorithm for creating a heaven-and-hell-origami-like object (H&H OLO) as a possible model for reconfigurable, self-folding, origami robot. It is an original, by happy chance resulting side-product of a research of synographs on an elliptic curve basis. The whole object has an analytical representation with the help of the explicit equations of the object components as well as through the simple linear transformations. Designing and creating robots, cyber-physical systems (CPSs) and others are potential branches of the next use, development and feedback inspiration. © 2016 IEEE.

关键词： Linear transformations

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