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

作者： Philipp Zwickel Alexander Engelmann Lutz Gröll Veit Hagenmeyer Dominique Sauer Timm Faulwasser Institute for Automation and Applied Informatics Karlsruhe Institute of Technology Karlsruhe Germany

We investigate different formulations of economic model predictive control for thermal building control. Specifically, we study the trade-off of (possibly conflicting) objectives like temperature tracking, saving energy, and minimizing energy cost. We compare the proposed formulations to conventional proportional control for a modern office building. Our findings indicate that, if price incentives are sufficiently high, a concrete core activation system significantly increases the load shifting capabilities of office buildings.

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A Hybrid Analysis Approach for Transient Stability Assessment in Power Systems

A Hybrid Analysis Approach for Transient Stability Assessmen...

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Power Tech Conference

作者： Michael Kyesswa Hüseyin K. Cakmak Lutz Gröll Uwe Kühnapfel Veit Hagenmeyer Institute for Automation and Applied Informatics Karlsruhe Institute of Technology Karlsruhe Germany

The computational complexity involved in time-domain simulations, commonly used for analyzing transient stability in power systems, usually limits system studies to a few scenarios during the planning process. Complete analysis, however, requires investigation of all possible contingencies and consideration of the continuous changes in the operating point, which necessitates fast analysis techniques during network operation. The present paper introduces a hybrid analysis approach combining a direct-method and time-domain simulations for the fast analysis of power system transients. The combined analysis relies on a Lyapunov-based direct approach using the Potential Energy Boundary Surface (PEBS) method for a fast selection of critical contingencies in the first stage. In the second stage, the critical contingencies are further investigated by time-domain simulations. Simulation results are presented using a real network of the Baden-Württemberg state (Germany) in order to illustrate the simulation process of the implemented approach.

关键词： Stability analysis Power system stability Mathematical model Transient analysis Analytical models Computational modeling

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A Unified Perception Benchmark for Capacitive Proximity Sensing Towards Safe Human-Robot Collaboration (HRC)

A Unified Perception Benchmark for Capacitive Proximity Sens...

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IEEE International Conference on Robotics and automation (ICRA)

作者： Serkan Ergun Yitao Ding Hosam Alagi Christian Schöffmann Barnaba Ubezio Gergely Soti Michael Rathmair Stephan Mühlbacher-Karrer Ulrike Thomas Björn Hein Michael Hofbaur Hubert Zangl Institute of Smart Systems Technologies Klagenfurt University (AAU) Klagenfurt am Wörthersee Austria Lab of Robotics and Human-Machine-Interaction Chemnitz University of Technology (TUC) Chemnitz Germany Institute for Anthropomatics and Robotics - Intelligent Process Automation and Robotics Lab (IAR - IPR) Karlsruhe Institute of Technology (KIT) Karlsruhe Germany Joanneum Research Robotics (Jr) Institute of Robotics and Mechatronics Klagenfurt am Wörthersee Austria Karlsruhe University of Applied Sciences

During the co-presence of human workers and robots, measures are required to avoid injuries from undesired contacts. Capacitive Proximity Sensors (CPSs) offer a cost-effective solution to cover the entire robot manipulator with fast close-range perception for HRC tasks, closing the perception gap between tactile detection and mid-range perception. CPSs do not suffer from occlusion and compared to pure tactile or force sensing, they react earlier and allow increasing the operating speed of Collaborative Robots (Cobots) while still maintaining safety. However, since capacitive coupling to obstacles varies with their distance, shape and material properties, the projection from capacitance to actual distances is a general problem. In this work, we propose an universal benchmark test procedure for fellow researchers to evaluate their CPSs. Considering ISO/TS 15066 for Power and Force Limiting (PFL) as a reference, we derive the requirements for the specified body regions and propose a method for determining the operation speed to comply with PFL based on a pre-defined detection threshold. Finally, the benchmark test procedure is evaluated on three different concepts of CPSs from the contributed researchers, demonstrating the general applicability.

关键词： Shape Force Collaboration Benchmark testing Robot sensing systems Manipulators Sensors

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ALADIN-—An open-source MATLAB toolbox for distributed non-convex optimization

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Optimal Control Applications and Methods 2021年第1期43卷

作者： Alexander Engelmann Yuning Jiang Henrieke Benner Ruchuan Ou Boris Houska Timm Faulwasser Institute for Automation and Applied Informatics Karlsruhe Institute of Technology Karlsruhe Germany School of Information Science and Technology ShanghaiTech University Shanghai China

This article introduces an open-source software for distributed and decentralized non-convex optimization named ALADIN- . ALADIN- is a MATLAB implementation of tailored variants of the Augmented Lagrangian Alternating Direction Inexact Newton (ALADIN) algorithm. It is user interface is convenient for rapid prototyping of non-convex distributed optimization algorithms. An improved version of the recently proposed bi-level variant of ALADIN is included enabling decentralized non-convex optimization with reduced information exchange. A collection of examples from different applications fields including chemical engineering, robotics, and power systems underpins the potential of ALADIN- .

关键词： ADMM ALADIN decentralized optimization distributed model predictive control distributed optimization nonconvex optimization optimal power flow

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The vulnerability of securing IoT production lines and their network components in the Industry 4.0 concept

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IFAC-PapersOnLine 2020年第2期53卷 11237-11242页

作者： Tibor Horak Zuzana Cervenanska Ladislav Huraj Pavel Vazan Jan Janosik Pavol Tanuska Institute of Applied Informatics Automation and Mechatronics Faculty of Material Science and Technology in Trnava Slovak University of Technology in Bratislava Trnava Slovak Republic Department of Applied Informatics University of SS. Cyril and Methodius Trnava Slovakia

IoT systems are an integral part of every modern industrial enterprise Industry 4.0. IoT is the term for modern remote devices controlled via the Internet. Internet of Things is the name of technologies that allow cheap wireless connection and communication of various sensors and devices to automate, accelerate and streamline processes. In the interconnected world of Industry 4.0, there are many potential resources existing for infiltration. Cybercriminals could take control of manufacturing industries, manipulate machines, or could do an industrial espionage. This type of attack is called Denial of Service. In the second case, the attack preserves the attacker’s anonymity through an IP address by using a potentially innocent third party (a reflector) that is indirectly involved in the attack. Through this attack, the attacker forwards the flow of attacking data to the target victim. The attacker sends the packets with a fake spoof source IP address set to the victim’s IP address to the reflector, thus indirectly overloading the target with the packets, or it will intrude into a network device through a faulty WPS implementation. The simulation model of the production line and the IoT security system Fibaro were used to investigate these attacks. The article demonstrates the possibility of attacks on network devices and the misuse of IoT devices in order to compromise production machines which use DRDoS and Brute-force attacks.

关键词： Industry 4.0 IoT devices DRDoS attacks WPS Production line Simulation

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Directed Evolution of Human Facial Images

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IFAC-PapersOnLine 2020年第2期53卷 16518-16523页

作者： Barbora Zahradnikova Roman Budjac Peter Schreiber Stefan Rydzi Institute of Applied Informatics Automation and Mechatronics Faculty of Materials Science and Technology Slovak University of Technology J. Bottu 25 91701 Trnava Slovakia

In a criminal investigation, situations are quite often where no evidence but a witness is available. In these cases, facial composite is a tool applied in search for a perpetrator of a crime. Facial composites are images of faces drafted by a forensic technician requiring a precise description provided by a witness. Despites deploying the computational technique into the process, the naming rates remain very low (not reaching 5%). In this paper, we present a system developed according to the latest research on facial perception. Incorporating the interactive evolutionary algorithm, whole face images are automatically generated based on the witness’s selection. The system is presented in the latest tested version, providing information on the selected EA as well as several image manipulation algorithms inclusive of method for age progression and hair manipulation. Besides describing applied methods and in-office testing, testing in simulated field conditions is part of the paper.

关键词： facial composite system evolutionary algorithm face perception forensic system

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What the HoloLens Maps Is Your Workspace: Fast Mapping and Set-up of Robot Cells via Head Mounted Displays and Augmented Reality

What the HoloLens Maps Is Your Workspace: Fast Mapping and S...

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2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： David Puljiz Franziska Krebs Fabian Bosing Bjorn Hein Intelligent Process Automation and Robotics Lab (IPR) Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe Germany High Performance Humanoid Technologies Lab (H2T) Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe Germany Karlsruhe University of Applied Sciences Karlsruhe Germany

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

Classical methods of modelling and mapping robot work cells are time consuming, expensive and involve expert knowledge. We present a novel approach to mapping and cell setup using modern Head Mounted Displays (HMDs) that possess self-localisation and mapping capabilities. We leveraged these capabilities to create a point cloud of the environment and build an OctoMap - a voxel occupancy grid representation of the robot's workspace for path planning. Through the use of Augmented Reality (AR) interactions, the user can edit the created Octomap and add safety zones. We perform comprehensive tests of the HoloLens' depth sensing capabilities and the quality of the resultant point cloud. A high-end laser scanner is used to provide the ground truth for the evaluation of the point cloud quality. The amount of false-positive and false-negative voxels in the OctoMap are also tested.

关键词： Three-dimensional displays Lasers Robot sensing systems Path planning Sensors Safety Augmented reality

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Online power system parameter estimation and optimal operation

arXiv

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arXiv 2020年

作者： Du, Xu Engelmann, Alexander Faulwasser, Timm Houska, Boris School of Information Science and Technology ShanghaiTech University China Institute of Energy Systems Energy Efficiency and Energy Economics TU Dortmund University Germany Institute for Automation and Applied Informatics Karlsruhe Institue of Technology Germany

The integration of renewables into electrical grids calls for novel control schemes, which usually are model based. Classically, for power systems parameter estimation and optimization-based control are often decoupled, which may lead to increased cost of system operation during the estimation procedures. The present work proposes a method for simultaneously minimizing grid operation cost and estimating line parameters. To this end, we rely on methods from optimal design of experiments. This approach leads to a substantial reduction in cost for optimal estimation and in higher accuracy in the parameters compared with standard combination of optimal power flow and maximum-likelihood estimation. We illustrate the performance of the proposed method on simple benchmark system. Copyright © 2020, The Authors. All rights reserved.

关键词： Acoustic generators

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Assessment of a scheduling strategy for dispatching prosumption of an industrial campus

Assessment of a scheduling strategy for dispatching prosumpt...

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International ETG-Congress 2019;ETG Symposium

作者： Riccardo Remo Appino Jorge Angel Gonzalez Ordiano Nina Munzke Ralf Mikut Timm Faulwasser Veit Hagenmeyer Institute for Automation and Applied Informatics Institute of Electrotechnical Engineering Karlsruhe Institute of Technology

ISBN: (纸本)9783800749546

Effective scheduling of the power exchange with an external grid is of interest for clusters of devices (including consumption, generation and storage) that aim to participate in energy markets. Scheduling is often performed by means of optimization-based algorithms considering uncertain forecasts of inflexible generation and consumption. In this paper, we assess the performance of a previously proposed scheduling algorithm - based on non-parametric probabilistic forecasts both in terms of power and energy - in a realistic industrial campus setting. Simulation results using real data from the KIT north campus underpin the applicability of the proposed algorithm.

关键词： scheduling policy power markets Dispatching Industrial observational data Simulation results Power exchange energy market

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Vision system-based inspection and alignment of laminated polymer films for 3D-Integration of microsystems

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IFAC-PapersOnLine 2019年第15期52卷 13-18页

作者： A. Elkaseer M. Salem V. Hagenmeyer S. Scholz Institute for Automation and Applied Informatics Karlsruhe Institute of Technology Karlsruhe Germany Faculty of Engineering Port Said University Port Said Egypt

The SMARTLAM project proposes a new paradigm of modular, flexible, scalable 3D-Integration (3D-I) scenarios for 3D manufacturing of microsystems out of laminated polymer films. During the integration of discrete parts and laminated polymer sheets, a fast and precise vision system is needed to inspect the top layer of functional elements and align laminated films. A pattern matching vision approach is implemented in this project to assure production quality and detect faults between production processes and/or at the end. The system’s key hardware components are a high-resolution line camera system and an X/Y/Z-axis system for positioning setup. The software architecture of the inspection module builds on a plugin like structure, based on software design pattern criterion, in order to facilitate fast adaptation of algorithms for new updates of manufacturing requirements. The results demonstrate the high ability of the developed vision system to accurately detect features and defects of the laminated polymer films for layers alignments and assurance of in-process and final quality.

关键词： computer vision software algorithms data acquisition inspection micro-manufacturing

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