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Superconducting energy storage technology-based synthetic inertia system control to enhance frequency dynamic performance in microgrids with high renewable penetration

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Protection and control of Modern Power Systems 2021年第1期6卷 460-472页

作者： Gaber Magdy Abualkasim Bakeer Mohammed Alhasheem Electrical Engineering Department Faculty of Energy EngineeringAswan UniversityAswan81528Egypt Electrical Engineering Department Faculty of EngineeringAswan UniversityAswan81542Egypt Electrical Power Engineering and Mechatronics Department School of EngineeringTallinn University of Technology19086TallinnEstonia Department of Electrical and Control Arab Academy for ScienceTechnologyand Maritime TransportCairo2033Egypt

With high penetration of renewable energy sources(RESs)in modern power systems,system frequency becomes more prone to fluctuation as RESs do not naturally have inertial properties.A conventional energy storage system(ESS)based on a battery has been used to tackle the shortage in system inertia but has low and short-term power support during the *** address the issues,this paper proposes a new synthetic inertia control(SIC)design with a superconducting magnetic energy storage(SMES)system to mimic the necessary inertia power and damping properties in a short time and thereby regulate the microgrid(µG)frequency during *** addition,system frequency deviation is reduced by employing the proportional-integral(PI)controller with the proposed SIC *** efficacy of the proposed SIC system is validated by comparison with the conventional ESS and SMES systems without using the PI controller,under various load/renewable perturbations,nonlinearities,and *** simulation results highlight that the proposed system with SMES can efficiently manage several disturbances and high system uncertainty compared to the conventional ESS and SMES systems,without using the PI controller.

关键词： Synthetic inertia control(SIC) Load frequency control(LFC) Superconducting magnetic energy storage(SMES) Renewable energy sources(RESs) Microgrid(µG)

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Keypoints Estimation on Partial Point Clouds

Keypoints Estimation on Partial Point Clouds

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International Conference on Robotics and Artificial Intelligence (ICRAI)

作者： Maryam Saleem Mohammad Zohaib Syed Abbas Zilqurnain Naqvi Department of Mechatronics & Control Engineering Human Centered Robotics Lab UET Lahore Pakistan SIGMA Clermont University of Clermont Auvergne Aubiere France

ISBN: (数字)9798350355703

ISBN: (纸本)9798350355710

Estimating 3D keypoints of an object has achieved considerable interest, especially in computer graphics and ma-chine vision. The complexity of the problem increases when the object is noisy, decimated, or partially occluded. To this end, we present an approach to estimate 3D keypoints from the partial PCDs such that they also highlight the object's missing parts. It is based on two modules: shape completion and keypoints estimation. The first module computes the object's missing parts and generates a dense shape which is used by the second module to estimate semantically and geometrically consistent keypoints. The approach also estimates confidence scores that allow the selection of valid keypoint considering the object's structure. We evaluate the proposed method for four different backbones and observe that we get better results using PointNet. Furthermore, the presented results show that the Percentage of Correct Keypoints (PCK) and Dual Alignment Score (DAS) for the keypoints estimated from the dense shapes (36.61 and 76.29) are 23.51 % and 12.14% higher, respectively, compared to those estimated from the partial objects (13.10 and 64.15).

关键词： Point cloud compression Industries Three-dimensional displays Accuracy Shape Estimation Computer graphics Complexity theory Noise measurement Robotics and automation

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Super-Resolution for Interferometric Imaging: Model Comparisons and Performance Analysis

arXiv

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arXiv 2025年

作者： Abdioglu, Hasan Berkay Gursoy, Rana Isik, Yagmur Balci, Ibrahim Cem Unal, Taha Bayer, Kerem Inal, Mustafa Ismail Serin, Nehir Kosar, Muhammed Furkan Esmer, Gokhan Bora Uvet, Huseyin Department of Mechatronics Engineering Yildiz Technical University Istanbul Turkey Department of Electronics and Communication Engineering Yildiz Technical University Istanbul Turkey Department of Electrical and Electronics Engineering Marmara University Istanbul Turkey Department of Department of Control and Automation Engineering Yildiz Technical University Istanbul Turkey

This study investigates the application of Super-Resolution techniques in holographic microscopy to enhance quantitative phase imaging. An off-axis Mach-Zehnder interferometric setup was employed to capture interferograms. The study evaluates two Super-Resolution models, RCAN and Real-ESRGAN, for their effectiveness in reconstructing high-resolution interferograms from a microparticle-based dataset. The models were assessed using two primary approaches: image-based analysis for structural detail enhancement and morphological evaluation for maintaining sample integrity and phase map accuracy. The results demonstrate that RCAN achieves superior numerical precision, making it ideal for applications requiring highly accurate phase map reconstruction, while Real-ESRGAN enhances visual quality and structural coherence, making it suitable for visualization-focused applications. This study highlights the potential of Super-Resolution models in overcoming diffraction-imposed resolution limitations in holographic microscopy, opening the way for improved imaging techniques in biomedical diagnostics, materials science, and other high-precision fields. © 2025, CC BY.

关键词： Holography

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A prototype adjuster for motion planning of redundant robots 56

A prototype adjuster for motion planning of redundant robots

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56th International Symposium on Robotics, ISR Europe 2023

作者： Leniowski, Ryszard Leniowska, Lucyna Ożóg, Dominik Tomecki, Krzysztof Department of Computer and Control Engineering Rzeszów University of Technology Al. Powstańców Warszawy 12 Rzeszów35-959 Poland Department of Mechatronics and Control Engineering University of Rzeszów ul. Prof. St. Pigonia 1 Rzeszów35-959 Poland Sciware ul. Handlowa 3 Rzeszów35-103 Poland

ISBN: (纸本)9783800761418

Planning the movement of redundant robots requires the application of easy-to-use tools that automatically support the process of planning motion paths combined with their complex parameterisation. This paper describes the constructed device which is used to control such robots. The device, in the form of a glove, is designed to record movement and generate trajectories made by the hands. It contains a miniature motion controller and software with a unique set of functionalities that allow generating G2 type reference motion paths with the offset trajectories enabling noise reduction, eliminating the hand tremor, and also allowing connection with CAM software. The concept is based on the use of fifth-order spline curves in the software that meet the Hodograph condition. Trajectory data can be recorded, saved, or used in real time to control robots. Originally, the solution was dedicated to controlling surgical robots, but its capabilities were tested on industrial robots using simulators. © VDE VERLAG GMBH Berlin Offenbach.

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An Experimentally Validated Model of the Propeller Force Accounting for Cross Influences on Multi-Rotor Aerial Systems

An Experimentally Validated Model of the Propeller Force Acc...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Barbara Bazzana Ralph Brantjes Chiara Gabellieri Antonio Franchi Robotics and Mechatronics Department Electrical Engineering Mathematics and Computer Science (EEMCS) Faculty University of Twente Enschede The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

In this paper, we propose a model for the thrust coefficient of propellers that can take into account cross-influence between adjacent propellers. The aerodynamic interaction between propellers in multirotor aerial vehicles reduces the thrust they can produce. The influence between propellers depends on their relative positioning and orientation, which are taken into account by the proposed model. It is validated on measurements collected by a force sensor mounted on a propeller for different configurations of the adjacent propellers in a support structure. In this work, we focus on configurations with small relative orientations. Results show that the proposed model outperforms the traditional constant model in terms of thrust prediction on the data we collected, and it performs better than other models with fewer parameters, being the only one with less than 10% maximum percentage error.

关键词： Training Adaptation models Torque Propellers Atmospheric modeling Force Velocity control

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System for Determining the Shape of the Wavefront of a Nonsinusoidal Periodic Acoustic Wave

System for Determining the Shape of the Wavefront of a Nonsi...

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International Conference on engineering of Modern Electric Systems (EMES)

作者： Adrian Codoban Laura Coroiu Eugen Gergely József Sárosi Department Control Systems Engineering and Management University of Oradea Oradea Romania Department of Mechatronics and Automation University of Szeged Szeged Hungary

The shape of the wavefront is important for the most realistic reproduction of the acoustic wave. In acoustics, the wave front (or wave surface) is defined as the totality of points in the space of the propagating medium that have the same instantaneous elongation amplitude. In the ideal case, in a homogeneous and isotropic propagation medium without other disturbances, the wave has a spherical symmetry, i.e. the shape of the wavefront is circular and at large distances from the wave source, due to dispersion, the shape of the wavefront can be considered plan. In practice, however, due to the multiple component harmonics, reflections and possible summations of the primary acoustic wave, the elongation has a non-sinusoidal shape, and the wavefront may have an irregular random shape. Moreover, if the source of the wave or bodies from which it is reflected are in motion, the shape of the wavefront may even be variable in time. The paper presents a method for determining the shape of the wave front of a non-sinusoidal periodic plane acoustic wave, resulting from the addition of several harmonic components, reflected waves, etc. It uses an array of omnidirectional capacitive microphones arranged in line, at equal distances between them. At each of the microphones, the acoustic wave is captured out of phase depending on the position of the microphone in space and the shape of the wave front. These phase shifts placed next to each other give an image of the shape of the wavefront captured by the microphone system. The method presented in this paper reproduces sounds very realistically and can be used in Active Noise Cancel systems, in open spaces, with one or more mobile noise sources. One of the benefits is the increase in hearing comfort in noisy environments. Another is to record sounds with high fidelity.

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Magnetic Levitation Remote control Laboratory Based on Matlab and Websockets ⁎

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IFAC-PapersOnLine 2024年第9期58卷 235-240页

作者： Pavol Bistak Mikulas Huba Peter Drahos Igor Belai Damir Vrancic Institute of Automotive Mechatronics Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava Slovakia Department of Systems and Control J. Stefan Institute Ljubljana Slovenia Faculty of Industrial Engineering Novo mesto Slovenia

This work proposes a novel architecture for constructing remote laboratories, employing modular building blocks: Matlab/Simulink software for control system design and simulation, WebSocket communication technology for continuous data exchange, and a front-end application developed using the Angular framework. To facilitate WebSocket communication on the Matlab server side, the MatlabWebSocket library is implemented. Beyond the Angular framework, interactivity within the remote laboratory is further enhanced through 3D visualization of the controlled system using a *** based library. These combined technologies are applied in the development of a remote laboratory for a fast, unstable, and nonlinear magnetic levitation system. The laboratory allows users to remotely set desired values and control parameters for experiments, while also providing continuous data visualization in various forms, including numerical readouts, graphs, and 3D animations. This approach demonstrates the effectiveness of the proposed architecture for building remote laboratories for complex systems.

关键词： magnetic levitation system remote laboratory Matlab/Simulink WebSocket 3D visualization unstable nonlinear dynamic system

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Perception Reinforcement Using Auxiliary Learning Feature Fusion: A Modified Yolov8 for Head Detection

arXiv

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arXiv 2023年

作者： Chen, Jiezhou Wang, Guankun Liu, Weixiang Zhong, Xiaopin Tian, Yibin Wu, ZongZe College of Mechatronics and Control Engineering Shenzhen University Shenzhen China Department of Electronic Engineering The Chinese University of Hong Kong Hong Kong

Head detection provides distribution information of pedestrian, which is crucial for scene statistical analysis, traffic management, and risk assessment and early warning. However, scene complexity and large-scale variation in the real world make accurate detection more difficult. Therefore, we present a modified Yolov8 which improves head detection performance through reinforcing target perception. An Auxiliary Learning Feature Fusion (ALFF) module comprised of LSTM and convolutional blocks is used as the auxiliary task to help the model perceive targets. In addition, we introduce Noise Calibration into Distribution Focal Loss to facilitate model fitting and improve the accuracy of detection. Considering the requirements of high accuracy and speed for the head detection task, our method is adapted with two kinds of backbone, namely Yolov8n and Yolov8m. The results demonstrate the superior performance of our approach in improving detection accuracy and robustness. Copyright © 2023, The Authors. All rights reserved.

关键词： Risk assessment

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Design and Implementation of Pick and Place Manipulation System for Industrial Automation

Design and Implementation of Pick and Place Manipulation Sys...

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2021 International Conference on Artificial Intelligence and mechatronics Systems, AIMS 2021

作者： Naeem, Mehreen Aslam, Shoaib Suhaib, Muhammad Gul, Seemab Murtaza, Zeeshan Khan, Muhammad Jawad National University of Science and Technology Department of Robotics and Intelliegnt Machine Engineering Pakistan University of Engineering and Technology Lahore Department of Mechatronics and Control Engineering Pakistan

ISBN: (纸本)9781665424820

This work presents an autonomous pick and pack system for industrial applications consisting of a 4-DOF (degree-of-freedom) robotic manipulator and the vision perception. The system is capable to detect and capture products/materials from a production line and place them in a packaging box one at a time. The final placement of the object in the box is carried out with the desired orientation. The adopted configuration of the manipulator is RRPR equipped with an electromagnetic end-effector. Inverse kinematics approach is used to determine the end-effector motion sequence in order to reach the desired locations within the workspace. The manipulator is equipped with Feetech SC servo motor with built-in PID controller at each joint to achieve precise motion of joint angles. An RGB camera is mounted right above the conveyer belt to capture the region of interest in the environment. Captured image is further preprocessed by image processing techniques. Region properties is used to extract the orientation of the object. Arduino Mega 2560 is used as a control board for motors and an interface with the PC. A graphical user interface (GUI) is developed in MATLAB to monitor and control the end-to-end pick and pack system featuring both manual and automatic modes. © 2021 IEEE.

关键词： End effectors

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A control Theoretic Study on Omnidirectional MAVs with Minimum Number of Actuators and No Internal Forces at Any Orientation

A Control Theoretic Study on Omnidirectional MAVs with Minim...

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IEEE Conference on Decision and control

作者： Ahmed Ali Chiara Gabellieri Antonio Franchi Robotics and Mechatronics Department Electrical Engineering Mathematics and Computer Science (EEMCS) Faculty University of Twente Enschede Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

We propose a new multirotor aerial vehicle class of designs composed of a multi-body structure in which a main body is connected by passive joints to links equipped with propellers. We have investigated some instances of such class, some of which are shown to achieve omnidirectionality while having a minimum number of inputs equal to the main body Degrees of Freedom DoF’s, only uni-directional positive thrust propellers, and no internal forces generated at steady state. After dynamics are derived following the Euler-Lagrange approach, an I/O dynamic feedback linearization strategy is then used to show the controllability of any desired pose with stable zero dynamics. We finally verify the developed controller with closed-loop simulations.

关键词： Three-dimensional displays Propellers Dynamics controllability Regulation Steady-state Feedback linearization control theory Closed loop systems Vehicle dynamics

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