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MPPT Algorithms for Wind Turbines: Review and Comparison 29

MPPT Algorithms for Wind Turbines: Review and Comparison

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29th International Workshop on Electric Drives: Advances in Power Electronics for Electric Drives, IWED 2022

作者： Aleksandr, Lukin Demidova, Galina Alassaf, Omar Lukichev, Dmitry Rassolkin, Anton Vaimann, Toomas ITMO University Faculty of Control System and Robotics Saint-Petersburg Russia Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia

ISBN: (纸本)9781665467865

Wind turbines play an important role in energy generation using renewable sources. The wind is very changeable, and such turbines require techniques for finding and tracking maximum power density. The presented work includes an overview of maximum power point tracking techniques applicable to small-size wind turbines based on the Magnus effect. An overview of existing algorithms is presented. Overviewed algorithms are assessed using a simulation in MATLAB with a model of the experimental Magnus effect wind turbine. © 2022 IEEE.

关键词： Wind power

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Finite Element Method Based Toolchain for Simulation of Proximity Estimation Using Electronic Skin 10th

Finite Element Method Based Toolchain for Simulation of Pr...

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Proceedings of the 10th Machine Intelligence and Digital Interaction Conference, MIDI 2022

作者： Ostaszewska-Liżewska, Anna Klimaszewski, Jan Department of Mechatronics Institute of Metrology and Biomedical Engineering Warsaw Univeristy of Technology ul. Sw. A. Boboli 8 Warsaw02-525 Poland Department of Mechatronics Institute of Automatic Control and Robotics Warsaw Univeristy of Technology ul. Sw. A. Boboli 8 Warsaw02-525 Poland

ISBN: (纸本)9783031376481

The emergence of new areas of human-robot cooperation creates the need to ensure human safety in this regard. Therefore, there is a need to develop new sensors to detect the presence of a human in the vicinity of a robot. One such sensor is an electronic skin (e-skin). Manufacturing and testing new e-skin prototypes is labor-intensive. This paper presents a software toolchain developed to simulate the operation of an e-skin used to detect human proximity. The toolchain is based on the finite element method and has been developed exclusively with free and open-source software. The presented toolchain makes it possible to test e-skin modifications without the need for a physical prototype and significantly reduces implementation costs. The developed solution is multi-platform and allows parallel and multi-threaded calculations conducted on multiple machines simultaneously. This paper presents modeling results obtained for a simplified e-skin sensor, which are consistent with experimental results on the actual model. © 2023, The Author(s).

关键词： Finite element method

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External-Wrench Estimation for Aerial Robots Exploiting a Learned Model

External-Wrench Estimation for Aerial Robots Exploiting a Le...

引用

International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Ayham Alharbat Gabriele Ruscelli Roberto Diversi Abeje Mersha Smart Mechatronics and Robotics research group Saxion University of Applied Science Enschede The Netherlands Robotics and Mechatronics research group Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Enschede The Netherlands Department of Electrical Electronic and Information Engineering University of Bologna Bologna Italy

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

This paper presents an external wrench estimator that uses a hybrid dynamics model consisting of a firstprinciples model and a neural network. This framework addresses one of the limitations of the state-of-the-art modelbased wrench observers: the wrench estimation of these observers comprises the external wrench (e.g. collision, physical interaction, wind); in addition to residual wrench (e.g. model parameters uncertainty or unmodeled dynamics). This is a problem if these wrench estimations are to be used as wrench feedback to a force controller, for example. In the proposed framework, a neural network is combined with a first-principles model to estimate the residual dynamics arising from unmodeled dynamics and parameters uncertainties, then, the hybrid trained model is used to estimate the external wrench, leading to a wrench estimation that has smaller contributions from the residual dynamics, and affected more by the external wrench. This method is validated with numerical simulations of an aerial robot in different flying scenarios and different types of residual dynamics, and the statistical analysis of the results shows that the wrench estimation error has improved significantly compared to a model-based wrench observer using only a firstprinciples model.

关键词： Uncertain systems Analytical models Statistical analysis Atmospheric modeling Dynamics Neural networks Observers Autonomous aerial vehicles Numerical simulation Numerical models

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PV Generation Monitoring Using Calculated Power Flow from μPMUS

PV Generation Monitoring Using Calculated Power Flow from μ...

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2024 International Conference on Optimization Computing and Wireless Communication, ICOCWC 2024

作者： Hussain, K. Kaliappan, S. Arul Joseph Amalraj, M. Saini, Parvesh Nandha Kumar, S.K. Dhanraj, Joshuva Arockia Sharad Institute of Technology College of Engineering Department of Electrical Engineering Ichalkaranji416121 India Lovely Professional University Division of Research and Development Jalandhar144411 India Veltech Multitech Dr Rangarajan Dr Sakunthala Engineering College Department of Chemistry Chennai600109 India Graphic Era Deemed to Be University Department of Electrical Engineering Dehradun248002 India Psna College of Engineering & Technology Department of Electrical and Electronics Engineering Dindigul624622 India Hindustan Institute of Technology and Science Centre for Automation and Robotics Department of Mechatronics Engineering Chennai603103 India

ISBN: (纸本)9798350383348

The ability of PMUs to provide precise, synchronized readings of voltage, current and frequency has made them valuable for the observation of microgrids. In some microgrids, PMU s are utilized without a current transformer and only measure voltage phasor values. This research outlines a procedure to use μPMU (or micro-PMU) voltage readings to ascertain electric loads or photovoltaic (PV) production through gauging power flow (PF). The results of a study conducted at the Federal University of Paraná's Polytechnic School (UFPR) in Brazil demonstrated that utilizing the power flow calculated by a 'virtual CT' approach, as measured by a standard power meter and with a higher time resolution from a microPMU, is a reliable and efficient method for recognizing events, monitoring PV generation, and non-intrusively monitoring load (NILM). © 2024 IEEE.

关键词： microgrids power flow PV generation μPMU

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A Comparative Study for Control of Semi-Automatic Robotic-Assisted Ultrasound System in Spine Surgery

A Comparative Study for Control of Semi-Automatic Robotic-As...

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International Conference on Advanced robotics (ICAR)

作者： Ayoob Davoodi Ruixuan Li Yuyu Cai Kenan Niu Gianni Borghesan Emmanuel Vander Poorten Department of Mechanical Engineering KU Leuven Belgium Department of Robotics and Mechatronics University of Twente Enschede The Netherlands

Ultrasound (US) imaging has been widely applied in different clinical scenarios thanks to its low-cost and non-radiative nature. Recently, robotic US has increasingly been investigated to produce 3D US reconstructions for navigation during surgical interventions. robotics is considered of interest to address variable skills among human sonographers. Dedicated control strategies are needed to ensure high-quality robotic US reconstructions that are comparable or superior to those generated by human experts. The robot controller ought to establish human-like scanning maneuvers while maintaining tight skin contact and ensuring essential safety. In essence, this means that at all times, the robot should ensure contact while avoiding the application of excessive force on the patient. To acquire an improved understanding of what is an optimal control method, a comparative study on several admittance-based controllers was conducted while a semi-automatic path planning approach was used to realize automatic US scanning. The developed system was validated by scanning a synthetic phantom, compared with position and admittance control. The robotic US system with the proposed control applied a force lower than $3.83\pm 0.31\ \mathrm{N}$ while ensuring continuous US imaging. By defining the successful rate as a US image has more than 90% of soft tissue (i.e., ligament) length, the velocity-based admittance controller has more than 80% successful US imaging. Such an approach could contribute to the further development and uptake of robotic US systems in spine surgery or applications.

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Integrated DOB-Based Approach for Admittance Control of an Industrial Robot

Integrated DOB-Based Approach for Admittance Control of an I...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Kangwagye Samuel Kevin Haninger Sehoon Oh Department of Robotics and Mechatronics Engineering DGIST Daegu Korea Department of Automation Fraunhofer IPK Berlin Germany

Admittance control can improve robot performance and robustness in interactive tasks, but is still limited by stability when implemented on low-admittance hardware, such as position-controlled industrial robots. This limits applications which require the payload, reach, or positioning accuracy. While the idealized reference admittance behavior would be stable with any passive environment, real robots can be unstable, especially with high-stiffness environments. Thus, instability comes from deviation from the ideal reference model, due to either inner-loop bandwidth, time-delay, or other model error. To improve accuracy of rendered dynamics and reduce contact forces, a novel integrated disturbance observer-based admittance control method which is implemented on a position/velocity-controlled industrial robot in task space is proposed. The multisensor information is integrated to estimate and cancel the disturbances, outside the position/velocity control loop, all in task space. Experiments on the actual robot show that the proposed method is able to improve accuracy and reduce contact forces even at higher admittance.

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FinFix: A Soft Gripper With Contact-Reactive Reflex for High-Speed Pick and Place of Fragile Objects

FinFix: A Soft Gripper With Contact-Reactive Reflex for High...

引用

IEEE International Conference on Soft robotics (RoboSoft)

作者： Willem Heeringa Cosimo Della Santina Gerwin Smit BioMechanical Engineering department Delft University of Technology Delft Netherlands Cognitive Robotics department Delft University of Technology Institute of Robotics and Mechatronics Delft Netherlands German Aerospace Center (DLR) Institute of Robotics and Mechatronics Weßling Germany

Industrial automation calls for precise tasks with cycle times reduced to the minimum. At the same time, when handling delicate products such as fruits and vegetables, accelerations must be kept low to keep interaction forces under a certain threshold to avoid damage. This trade-off hinders the penetration of automation in many relevant application fields. This paper investigates using soft technology to solve this challenge. We propose the FinFix gripper, a non-anthropomorphic soft gripper capable of handling delicate objects at high acceleration using a contact-reactive grasping approach. This gripper has two entirely passive sensorized fingers that establish contact and two active fingers that are actuated pneumatically through a rigid mechanism allowing for rapid closure. We provide exhaustive experimental validation by connecting the gripper to a delta robot. The system can reliably execute pick-and-place cycles in $\sim 1 \ \mathrm{s}$ when the distance between the pick and the place locations is 400 mm, resulting in a peak speed of $\sim 10\frac{\mathrm{m}}{\mathrm{s}}$ . None of the fragile objects used during the experiments showed any damage. The only information needed is a rough estimation of the object's position to be grasped and a contact event to trigger the reflex. The test results show that the gripper can hold fragile objects during lateral accelerations of 10g.

关键词： Automation Grasping Soft robotics Robot sensing systems Sensors Reliability Grippers

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Increasing Admittance of Industrial Robots By Velocity Feedback Inner-Loop Shaping

Increasing Admittance of Industrial Robots By Velocity Feedb...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Kangwagye Samuel Kevin Haninger Sehoon Oh Department of Robotics and Mechatronics Engineering DGIST Daegu Korea Department of Automation Fraunhofer IPK Berlin Germany

Admittance and impedance controllers are often purely feedforward, using measured external force or motion, respectively, to generate a reference for an inner-loop controller. In this case, the range of dynamics which can be rendered is limited by the inner-loop, which causes, e.g. contact stability issues for low admittance industrial robots in stiff contact. When both position and force are measured, feedback control can be added to more flexibly reshape the rendered dynamics. This paper uses velocity feedback to increase the admittance of motion-controlled industrial robots in force control applications. This allows an industrial robot with a lower intrinsic admittance, which may be needed for payload, speed, or accuracy, to realize a higher admittance by control, allowing lighter manual guidance and safer contact. This is achieved by a modified disturbance observer, where an inverse dynamic model estimates external forces and amplifies them with positive feedback. This approach is compared with using positive velocity feedback with a shaping filter. Here, velocity reference calculated by the virtual admittance model is modified by the DOB (Dist-Add) or the positive velocity feedback (Vel-Add). When combined with an outer-loop admittance controller, these methods can render a higher admittance while maintaining contact stability compared to standard feedforward admittance control.

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Fully Tunable Fabry-Pérot Cavity on Silicon Photonic MEMS with 10 nW Static Power Consumption

Fully Tunable Fabry-Pérot Cavity on Silicon Photonic MEMS w...

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Conference on Lasers and Electro-Optics (CLEO)

作者： Young J. Park Man J. Her Dong U. Kim Dong J. Choi Min G. Lim Myung S. Hong Sangyoon Han Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology Daegu Republic of Korea

We report on a fully tunable Fabry-Pérot cavity on the silicon photonic MEMS having only 10nW static power. Its resonance wavelength is tunable over the full FSR, and its transmissivity is tunable up to 3.8dB.

ISBN: (纸本)9781957171258

关键词： Microelectromechanical systems Optical components Optical directional couplers Resonance Silicon Waveguide modes

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Sudden Cardiac Arrest Detection Based on Temporal Features of ECG Using Support Vector Machine Classifier

Sudden Cardiac Arrest Detection Based on Temporal Features o...

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International Conference on Industrial Instrumentation and Control,ICI2C 2021

作者： Banerjee, Prakash Bhattacherjee, Saptak Dasgupta, Kousik Department of Electrical and Electronics Engineering University of Engineering and Management Kolkata India School of Mechatronics and Robotics Indian Institute of Engineering Science and Technology Howrah Shibpur India Department of Computer Science and Engineering Kalyani Government Engineering College Kalyani India

ISBN: (纸本)9789811670107

Sudden cardiac arrest (SCA) is caused due to malfunctioning in heart rhythm, and the patient needs to be hospitalized as early as possible just after the onset of SCA;otherwise, it can lead to the death of the patient. Therefore, detection of SCA with a very high accuracy and within a very short time after the onset of symptoms is very crucial for patient survival. Several approaches for detection of SCA have been made using temporal and morphological variations in the electrocardiogram (ECG). However, the existing methods suffer from low accuracy or involve long-term monitoring of ECG. Therefore, in the present work, an intelligent algorithm to detect SCA based on the extraction of temporal features like RR interval and the QT interval from ECG and subsequently classifying them using support vector machine (SVM) has been proposed. Experimental evaluation of the proposed method on five SCA and five normal subjects demonstrates a high classification accuracy of 100% which proves the superiority of the proposed algorithm as an effective method for detection of SCA. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Electrocardiograms

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