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16th International Conference on Social Robotics, ICSR + AI 2024

作者： Kumar, Amit Jose, Jaison Jain, Archit Kulkarni, Siddharth Arya, Kavi Centre for Systems and Control Indian Institute of Technology Bombay Mumbai India Embedded Real-Time Systems / e-Yantra Lab Indian Institute of Technology Bombay Mumbai India Computer Science and Engineering Department Indian Institute of Technology Bombay Mumbai India

ISBN: (纸本)9789819635214

With recent advancements in industrial robots, educating students in new technologies and preparing them for the future is imperative. However, access to industrial robots for teaching poses challenges, such as the high cost of acquiring these robots, the safety of the operator and the robot, and complicated training material. This paper proposes two low-cost platforms built using open-source tools like Robot Operating System (ROS) and its latest version ROS 2 to help students learn and test algorithms on remotely connected industrial robots. Universal Robotics (UR5) arm and a custom mobile rover were deployed in different life-size testbeds, a greenhouse, and a warehouse to create an Autonomous Agricultural Harvester System (AAHS) and an Autonomous Warehouse Management System (AWMS). These platforms were deployed for a period of 7 months and were tested for their efficacy with 1,433 and 1,312 students, respectively. The hardware used in AAHS and AWMS was controlled remotely for 160 and 355 hours, respectively, by students over a period of 3 months. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Costs

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Scalable and low-cost remote lab platforms: Teaching industrial robotics using open-source tools and understanding its social implications

arXiv

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arXiv 2024年

作者： Kumar, Amit Jose, Jaison Jain, Archit Kulkarni, Siddharth Arya, Kavi Centre for Systems and Control Indian Institute of Technology Bombay Mumbai India Embedded Real-Time Systems / e-Yantra Lab. Indian Institute of Technology Bombay Mumbai India Computer Science and Engineering Department Indian Institute of Technology Bombay Mumbai India

关键词： Costs

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Cause Identification of Single-line-to-ground Fault in Distribution System

Cause Identification of Single-line-to-ground Fault in Distr...

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2021 International Conference on Power System Technology, POWERCON 2021

作者： Liu, Kun Ren, Xuan Wang, Bin Power Dispatch Control Center of Guangdong Power Grid Co. Ltd Key Lab for Protective Relaying Real Time Digital Simulation of Guangdong Power Grid Co. Ltd. Guangzhou China Tsinghua University Key Laboratory of Control and Simulation of Power Systems and Generation Equipment Department of Electric Engineering Beijing China

ISBN: (纸本)9781665407373

Cause identification of single-line-to-ground fault in the distribution system is of great significance to the electric workers for fault isolation and rapid maintenance. The key of fault cause identification is to accurately and quickly distinguish human electric shock faults from non-biological faults. In this paper, human electric shock faults and non-biological faults are modeled and fault characteristics are analyzed. Based on the differences between shape and rotation characteristic of the volt-ampere characteristic curves, a fault cause identification method which can distinguish human electric shock faults from non-biological faults is proposed. Simulations show the effectiveness of the method. © 2021 IEEE.

关键词： Electric grounding

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Cause Identification of Single-line-to-ground Fault in Distribution System

Cause Identification of Single-line-to-ground Fault in Distr...

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International Conference on Power System Technology (POWERCON)

作者： Kun Liu Xuan Ren Bin Wang Key Lab for Protective Relaying Real Time Digital Simulation of Guangdong Power Grid Co. Ltd. Power Dispatch Control Center of Guangdong Power Grid Co. Ltd Guangzhou China Key Laboratory of Control and Simulation of Power Systems and Generation Equipment Tsinghua University Beijing China

ISBN: (纸本)9781665407380

关键词： Fault diagnosis Analytical models Shape Electric shock Maintenance engineering Power systems

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Experimental Research on Typical Single-Phase High Resistance Grounding Fault Detection Methods in Resonant Grounding Distribution System 8

Experimental Research on Typical Single-Phase High Resistanc...

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8th IEEE International Conference on Advanced Power System Automation and Protection, APAP 2019

作者： Cui, Xin Wang, Bin Dong, Xinzhou Liu, Kun Tsinghua University Key Lab of Control and Simulation of Power Systems and Generation Equipment Department of Electrical Engineering Beijing China Key Lab for Power System Protective Relaying Real Time Digital Simulation of Guangdong Power Grid Dispatching and Controlling Center of Guangdong Power Grid Guangzhou China

ISBN: (纸本)9781728117225

The problem of high resistance grounding fault detection in resonant grounding system is always the pain point and difficulty in the field of power system research. To solve the problem, based on PSCAD software, this paper firstly establishes a typical distribution system model, and analyzes the relationship between the transient component, traveling wave component and the fault initial angle, transition resistance value and arc. Secondly, this paper analyzes the effect of the main fault detection methods such as transient methods and travelling wave method, and gives the effective domain of different detection methods. Above analysis establishes a complete systematic test scheme for the high resistance grounding fault detection, and provides an effective test support for the subsequent effectual fault detection method for high resistance grounding fault. © 2019 IEEE.

关键词： Fault detection

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Study on High Impedance Grounding Fault Protection for Personal Safety Guard in Distribution Grid 8

Study on High Impedance Grounding Fault Protection for Perso...

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8th IEEE International Conference on Advanced Power System Automation and Protection, APAP 2019

作者： Liu, Kun Cui, Xin Wang, Bin Dong, Xinzhou Key Lab for Power System Protective Relaying Real Time Digital Simulation of Guangdong Power Grid Dispatching and Controlling Center of Guangdong Power Grid Guangzhou China Tsinghua University Key Lab of Control and Simulation of Power Systems and Generation Equipment Department of Electrical Engineering Beijing China

ISBN: (纸本)9781728117225

In recent years, human electric shock accident caused by line fault of distribution system has happened all over the world. This kind of problem of high resistance grounding fault safety is becoming more and more the attention of the researchers. In this paper, typical arc high resistance grounding fault model is established to simulate the human electric shock accident and the line fell to the ground condition. The transient- state and steady-state fault characteristics of high resistance grounding fault are analyzed in the neutral point grounded through a small resistance grounding system and the resonant grounding system. The above analysis has laid a good foundation for the establishment of an effective fault detection method for high resistance grounding and the realization of human electric shock protection. © 2019 IEEE.

关键词： Fault detection

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Experimental Research on Typical Single-Phase High Resistance Grounding Fault Detection Methods in Resonant Grounding Distribution System

Experimental Research on Typical Single-Phase High Resistanc...

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International Conference on Advanced Power System Automation and Protection (APAP)

作者： Xin Cui Bin Wang Xinzhou Dong Kun Liu Tsinghua University Key Lab of Control and Simulation of Power Systems and Generation Equipment Beijing China Key Lab for Power System Protective Relaying Real Time Digital Simulation of Guangdong Power Grid Guangzhou China

ISBN: (数字)9781728117225

ISBN: (纸本)9781728117232

关键词： Grounding Transient analysis Resistance Circuit faults Fault detection Power cables Steady-state

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Study on High Impedance Grounding Fault Protection for Personal Safety Guard in Distribution Grid

Study on High Impedance Grounding Fault Protection for Perso...

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International Conference on Advanced Power System Automation and Protection (APAP)

作者： Kun Liu Xin Cui Bin Wang Xinzhou Dong Dispatching and Controlling Center of Guangdong Power Grid Key Lab for Power System Protective Relaying Real Time Digital Simulation of Guangdong Power Grid Guangzhou China Tsinghua University Key Lab of Control and Simulation of Power Systems and Generation Equipment Beijing China

ISBN: (数字)9781728117225

ISBN: (纸本)9781728117232

关键词： Grounding Immune system Resistance Harmonic analysis Transient analysis Electric shock Steady-state

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H∞-based control system and its digital implementation for the integrated tilt with active lateral secondary suspensions in high speed trains

H∞-based control system and its digital implementation for ...

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第三十二届中国控制会议

作者： Ronghui Zhou Argyrios Zolotas Roger Goodall Real-Time Controls and Instrumentation Lab. Global Research CenterGE School of Engineering and Informatics University of SussexSussex House Control systems group Department of Electronic and Electrical EngineeringLoughborough University

ISBN: (纸本)9781479900305

In this paper,H∞-based control system and its digital implementation for the integrated tilt with active lateral secondary suspensions in high speed railway vehicles are discussed,in which mixed-sensitivity H∞control is designed for the tilting suspension,while skyhook damping control is employed for the active lateral secondary *** with classical decentralized control,the proposed control system can well attenuate the strong coupling between the roll and lateral dynamic modes of the vehicle *** emphasis is also on the digital implementation of the reduced order H∞tilt controller in an embedded control *** digital controllers are validated via a FPGA-based Hardware-In-the-Loop system.

关键词： H_∞control Active Suspensions Railway System control Integrated Tilt With Active Lateral Suspensions HIL Digital Implementation

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A Stable Output Feedback Position control With Integral Action For Robot Manipulators

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Asian Journal of control 2008年第2期5卷

作者： Jose Alvarez-Ramirez Rafael Kelly Ilse Cervantes Universidad Autonoma Metropolitana-Iztapalapa Apartado Postal 55–534 Mexico D.F. 09340 MEXICO. Departamento de Fisica Aplicada CICESE Apartado Postal 2615 Ensenada B.C. 22800 MEXICO. Ilse Cervantes was born in Mexico City in 1973. She received the Ph.D. degree in Applied Mathematics from the Universidad Autónoma Metropolitana in 2000. She is currently a full-time professor at the Postgraduate Studies Section of the Mechanical and Electrical Engineering School (National Polytechnic Institute). Her research interests include nonlinear systems dynamics and control control of electromechanical systems and real time control applications. Sección de Estudios de Posgrado e Investigación Escuela Superior de Ingenieria Mecanica y Electrica Campus Culhuacan. Av. Santa Ana 1000 Col. San Francisco Culhuacan Mexico D.F. 04430 MEXICO. Rafel Kelly was born in Monterry Mexico in 1959. He received the B.S. degree in physics form the Instituto Tecnologico y de Estudios Superiores de Monterrey Mexico and the Ph.D. degree in automatic control from the Institut National Plytechnique de Grenoble Grenoble France in 1980 and 1986 respectively. He is currently a Professor at the Centro de Investigacion Cientifica y de Educacion Superior de Ensenada (CICESE) Mexico. His research interests include adaptive control systems robot control vision systems and neural networks.

In this paper, the problem of robust regulation of robot manipulators using only position measurements is addressed. The main idea of the control design methodology is to use an observer to estimate simultaneously the velocity and the modeling error signal induced by model/system mismatches. The controller is obtained by replacing the velocity and the modeling error in an inverse dynamics feedback by their estimates, which leads to a certainty equivalence controller. The resulting controller has a PID-type structure which, under least prior knowledge, reduces to the PI 2 D regulator studied in [20]. Moreover, the controller is endowed with a natural antireset windup (ARW) scheme to cope with control torque saturations. Regarding the closed-loop behavior, it is proven that the region of attraction can be arbitrarily enlarged with high observer gains only, thus we prove semiglobal asymptotic stability. Our result supersedes previous works in the direction of performance estimates; specifically, it is also proven that the performance induced by a saturated inverse dynamics controller can be recovered by our PID-type controller. In this sense, our work reveals some connections between PID-type and inverse dynamics controllers.

关键词： Robot position control output feedback semiglobal stability robust performance

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