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Fusion of Stereo-Camera and PMD-Camera Data for real-time Suited Precise 3D Environment Reconstruction

Fusion of Stereo-Camera and PMD-Camera Data for Real-Time Su...

引用

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Klaus-dieter Kuhnert Martin Stommel Institute of Real-Time Learning Systems Department of Electrical Engineering and Computer Science University of Siegen Germany

3D environment reconstruction is a basic task, delivering the data for mapping, localization and navigation in mobile robotics. We present a new technique that combines a stereo-camera system with a PMD-camera. Both systems generate distance images of the environment but with different characteristics. It is shown that each system compensates effectively for the deficiencies of the other one. The combined system is real-time suited. Experimental data of an indoor scene including the calibration procedure are reported

关键词： Cameras Robot vision systems Image reconstruction Mobile robots Optical modulation Robustness Intelligent robots real time systems Navigation Layout

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Identification of SVC dynamics using wide area signals in a power system

Identification of SVC dynamics using wide area signals in a ...

引用

IEEE General Meeting Power& Energy Society

作者： S.R. Jetti G.K. Venayagamoorthy Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Missouri MO USA

This paper presents the design of a wide area monitor (WAM) using remote area signals, such as speed deviations of generators in a power network, for identifying online the dynamics of a static var compensator (SVC). The design of the WAM is studied on the 12 bus FACTS benchmark system recently introduced. A predict-correct method is used to enhance the performance of the WAM during online operation. Simulation results are presented to show that WAM can correctly identify the dynamics of SVC in a power system for small and large disturbances. Such WAMs can be applied in the design of adaptive SVC controllers for damping interarea oscillations in power networks

关键词： Power system dynamics Static VAr compensators Signal processing Power system simulation Signal design Remote monitoring Power generation Signal generators Programmable control Adaptive control

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Optimal design of power system stabilizers using a small population based PSO

Optimal design of power system stabilizers using a small pop...

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IEEE General Meeting Power& Energy Society

作者： T.K. Das G.K. Venayagamoorthy Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Missouri MO USA

Power system stabilizers (PSSs) are used to generate supplementary control signals to excitation systems in order to damp out local and inter-area oscillations. In this paper, a modified particle swarm optimization (PSO) algorithm with a small population is presented for the design of optimal PSSs. The small population based PSO (SPPSO) is used to determine the optimal parameters of several PSSs simultaneously in a multi-machine power system. In order to maintain a dynamic search process, the idea of particle regeneration in the population is also proposed. Optimal PSS parameters are determined for the power system subjected to small and large disturbances. The effectiveness of the PSSs parameters determined by the SPPSO algorithm is observed in damping out the power system oscillations fast after a disturbance. The advantage of the proposed approach is its convergence in fewer evaluations and lesser computations are required per evaluation. Results obtained with the SPPSO optimized PSSs parameters are compared against published PSS parameters for the Kundur's two area power system

关键词： Power systems Power system dynamics Power system control Power generation Signal generators Control systems Particle swarm optimization Algorithm design and analysis Damping Convergence

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HDP based optimal control of a grid independent PV system

HDP based optimal control of a grid independent PV system

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IEEE General Meeting Power& Energy Society

作者： R.L. Welch G.K. Venayagamoorthy Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Missouri MO USA

This paper presents an adaptive optimal control scheme for a grid independent photovoltaic (PV) system consisting of a PV collector array, a storage battery, and loads (critical and non-critical loads). The optimal control algorithm is based on the model-free heuristic dynamic programming (HDP), an adaptive critic design (ACD) technique which optimizes the control performance based on a utility function. The HDP critic network is used in a PV system simulation study to train a neurocontroller to provide optimal control for varying PV system output energy and load demands. The emphasis of the optimal controller is primarily to supply the critical base load demand at all times. Simulation results are presented to compare the performance of the proposed optimal scheme with the conventional priority control scheme. Results show that HDP based control scheme performs better than a conventional priority control scheme

关键词： Optimal control Programmable control Adaptive control Photovoltaic systems Solar power generation Adaptive arrays Batteries Dynamic programming Algorithm design and analysis Design optimization

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Hierarchical multithreading: Programming model and system software 20

Hierarchical multithreading: Programming model and system so...

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20th IEEE International Parallel and Distributed Processing Symposium, IPDPS 2006

作者： Gao, Guang R. Sterling, Thomas Stevens, Rick Hereld, Mark Zhu, Weirong Department of Electrical and Computer Engineering University of Delaware United States Center for Advanced Computing Research California Institute of Technology United States Department of Computer Science Louisiana State University United States Mathematics and Computer Science Division Argonne National Laboratory United States

ISBN: (纸本)1424400546

This paper addresses the underlying sources of performance degradation (e.g. latency, overhead, and starvation) and the difficulties of programmer productivity (e.g. explicit locality management and scheduling, performance tuning, fragmented memory, and synchronous global barriers) to dramatically enhance the broad effectiveness of parallel processing for high end computing. We are developing a hierarchical threaded virtual machine (HTVM) that defines a dynamic, multithreaded execution model and programming model, providing an architecture abstraction for EEC system software and tools development. We are working on a prototype language, LITL-X (pronounced "little-X") for Latency Intrinsic-Tolerant Language, which provides the application programmers with a powerful set of semantic constructs to organize parallel computations in a way that hides/manages latency and limits the effects of overhead. This is quite different from locality management, although the intent of both strategies is to minimize the effect of latency on the efficiency of computation. We will work on a dynamic compilation and runtime model to achieve efficient LITL-X program execution. Several adaptive optimizations will be studied. A methodology of incorporating domain-specific knowledge in program optimization will be studied. Finally, we plan to implement our method in an experimental testbed for a HEC architecture and perform a qualitative and quantitative evaluation on selected applications. © 2006 IEEE.

关键词： Parallel processing systems

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A Novel Seven-Level Shunt Active Filter for High-Power Drive Systems

A Novel Seven-Level Shunt Active Filter for High-Power Drive...

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Annual Conference of Industrial Electronics Society

作者： Peng Xiao Keith A. Corzine Ganesh K. Venayagamoorthy Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Missouri Rolla MO USA

In high-power adjustable speed motor drives, such as those used in electric ship propulsion systems, active filters provide a viable solution to mitigating harmonic related issues caused by diode or thyristor rectifier front-ends. To handle the large compensation currents and provide better thermal management, two or more paralleled semiconductor switching devices are often used. In this paper, a novel topology is proposed where two active filter inverters are connected with tapped reactors to share the compensation currents. The proposed active filter topology can also produce seven voltage levels, which significantly reduces the switching current ripple and the size of ripple filters. Based on the joint redundant state selection strategy, a current-balancing algorithm is proposed to keep the reactor magnetizing current to a minimum. It is shown through simulation that the proposed active filter can achieve high overall system performance. The system is also implemented on a real-time digital simulator to further verify its effectiveness

关键词： Active filters Thermal management Topology Inductors Magnetic separation Shunt (electrical) Motor drives Marine vehicles Propulsion Power harmonic filters

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Nonlinear Modified PI Control of Multi-Module GCSCs in a Large Power System

Nonlinear Modified PI Control of Multi-Module GCSCs in a Lar...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： Swakshar Ray Ganesh K. Venayagamoorthy Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Missouri Rolla MO USA

This paper presents the design of a new control strategy for gate-controlled series compensators (GCSCs). GCSCs are new FACTS devices which can provide active power flow control on a transmission line. Proper placement of GCSCs in proximity to generators can also provide damping to system oscillations. This paper has investigated the effectiveness of multiple multi-module gate controlled series compensators (MMGCSCs) for large power systems. MMGCSCs can be less expensive devices with wide range of control of capacitive reactance in series with transmission lines. A nonlinear modified PI (NMPI) control is developed to provide power flow control and enhanced transient stability margin of the multi-machine power system. The NMPI is designed using a multi-layer neural network to approximate the blocking angle from the effective capacitive compensation provided by PI controller. A neural network with few neurons trained offline is used as an approximator /estimator for each MMGCSCs. This method has been shown effective for small and large disturbances on the IEEE 39 bus power system

关键词： Pi control Power system control Power systems Power system stability Power system transients Load flow control Power transmission lines Control systems Damping Nonlinear control systems

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Comparison of Two Optimal Control Strategies for a Grid Independent Photovoltaic System

Comparison of Two Optimal Control Strategies for a Grid Inde...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： Richard L. Welch Ganesh K. Venayagamoorthy Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Missouri Rolla Rolla MO USA

This paper presents two optimal control strategies for a grid independent photovoltaic system consisting of a PV collector array, a storage battery, and loads (critical and non-critical loads). The first strategy is based on action dependent heuristic dynamic programming (ADHDP), a model-free adaptive critic design (ACD) technique which optimizes the control performance based on a utility function. ADHDP critic network is used in a PV system simulation study to train an action neural network (optimal neurocontroller) to provide optimal control for varying PV system output energy and loadings. The second optimal control strategy is based on a fuzzy logic controller with its membership functions optimized using the particle swarm optimization. The emphasis of the optimal controllers is primarily to supply the critical base load at all times, thus requiring sufficient stored energy during times of less or no solar insulation. Simulation results are presented to compare the performance of the proposed optimal controllers with the conventional priority control scheme. Results show that the ADHDP based controller performs better than the optimized fuzzy controller, and the optimized fuzzy controller performs better than the standard PV-priority controller

关键词： Optimal control Photovoltaic systems Fuzzy control Batteries Dynamic programming Programmable control Adaptive control Design optimization Neural networks Neurocontrollers

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Bio-inspired Algorithms for the Design of Multiple Optimal Power System Stabilizers: SPPSO and BFA

Bio-inspired Algorithms for the Design of Multiple Optimal P...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： Tridib K. Das Ganesh K. Venayagamoorthy Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Missouri Rolla Rolla MO USA

Power system stabilizers (PSSs) provide stabilizing control signals to excitation systems to damp out inter-area and intra-area oscillations. The PSS must be optimally tuned to accommodate the variations in the system dynamics. Designing multiple optimal PSSs is a challenging task for researchers. This paper presents the comparison between two bio-inspired algorithms: a small population based particle swarm optimization (SPPSO) and the bacterial foraging algorithm (BFA) for the simultaneous tuning of a number of PSSs in a multi-machine power system. The cost function to be optimized by both algorithms takes into consideration the time domain transient responses. The effectiveness of the algorithms is evaluated and compared for damping the system oscillations during small and large disturbances. The robustness of the optimized PSSs in terms of damping is shown using the matrix pencil analysis

关键词： Algorithm design and analysis Power systems Power system dynamics Power system transients Damping Power system control Control systems Particle swarm optimization Microorganisms Tuning

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real-time Implementation of a Dual Function Neuron based Wide Area SVC Damping Controller

Real-Time Implementation of a Dual Function Neuron based Wid...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： Sandhya R. Jetti Ganesh K. Venayagamoorthy Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Missouri Rolla Rolla MO USA

The use of wide area measurements for power system stabilization is recently given a lot of attention by researchers and the power industry to avoid cascading failures and blackouts such as the August 2003. This paper presents the design of a nonlinear external damping controller based on wide area measurements as inputs to a dual function neuron (DFN). This DFN controller is specifically designed to enhance the damping characteristics of a power system considering the nonlinearity in the system. The major advantage of the DFN controller is that it is simple in structure with less development time and hardware requirements for real-time implementation. The DFN controller is implemented on a digital signal processor and its performance is evaluated on the IEEE 12 bus FACTS benchmark power system implemented on a real time platform - real time digital simulator (RTDS). Experimental results show that the DFN controller provides better damping than a conventional linear controller

关键词： Neurons Static VAr compensators Damping Wide area measurements Power system measurements Power system simulation real time systems Power industry Power system faults Power system protection

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