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检索条件"机构=Robotics and Intelligent Systems Laboratory Electrical and Computer Engineering"

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Multiresolution Object Recognition Using Dual Heuristic Programming

Multiresolution Object Recognition Using Dual Heuristic Prog...

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International Joint Conference on Neural Networks (IJCNN)

作者： F. Siddiqui K.M. Iftekharuddin Intelligent Systems and Image Processing Laboratory Department of Electrical and Computer Engineering University of Memphis Memphis TN USA

We present automatic target recognition (ATR) model based on principles of biological vision systems. The model employs reinforcement learning (RL) through Dual Heuristic Programming (DHP). The performance of the reported ATR model is compared to that of our previously reported ATR model, based on Heuristic Dynamic Programming (HDP). The HDP and DHP, known as the Adaptive Critic Designs (ACD), are neural network based implementation of Dynamic Programming (DP). The simulation shows promising results for both HDP and DHP based ATR model in presence of resolution distortion in incoming images and confirms that the DHP model is faster and more robust for our ATR system than the HDP.

关键词： Object recognition Learning Robustness Biological system modeling Machine vision Target recognition Dynamic programming Neural networks Image resolution Nonlinear distortion

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A High-Level Controller for Robot-Assisted Rehabilitation

A High-Level Controller for Robot-Assisted Rehabilitation

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Duygun Erol Nilanjan Sarkar Bibhrajit Halder Department of Electrical Engineering and Computer Science Vanderbilt University USA Department of Mechanical Engineering Robotics and Autonomous Systems Laboratory Vanderbilt University USA

The goal of our research is to develop a high-level controller to provide reference trajectories automatically to the low-level controller of a rehabilitation robotic device. The high-level controller, which is the supervisory controller, is an event driven, asynchronous discrete event system (DES), described by a finite state automaton. Extensive simulations are performed using the supervisory controller for a rehabilitation task. The results demonstrate the feasibility of the proposed supervisory controller

关键词： Robot control Rehabilitation robotics Automatic control Robot kinematics Control systems Force control Medical treatment Supervisory control Automata Medical control 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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Assessment of Distributed Generation Based on Voltage Profile Improvement and Line Loss Reduction

Assessment of Distributed Generation Based on Voltage Profil...

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IEEE PES Transmission and Distribution Conference and Exposition

作者： Iyer Ray Ramakumar Engineering Energy Laboratory Department of Electrical and Computer Engineering Oklahoma State University Stillwater OK USA Real-Time Power and Intelligent Systems Laboratory Electrical and Computer Engineering department University of Missouri Rolla MO USA

This paper proposes a combined voltage profile improvement and line loss reduction index (VILRI) to assess the impact of distributed generation (DG) on a distribution system. Two different voltage profile improvement indices are employed to arrive at two alternatives for the combined index. Results of simulation studies carried out on a 33-bus radial system in MATLAB are presented and discussed. Primal-dual interior point (PDIP) method is used to identify the optimal locations for DG units based on the proposed index

关键词： Distributed control Voltage Power generation Reactive power Student members Power supplies Stability Renewable energy resources Fuel cells Wind energy generation

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Synchronous reference frame based active filter current reference generation using neural networks

Synchronous reference frame based active filter current refe...

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IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics

作者： Mazumdar, Joy Harley, Ronald G. Venayagamoorthy, Ganesh K. School of Electrical and Computer Engineering Georgia Institute of Technology 777 Atlantic Drive NW Atlanta GA 30332 United States Real-Time Power and Intelligent Systems Laboratory University of Missouri-Rolla 1870 Miner Circle Rolla MO 65409 United States

ISBN: (纸本)1424401364

The increased use of nonlinear devices in industry has resulted in direct increase of harmonic distortion in the industrial power system in recent years. The significant harmonics are almost always 5th, 7th, 11th and the 13th with the 5th harmonic being the largest in most instances. Active filter systems have been proposed to mitigate harmonic currents of the industrial loads. The most important requirement for any active filter is the precise detection of the individual harmonic component's amplitude and phase. Fourier transform based techniques provide an excellent method for individual harmonic isolation, but it requires a minimum of two cycles of data for the analysis, does not perform well in the presence of subharmonics which are not integral multiples of the fundamental frequency and most importantly introduces phase shifts. To overcome these difficulties, this paper proposes a Multilayer Perceptron Neural Network trained with back-propagation training algorithm to identify the harmonic characteristics of the nonlinear load. The operation principle of the synchronous-reference-frame-based harmonic isolation is discussed. This proposed method is applied to a thyristor controlled dc drive to obtain the accurate amplitude and phase of the dominant harmonics. This technique can be integrated with any active filter control algorithm for reference generation. ©2006 IEEE.

关键词： Active filters

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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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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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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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Interactive multi-modal robot programming

Interactive multi-modal robot programming

引用

9th International Symposium on Experimental robotics, ISER 2004

作者： Iba, Soshi Paredis, Christiaan J. J. Khosla, Pradeep K. The Robotics Institute Carnegie Mellon University PittsburghPA United States Electrical and Computer Engineering Carnegie Mellon University PittsburghPA United States Systems Realization Laboratory G.W. Woodruff School of Mechanical Engineering Georgia Institute of Technology AtlantaGA United States

ISBN: (纸本)3540288163

The goal of the Interactive Multi-Modal Robot Programming system is a comprehensive human-machine interface that allows non-experts to compose robot programs conveniently. Two key characteristics of this novel programming approach are that the user can provide feedback interactively at any time through an intuitive interface and that the system infers the user’s intent to support interaction. The framework takes a three-step approach to the problem: multi-modal recognition, intention interpretation, and prioritized task execution. The system is demonstrated by interactively controlling and programming a mobile vacuum cleaning robot. The demonstrations are used to exemplify the interactive programming and plan recognition aspects of the research. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Robot programming

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