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Position-and-Torque-Sensorless Admittance Control with State Estimation Considering dq-axis Cross-Coupling Factors

IFAC-PapersOnLine 2023年第2期56卷 6075-6080页

作者： Keita Shimamoto Toshiyuki Murakami Tsukuba Research Lab. YASKAWA Electric Corp. Ibaraki Japan and Graduate School of Science and Technology Keio University Kanagawa Japan Department of System Design Engineering Keio University Kanagawa Japan

This paper presents a position estimation compensation method considering dq-axis cross-coupling factors of Interior Permanent Magnet Synchronous Motors (IPMSMs) inductance for position-and-torque-sensorless admittance control. The cross-coupling factors are from dq-axis mutual inductance and deteriorate control and position estimation performance in control methods without the model. Since dq-axis cross-coupling factors of inductance vary with the rotor position and the current, measurement and estimation of the values are difficult. The proposed method estimates the cross-coupling factors and position estimation errors using dq-axis current variation from the injected voltage. In addition, the proposed method compensates the estimated position based on a voltage equation, including the dq-axis cross-coupling factors, by adding the estimated error. As a result, the vibration of current, velocity, and estimated reaction torque were reduced, and the performance of a position-and-torque-sensorless admittance control system was improved. The experimental results show the proposed method's validity and response by the sensorless admittance control.

关键词： Motion estimation Inductances Parameter estimation Motor Control Force control Position control

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Distributed MQTT Brokers Infrastructure with Network Transparent Hardware Broker

Distributed MQTT Brokers Infrastructure with Network Transpa...

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International Symposium on Computing and Networking (CANDAR)

作者： Tokimasa Toyohara Hiroaki Nishi Graduate School of Science and Technology Keio University 3-14-1 Hiyoshi Kohoku Yokohama Kanagawa Japan Department of System Design Faculty of Science and Technology Keio University 3-14-1 Hiyoshi Kohoku Yokohama Kanagawa Japan

In recent years, the number of IoT devices has been rapidly increasing. Therefore, MQ Telemetry Transport (MQTT) has attracted attention as a lightweight protocol for IoT devices. MQTT employs a publish/subscribe model of communication via a broker, and since the performance of the MQTT broker directly affects the quality of service, various studies have been conducted to improve its performance. Among them, the hardware implementation of MQTT broker has higher performance than software implementations in terms of publish throughput and processing delay. However, there are some problems such as inflexibility and resource limitations. Therefore, we propose a distributed MQTT brokers infrastructure using the hardware broker. In this architecture, the software broker on the cloud and the hardware broker at the edge region work in cooperation to achieve low latency processing at the edge region and software flexibility. The hardware broker operates network transparently, so that end devices communicate with the software broker in the cloud and do not need to be aware of the presence of the hardware broker at the edge region. This enables resource and processing load distribution without affecting end devices. We implemented the network transparent hardware broker in a field-programmable gate array (FPGA) and evaluated it.

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Experimental study on multi-channel jets in plate assembly under blockage condition

Experimental study on multi-channel jets in plate assembly u...

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2020 International Conference on Nuclear Engineering, ICONE 2020, collocated with the ASME 2020 Power Conference

作者： Huijian, Huang Peng, Wang Dongyang, Li Tan, Sichao Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu610041 China Fundamental Science on Nuclear Safety and Simulation Technology Laboratory Harbin Engineering University Harbin Heilongjiang China

ISBN: (纸本)9780791883785

In the nuclear field, the reactor using plate fuel assembly forms multiple jets at exit. So, it's meaningful to study multiple jets to learn the behavior of the coolant when it leaves the core. This paper uses PIV technology to study the flow characteristics of 9 jets at low Reynolds number. Firstly, the velocity field reveals that the pressure outside the jet is greater than the inside of the jet, which causes the jet to deflect and converge inward at z/w=0-8. Then, the velocity field with different Re number is analyzed in the center plane, and find that the flow distribution is similar. Then, a detailed analysis is performed on the jet under specific conditions, and the merge point is discussed in the paper. At the same time, the first-order velocity tensor are also calculated in this paper. In addition, this article also analyzes the jet flow field after the central narrow channel was blocked. In this experiment, a plug was used to block the No. 5 jet by 1/3. And the flow redistribution is discussed in this case. The methods of flow calculation using PIV technology is established and compared with the real number of flowmeters, it's found that the calculation method is rather accurate. On the other hand, the experiment find that the distribution of flow in each channel is not uniform, and the blocking condition make an increase in the flow of edge channels, which leads to the decreasing of flow in the blocked adjacent channel. © 2020 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Velocity

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Anomaly Detection for Stochastic Networked Cyber-Physical systems: A Statistical Approach

Anomaly Detection for Stochastic Networked Cyber-Physical Sy...

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International Conference on Control and Automation (ICCA)

作者： Yamin Yan Minyue Fu Maria M. Seron School of Electrical and Electronic Engineering Nanyang Technological University Singapore Shenzhen Key Laboratory of Control Theory and Intelligent Systems and Centre for Control Science and Technology School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China School of Engineering The University of Newcastle Callaghan NSW Australia

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

In this paper, we investigate the anomaly detection problem within stochastic networked cyber-physical systems. We introduce an anomaly detection scheme centered on estimator design employing a statistical approach. Specifically, we extend the statistical method recently developed for single systems to networked control scenarios. Additionally, we analyse the detection of several representative anomalies through this statistical approach. We then apply our anomaly detection strategy to a power network system exposed to such anomalies. Our findings demonstrate that the proposed design effectively detects these anomalies, which simpler methods relying solely on residual assessment with a threshold fail to identify.

关键词： Analytical models Automation Statistical analysis Stochastic processes Cyber-physical systems Control systems Anomaly detection

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GeoReF: Geometric Alignment Across Shape Variation for Category-level Object Pose Refinement

GeoReF: Geometric Alignment Across Shape Variation for Categ...

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Linfang Zheng Tze Ho Elden Tse Chen Wang Yinghan Sun Hua Chen Ales Leonardis Wei Zhang Hyung Jin Chang Shenzhen Key Laboratory of Control Theory and Intelligent Systems School of System Design and Intelligent Manufacturing Southern University of Science and Technology China School of Computer Science. University of Birmigsham UK Department of Computer Science the University of Hong Kong China

ISBN: (数字)9798350353006

ISBN: (纸本)9798350353013

Object pose refinement is essential for robust object pose estimation. Previous work has made significant progress to-wards instance-level object pose refinement. Yet, category-level pose refinement is a more challenging problem due to large shape variations within a category and the discrep-ancies between the target object and the shape prior. To address these challenges, we introduce a novel architecture for category-level object pose refinement. Our approach in-tegrates an HS-Iayer and learnable affine transformations, which aims to enhance the extraction and alignment of Geometric information. Additionally, we introduce a cross-cloud transformation mechanism that efficiently merges di-verse data sources. Finally, we push the limits of our model by incorporating the shape prior information for translation and size error prediction. We conducted extensive ex-periments to demonstrate the effectiveness of the proposed framework. Through extensive quantitative experiments, we demonstrate significant improvement over the baseline method by a large margin across all metrics. 1 1 Project page: https://***/***

关键词： Point cloud compression Computer vision Shape Soft sensors Pose estimation Computer architecture Predictive models

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Analysis of a Low-Power Full Adder and Half Adder Using a New Adiabatic Logic 26

Analysis of a Low-Power Full Adder and Half Adder Using a Ne...

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26th International Conference on Computer and Information technology, ICCIT 2023

作者： Ganguly, Chamak Meem, Mazeda Zafor Kifayat Kabir, S.M. Biswas, Satyendra N. Primeasia University Dept. of EEE Dhaka Bangladesh Ahsanullah University of Science and Technology Dept. of EEE Dhaka Bangladesh ULKASEMI Pvt. Limited Circuit and System Design Dhaka Bangladesh Bloomsburg University Dept.of EEE AUST Dhaka Bangladesh and Dept. of BiCEP PA17815 United States

ISBN: (纸本)9798350359015

In today's fast-paced technological era, electronic devices must be both speedy and energy-efficient to keep up with rapid advancements. Developing energy-efficient digital devices for real-time applications is critical in VLSI research. The adiabatic process of logic circuits is used to develop an adder with high performance and ultra-low power dissipation. Techniques like multi-threshold devices (MTCMOS), variable multi-threshold devices (VTCMOS), and dynamic threshold devices (DTCMOS) have been explored with the scaling of devices. The proposed circuit contains a new type of adiabatic circuit that works excellently for low-power dissipation. A comparison is made with the conventional CMOS adders, such as half and full adders and newly developed adiabatic logic circuits. All the experimental simulations have been carried out using LTSpice software for 16nm and 22nm LP PTM models by changing frequencies from 0MHz to 25MHz, taking rise and fall time as 1n & 2n seconds respectively. We have also varied the load capacitance from 0f to 10f. The outcomes obtained from the experiment indicate the effectiveness and capability of the newly proposed circuit, which is 40% less power consumption and 22% less energy consumption for both 16nm and 22nm, respectively, using 0f as load capacitance. © 2023 IEEE.

关键词： Adiabatic CMOS Full adder Half adder Low power circuit power dissipation VLSI

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Interfacial area transport model for bubbly flow system in vertical rod bundle with spacer grids

Interfacial area transport model for bubbly flow system in v...

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2020 International Conference on Nuclear Engineering, ICONE 2020, collocated with the ASME 2020 Power Conference

作者： Liu, Hang Lai, Jianyong Li, Yi Zhang, Yulong Liu, Minghao Pan, Liangming Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu610041 China Department of Nuclear Engineering Chongqing University Chongqing400044 China

ISBN: (纸本)9780791883785

In relation to the modeling of the one-dimensional interfacial area transport equation for an adiabatic bubbly flow in a vertical rod bundle, some existing models of sink and source terms were reviewed and evaluated. Based on the reviewed interaction mechanisms of bubbles and turbulent eddies, a new interfacial area transport model has been proposed. Two important impacts on bubble interaction have been taken into account in the new model: The effects of spacer grids with mixing vanes and the impacts of geometry structure. The spacer grids breakup large bubbles into small bubbles resulting in enhanced bubble random collision at the downstream of the spacer grids. Void transport is the main contribution between spacer grids. The new interfacial area transport model has been evaluated against the obtained experimental data in 17 bubbly flow conditions. The results indicate that the new model can predict the interfacial area concentration with the relative error of 19.9%. It is recognized that the proposed model is promising for predicting the interfacial area concentration for a bubbly flow in a rod bundle. © 2020 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Nuclear engineering

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Assessing Affective Engagement with Narratives of Invisible Disability

Assessing Affective Engagement with Narratives of Invisible ...

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International Conference on Affective Computing and Intelligent Interaction and Workshops, ACII

作者： Daniel T. Kessler David Y.J. Kim Grace S. Ahn Neska Elhaouij Rosalind Picard MIT Center for Constructive Communication Massachusetts Institute of Technology Cambridge USA Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge USA MIT System Design and Management Massachusetts Institute of Technology Cambridge USA Affective Computing Group Massachusetts Institute of Technology Cambridge USA

Narratives about invisible disabilities are poorly represented in public discourse and often go undisclosed [1], leading to false assumptions, discrimination, and stigma [2] against those who experience these conditions. To address these issues, recent studies have suggested that disclosure of first-person narratives of invisible disabilities should be increased [3]. To understand the mechanisms affecting recipients of such narratives, the present study evaluates how social media users (N = 124) engage affectively with this content in a digitally mediated narrative-form intervention designed to reduce harmful assumptions against persons who experience invisible disabilities. Results of this study indicate that such an intervention may prove effective at reducing harmful assumptions on the basis of visual cues, and in line with past research, finds that affect may play an important role in assumption-making processes [4]. Findings from this study may be used to inform novel digital interventions capable of counteracting harmful assumptions that drive prejudicial behaviors against a wide range of populations and communities.

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Enhanced GAN-Assisted Intrusion Detection Model for Addressing Data Imbalance Issues

Enhanced GAN-Assisted Intrusion Detection Model for Addressi...

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Distributed Computing and Electrical Circuits and Electronics (ICDCECE), IEEE International Conference on

作者： Raghu Dhumpati Nirmala Reddy Sankati Ramakrishna Posimsetti Naveen Kumar Sheo Kumar Homera Durani Department of Computer Science and Engineering Bahrain Polytechnic Bahrain Department of Computer Science and Engineering IES College of Technology Bhopal India Department of Computer Science and Engineering-Data Science KKR & KSR Institute of Technology and Sciences Guntur India VLSI System Design Department of Computer Science and Engineering CMR Engineering College Hyderabad India Department of CSE School of Engineering RK University Rajkot India

ISBN: (数字)9798331533663

ISBN: (纸本)9798331533670

With the introduction of IIoT systems, industry breakthroughs and linked smart objects revolutionize the world. The enemies are finding a lot of room to launch a number of devastating cyber assaults thanks to all this connection and dependability. However, implementing IDS systems may be tough due to the absence of dataset for training as well as testing. This makes it difficult to detect likely cyberattacks with the required accuracy. The method of detection might not be able to learn perfectly and detect cyberattacks significantly higher precision if there aren't enough records related to every threat category in the dataset. In addition, the detection of breaches procedure is becoming more complicated due to unbalanced datasets. In this light, our research suggests a more effective GAN-based IDS model for creating simulated data samples that can fool and evade security systems before directing the real-life network assault. To be more specific, it creates fictitious datasets and trains IDS on these in conjunction with the actual data in order to boost the system's efficiency. The specifics of the Improved Generative Adversarial Network-based Intrusion Detection system (IGAN-IDS) model that is suggested in this study are described in this section. With an accuracy of 99.6 percent, the suggested IGAN-IDS model surpasses all of its competitors, including BSA-IDS, GAN, MLP-GAN, Synthetic Minority Over-sampling Technique (SMOTE), and ADASYN. This proves that it outperforms all other approaches when it comes to classification.

关键词： Training Accuracy Intrusion detection Generative adversarial networks Rendering (computer graphics) Data models Security Computer crime Industrial Internet of Things Testing

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Multiple choices of reactor core nuclear design for ACP100's application in different scenarios

Multiple choices of reactor core nuclear design for ACP100's...

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2020 International Conference on Physics of reactors: Transition to a Scalable Nuclear Future, PHYSOR 2020

作者： Wang, Liangzi Ju, Haitao Li, Qing Qin, Dong Wang, Lianjie Yu, Yingrui Ning, Zhonghao Wang, Chenlin Guo, Rui Wang, Shuai Zhang, Bin Xiang, Hongzhi Lou, Lei Sun, Wei Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China NO. 328 Section 1 Changshun Ave Shuangliu District Sichuan Chengdu China

ISBN: (纸本)9781713827245

ACP100 NPP designed by CNNC (China National Nuclear Corporation) is a 125MWe, multi-purpose small modular reactor based on pressurized water reactor technology;it adopts the integrated reactor technology. Different application scenarios bring up different design requirements: some require high compactness, but others care more about a longer cycle length, and some may require a fully mature and conservative design;thus, multiple design choices need to be proposed. Also, the same and most important thing cared by all users is that, the design needs to be validated to satisfy the current nuclear safety standards, and lower cost would be always preferred. Core nuclear design is a key part of the whole NPP design. Basically, nuclear design target of ACP100 is to achieve a reasonable good balance during longer cycle length, larger discharge exposure for fuel assemblies, and maximally using the mature technologies, and of course, with sufficient reactivity control ability for safety assurance. Aiming at satisfying all these different needs maximally, a strategy of supplying multiple nuclear design choices is proposed for ACP100: choice 1. Boron-free plan, this is a compact design with no need for chemistry and volume system, no need for da ily boron adjustment and relative waste storage;choice 2. Boron and rod co-controlled plan, this is similar with large commercial PWRs, with a lower power peak factor and suitable for broad location sites. Both choices load 57 units of the same type fuel assemblies CF3S (with height reduced from CF3 fuel assemblies) per cycle, and both adopt partial reload and shuffle fuel management strategy to achieve larger discharge exposure. Gd is loaded in the fuel rods in both choices to help control reactivity. Choice 1 loads much more control rod clusters than choice 2, and of course, reactivity adjustment and compensation during operation is totally different between them. Using suitable and reliable software to simulate t he core, through lar

关键词： Boron

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