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19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Venayagamoorthy, Ganesh K. Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering Clemson University ClemsonSC29634 United States

ISBN: (纸本)9783902823625

The state estimators used in real-time power system control centers now process bad data as a standard routine. W ith the introduction and deployment of phasor measurement units (PMUs), it is possible to model power systems, even with their time-varying nature, in real-t ime. However, PMUs remain vulnerable to providing bad data for several reasons. In this paper, a new intelligent framework, the cellular computational n etwo rk (CCN), is introduced for the decentralized predictive modeling and dynamic state estimation (DSE) of a power system with PMU data. Th e CCN-bas ed DSE is res ilient to interactions between multiple segments of bad data from one or more PMUs. © IFAC.

关键词： Phasor measurement units

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Smart meter deployment: US initiatives

Smart meter deployment: US initiatives

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2014 IEEE Power and Energy Society Innovative Smart Grid Technologies Conference, ISGT 2014

作者： Milam, Megan Kumar Venayagamoorthy, G. Real-Time Power and Intelligent Systems Laboratory Holcombe Department of Electrical and Computer Engineering Clemson University Clemson SC 29631 United States

ISBN: (纸本)9781479936526

The purpose of this study is to summarize the status of current smart meter deployment initiatives in the United States. This paper presents the findings from a survey that was sent to US utility companies listed on the Department of Energy's smart grid website under the Recovery Act Smart Grid program. The survey provides information such as: the duration of the project, regions covered, budget, number of meters deployed (for residential, commercial, and industrial use), benefits (financial- and performance-based for customer and power companies), and obstacles. Emphasis is given to the successes and setbacks the companies faced during implementation. This study is aimed at bringing awareness to the electricity community of the overall progress across the U.S. towards development and deployment of Advanced Metering Infrastructure (AMI) systems and their impacts. © 2014 IEEE.

关键词： Advanced metering infrastructures

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Minimal exposure path algorithms for directional sensor networks

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Wireless Communications and Mobile Computing 2014年第10期14卷 979-994页

作者： Liu, Liang Zhang, Xi Ma, Huadong Beijing Key Lab of Intelligent Telecommunications Software and Multimedia Beijing University of Posts and Telecommunications Beijing 100876 China Networking and Information Systems Laboratory Department of Electrical and Computer Engineering Texas AandM University College Station TX 77843 United States

As a fundamental problem of wireless sensor networks, the minimal exposure path problem corresponding to the sensor network's worst-case coverage plays an important role in the applications for detecting intrusions. However, most existing works about minimal exposure path are based on omnidirectional sensors. In contrast, this paper studies the minimal exposure path problem for two different types of directional sensing models: the binary sector model and directional sensitivity model. For the binary sector model, we construct a special Voronoi diagram, called sector centroids-based Voronoi diagram, to transform the minimal exposure path problem from a continuous geometric problem into a discrete geometric problem. By using the sector centroids-based Voronoi diagram, we develop an approximate algorithm to find the minimal exposure path in the sensors deployment field. For the directional sensitive model, we formulate the minimal exposure path problem by using two sensing intensity functions: all-sensor intensity function and maximum-sensor intensity function and then generate two weighted grids to convert the minimal exposure path problem into two discrete geometric problems. On the basis of the aforementioned weighted grids, we also develop two approximation algorithms to find the minimal exposure path for the directional sensitive model. We conduct extensive experiment simulations to validate and evaluate our proposed models and algorithms. Copyright © 2012 John Wiley & Sons, Ltd. As a fundamental problem of wireless sensor networks, the minimal exposure path problem corresponding to the sensor network's worst-case coverage plays an important role in the applications for detecting intrusions. This paper studies the minimal exposure path problem for two different types of directional sensing models: the binary sector model and directional sensitivity *** construct a special Voronoi diagram and two weighted grids to transform the minimal exposure path problem f

关键词： Wireless sensor networks

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Control of a Quadruped Robot with Bionic Springy Legs in Trotting Gait

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Journal of Bionic engineering 2014年第2期11卷 188-198页

作者： Mantian Li Zhenyu Jiang Pengfei Wang Lining Sun Shuzhi Sam Ge State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China Institute of Intelligent Systems and Information Technology University of Electronic Seience and Technology of China Chengdu 610000 P.R. China Department of Electrical and Computer Engineering the National University of Singapore Singapore 117576 Singapore

Legged robots have better performance on discontinuous terrain than that of wheeled robots. However, the dynamic trotting and balance control of a quadruped robot is still a challenging problem, especially when the robot has multi-joint legs. This paper presents a three-dimensional model of a quadruped robot which has 6 Degrees of Freedom （DOF） on torso and 5 DOF on each leg. On the basis of the Spring-Loaded Inverted Pendulum （SLIP） model, body control algorithm is discussed in the first place to figure out how legs work in 3D trotting. Then, motivated by the principle of joint function separation and introducing certain biological characteristics, two joint coordination approaches are developed to produce the trot and provide balance. The robot reaches the highest speed of 2.0 m.s-1, and keeps balance under 250 Kg.m.s-1 lateral disturbance in the simulations. The effectiveness of these approaches is also verified on a prototype robot which runs to 0.83 m.s-1 on the treadmill, The simulations and experiments show that legged robots have good biological properties, such as the ground reaction force, and spring-like leg behavior.

关键词： legged robots locomotion control quadruped robot trotting gait

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Publisher Correction: Brain charts for the human lifespan

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Nature 2022年第7931期610卷 E6页

作者： R A I Bethlehem J Seidlitz S R White J W Vogel K M Anderson C Adamson S Adler G S Alexopoulos E Anagnostou A Areces-Gonzalez D E Astle B Auyeung M Ayub J Bae G Ball S Baron-Cohen R Beare S A Bedford V Benegal F Beyer J Blangero M Blesa Cábez J P Boardman M Borzage J F Bosch-Bayard N Bourke V D Calhoun M M Chakravarty C Chen C Chertavian G Chetelat Y S Chong J H Cole A Corvin M Costantino E Courchesne F Crivello V L Cropley J Crosbie N Crossley M Delarue R Delorme S Desrivieres G A Devenyi M A Di Biase R Dolan K A Donald G Donohoe K Dunlop A D Edwards J T Elison C T Ellis J A Elman L Eyler D A Fair E Feczko P C Fletcher P Fonagy C E Franz L Galan-Garcia A Gholipour J Giedd J H Gilmore D C Glahn I M Goodyer P E Grant N A Groenewold F M Gunning R E Gur R C Gur C F Hammill O Hansson T Hedden A Heinz R N Henson K Heuer J Hoare B Holla A J Holmes R Holt H Huang K Im J Ipser C R Jack A P Jackowski T Jia K A Johnson P B Jones D T Jones R S Kahn H Karlsson L Karlsson R Kawashima E A Kelley S Kern K W Kim M G Kitzbichler W S Kremen F Lalonde B Landeau S Lee J Lerch J D Lewis J Li W Liao C Liston M V Lombardo J Lv C Lynch T T Mallard M Marcelis R D Markello S R Mathias B Mazoyer P McGuire M J Meaney A Mechelli N Medic B Misic S E Morgan D Mothersill J Nigg M Q W Ong C Ortinau R Ossenkoppele M Ouyang L Palaniyappan L Paly P M Pan C Pantelis M M Park T Paus Z Pausova D Paz-Linares A Pichet Binette K Pierce X Qian J Qiu A Qiu A Raznahan T Rittman A Rodrigue C K Rollins R Romero-Garcia L Ronan M D Rosenberg D H Rowitch G A Salum T D Satterthwaite H L Schaare R J Schachar A P Schultz G Schumann M Schöll D Sharp R T Shinohara I Skoog C D Smyser R A Sperling D J Stein A Stolicyn J Suckling G Sullivan Y Taki B Thyreau R Toro N Traut K A Tsvetanov N B Turk-Browne J J Tuulari C Tzourio É Vachon-Presseau M J Valdes-Sosa P A Valdes-Sosa S L Valk T van Amelsvoort S N Vandekar L Vasung L W Victoria S Villeneuve A Villringer P E Vértes K Wagstyl Y S Wang S K Warfield V Warrier E Westman M L Westwater H C Whalley A V Witte N Yang B Yeo H Y Autism Research Centre Department of Psychiatry University of Cambridge Cambridge UK. rb643@medschl.cam.ac.uk. Brain Mapping Unit Department of Psychiatry University of Cambridge Cambridge UK. rb643@medschl.cam.ac.uk. Department of Psychiatry University of Pennsylvania Philadelphia PA USA. jakob.seidlitz@pennmedicine.upenn.edu. Department of Child and Adolescent Psychiatry and Behavioral Science The Children's Hospital of Philadelphia Philadelphia PA USA. jakob.seidlitz@pennmedicine.upenn.edu. Lifespan Brain Institute The Children's Hospital of Philadelphia and Penn Medicine Philadelphia PA USA. jakob.seidlitz@pennmedicine.upenn.edu. Department of Psychiatry University of Cambridge Cambridge UK. MRC Biostatistics Unit University of Cambridge Cambridge UK. Department of Psychiatry University of Pennsylvania Philadelphia PA USA. Lifespan Informatics & Neuroimaging Center University of Pennsylvania Philadelphia PA USA. Department of Psychology Yale University New Haven CT USA. Developmental Imaging Murdoch Children's Research Institute Melbourne Victoria Australia. Department of Medicine Monash University Melbourne Victoria Australia. UCL Great Ormond Street Institute for Child Health London UK. Weill Cornell Institute of Geriatric Psychiatry Department of Psychiatry Weill Cornell Medicine New York USA. Department of Pediatrics University of Toronto Toronto Canada. Holland Bloorview Kids Rehabilitation Hospital Toronto Canada. The Clinical Hospital of Chengdu Brain Science Institute MOE Key Lab for NeuroInformation University of Electronic Science and Technology of China Chengdu China. University of Pinar del Río "Hermanos Saiz Montes de Oca" Pinar del Río Cuba. MRC Cognition and Brain Sciences Unit University of Cambridge Cambridge UK. Autism Research Centre Department of Psychiatry University of Cambridge Cambridge UK. Department of Psychology School of Philosophy Psychology and Language Sciences University of Edinburgh Edinburgh UK. Queen's

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Short-term temperature prediction in buildings using advanced data analysis techniques

Engineering Intelligent Systems

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engineering intelligent systems 2015年第4期23卷 209-216页

作者： Carrasco, Juan J. Millán-Giraldo, Mónica Caravaca, Juan Díaz, Ignacio Sanchis, Javier Soria-Olivas, Emilio Intelligent Data Analysis Laboratory E.T.S.E University of Valencia Avda Universitat S/N Burjassot Valencia46100 Spain Electrical Engineering and Computer Systems Department University of Oviedo University Campus of Viesques Gijón Asturias33204 Spain Instituto Universitario de Automática e Informática Industrial Universitat Politécnica de Valencia Camino de Vera S/N Valencia46022 Spain

Reduction in energy consumption is of paramount importance due to the influence that it has on the economic, politics and on the use of natural resources. Within this field, energy efficiency in buildings sector constitutes one of the main concerns due to the fact that approximately 40% of total world energy consumption corresponds to this sector. Predicting the indoor temperature in advance can help to act more efficiently on Heating, Ventilation fans and Air Conditioning (HVAC) systems, and thus to reduce the consumption. This work tackles the application of machine learning methods to forecast indoor temperature in an office building, using several prediction horizons. The obtained results showed the validity of the used approximation. ©2015 CRL Publishing Ltd.

关键词： Energy efficiency

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Computational Approaches for Bad Data Handling in Power System Synchrophasor Networks

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IFAC Proceedings Volumes 2014年第3期47卷 11269-11274页

作者： Ganesh K. Venayagamoorthy Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering Clemson University Clemson SC 29634 USA Tel: +1 864-6565936

The state estimators used in real-time power system control centers now process bad data as a standard routine. With the introduction and deployment of phasor measurement units (PMUs), it is possible to model power systems, even with their time-varying nature, in real-time. However, PMUs remain vulnerable to providing bad data for several reasons. In this paper, a new intelligent framework, the cellular computational netwo rk (CCN), is introduced for the decentralized predictive modeling and dynamic state estimation (DSE) of a power system with PMU data. The CCN-based DSE is resilient to interactions between multiple segments of bad data from one or more PMUs.

关键词： Bad Data Phasor Measurement Units Power System Synchrophasor Network

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Flexible triangular formation keeping of marine robotic vehicles using range measurements 19

Flexible triangular formation keeping of marine robotic vehi...

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19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Rego, Francisco Soares, Jorge M. Pascoal, António Aguiar, A. Pedro Jones, Colin Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

ISBN: (纸本)9783902823625

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation. © IFAC.

关键词： Vehicle performance

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Distributed gabriel graph construction and meta-information gathering 20

Distributed gabriel graph construction and meta-information ...

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20th IMEKO TC4 Symposium on Measurements of electrical Quantities: Research on electrical and Electronic Measurement for the Economic Upturn, Together with 18th TC4 International Workshop on ADC and DCA Modeling and Testing, IWADC 2014

作者： Oliva, Gabriele Setola, Roberto Polycarpou, Marios Complex Systems and Security Laboratory University Campus Bio-Medico Via A. del Portillo 21 Rome00128 Italy Dept. of Electrical and Computer Engineering KIOS Research Center for Intelligent Systems and Networks University of Cyprus 75 Kallipoleios P.O. Box 20537 NicosiaCY-1678 Cyprus

ISBN: (纸本)9789299007327

In this paper we provide a distributed way to transform the network topology underlying a set of agents embedded in a bi-dimensional space into a planar graph, and specifically into a Gabriel graph. Moreover, a distributed algorithm based on synchronized consensus methodologies is provided in order to gather some useful pieces of meta-information (number of faces, average size of the faces, size of the boundary, etc.) and to let each node in the Gabriel graph identify its "role" (i.e., node that links two subgraphs, node on a branch ending with a leaf, node belonging to a face, etc.). The insights obtained by means of the proposed approach may contribute to develop better geographic routing techniques as well as to improve the local decision capability of the agents in distributed environments.

关键词： Graphic methods

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Acquiring brain signals of imagining humanoid robot walking behavior via cerebot

Advances in Intelligent Systems and Computing

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Advances in intelligent systems and Computing 2014年 215卷 617-627页

作者： Li, Wei Li, Yunyi Chen, Genshe Meng, Qinghao Zeng, Ming Sun, Fuchun Tianjin University Tianjin China Department of Computer and Electrical Engineering and Computer Science California State University Bakersfield 9001 Stockdale Hwy Bakersfield CA 93311-1022 United States Department of Psychology and Neuroscience Duke University 417 Chapel Drive Durham NC 27708-0086 United States I-Fusion Technologies Inc Germantown MD 20874 United States State Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing China

Control of humanoid robot behavior with the mind begins a new era of robotics research. One of the critical issues in this research is how to acquire the brain signals with high quality which are correlated to humanoid robot behavior. In order to improve subjects' concentration on their mental activities during tests, we develop a stimuli module in the Cerebot system, consisting of a Cerebus neural data acquisition system and a Kumotek robot with 20 degrees of freedom or a NAO robot with 25 degrees of freedom. We present the experimental procedures for acquiring brain signals of imagining humanoid robot walking behavior by using movies of robot walking or real robot walking activities. We record two groups of brain signals correlated to mental activities of six robot walking behavior. Finally, we present a demonstration of controlling the humanoid robot walking behavior using the phase coding mechanisms of the Delta rhythms. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Anthropomorphic robots

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