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A Moving Object Tracked by A Mobile Robot with Real-Time Obstacles Avoidance Capacity

A Moving Object Tracked by A Mobile Robot with Real-Time Obs...

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International Conference on Pattern Recognition

作者： Chung-Hao Chen Chang Cheng D. Page A. Koschan M. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

This paper describes a robotic application that tracks a moving object by utilizing a mobile robot with multiple sensors. The robotic platform uses a visual camera to sense the movement of the desired object and a range sensor to help the robot detect and then avoid obstacles in real time while continuing to track and follow the desired object. In terms of real-time obstacle avoidance capacity, this paper also presents a modified potential field algorithm called dynamic goal potential field algorithm (DGPF) for this robotic application specifically. Experimental results show that the robotic and intelligent system can fulfill the requirements of tracking an object and avoiding obstacles simultaneously when the object is moving

关键词： Mobile robots Robot sensing systems intelligent robots Sensor phenomena and characterization Robot vision systems Cameras Object detection Tracking Heuristic algorithms intelligent systems

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Genetic Approach for Neural Scheduling of Multiobjective Fuzzy PI Controllers

Genetic Approach for Neural Scheduling of Multiobjective Fuz...

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International Workshop on Genetic and Evolving systems, GEFS

作者： Ginalber Serra Celso Bottura Control and Intelligent Systems Laboratory School of Electrical and Computer Engineering State University of Campinas Sao Paulo Brazil

This paper presents an intelligent gain scheduling adaptive control approach for nonlinear plants. A fuzzy PI discrete controller is optimally designed by using a multiobjective genetic algorithm for simultaneously satisfying the following specifications: overshoot and settling time minimizations and output response smoothing. A neural gain scheduler is designed, by the backpropagation algorithm, to tune the optimal parameters of the fuzzy PI controller at some operating points. Simulation results are shown for adaptive speed control of a DC servomotor used as actuator of robotic manipulators

关键词： Fuzzy control Adaptive control Optimal control Algorithm design and analysis Adaptive scheduling Fuzzy sets Genetic algorithms Minimization methods Smoothing methods Backpropagation algorithms

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

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

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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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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 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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