2015 IEEE International Conference on Industrial Technology (ICIT)最新文献_第4页

Towards an orientation enhanced astar algorithm for robotic navigation 面向机器人导航的定向增强星算法研究

2015 IEEE International Conference on Industrial Technology (ICIT) Pub Date : 2015-03-17 DOI: 10.1109/ICIT.2015.7125590

E. Fernandes, Pedro Costa, José Lima, G. Veiga

{"title":"Towards an orientation enhanced astar algorithm for robotic navigation","authors":"E. Fernandes, Pedro Costa, José Lima, G. Veiga","doi":"10.1109/ICIT.2015.7125590","DOIUrl":"https://doi.org/10.1109/ICIT.2015.7125590","url":null,"abstract":"This paper presents an algorithm capable of generating smooth, feasible paths for an any-shape non-holonomic mobile robot, taking into account orientation restrictions, with the aim of navigating close to obstacles. Our contribution consists in an extension of the A* algorithm in a cell decomposition, where besides its position, the orientation of the platform is also considered when searching for a path. This is achieved by constructing 16 layers of orientations and only visiting neighbor layers when searching for the lowest cost. To simplify collision checking, the robot's footprint is used to inflate obstacles, yet, to allow the robot to find paths close to obstacles, the actual footprint of the robot must used. By discretizing the orientation space into layers and computing an oriented footprint for each layer, the actual footprint of the robot is used, increasing the configuration space without becoming computationally expensive. The path planning algorithm was developed under the EU-funded project CARLoS1 and was implemented in a stud welding robot simulated within a naval industry environment, validating our approach.","PeriodicalId":156295,"journal":{"name":"2015 IEEE International Conference on Industrial Technology (ICIT)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121987998","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 42

Improvement of shunt active power filter compensation through switching output reactances 通过开关输出电抗改进并联有源电力滤波器补偿

2015 IEEE International Conference on Industrial Technology (ICIT) Pub Date : 2015-03-17 DOI: 10.1109/ICIT.2015.7125497

J. R. Vazquez, Aranzazu D. Martin, Nicolas M. Garrido

引用次数: 1

Dynamic model of small hydro plant using archimedes screw 采用阿基米德螺杆的小型水力发电厂动态模型

2015 IEEE International Conference on Industrial Technology (ICIT) Pub Date : 2015-03-17 DOI: 10.1109/ICIT.2015.7125226

J. Rohmer, G. Sturtzer, D. Knittel, D. Flieller, J. Renaud

引用次数: 6

Comparative study of short-pitched and fully-pitched SRMs supplied by sine wave currents 正弦波电流供电的短间距和全间距srm的比较研究

2015 IEEE International Conference on Industrial Technology (ICIT) Pub Date : 2015-03-17 DOI: 10.1109/ICIT.2015.7125174

Xi-yun Ma, G. Li, G. Jewell, Z. Zhu

{"title":"Comparative study of short-pitched and fully-pitched SRMs supplied by sine wave currents","authors":"Xi-yun Ma, G. Li, G. Jewell, Z. Zhu","doi":"10.1109/ICIT.2015.7125174","DOIUrl":"https://doi.org/10.1109/ICIT.2015.7125174","url":null,"abstract":"This paper comprehensively investigates 3-phase, 12-slot, and 8-pole switched reluctance machines (SRMs) with different winding configurations, e.g. double/single layer, short/fully pitched. Comparisons in terms of self- and mutual inductances, and on-load torques have been carried out using 2-D finite element method (FEM) for conventional and mutually coupled, double layer winding switched reluctance motors (SRMs) as well as fully-pitched and single layer winding SRMs. The numerical results have shown that the fully pitched switched reluctance machine (FPSRM) has the highest inductance variation against rotor position and hence produces the highest on-load torque if the machine is not heavily saturated. However, its significant longer end-winding will leads to higher copper loss. This can eventually jeopardize its torque vs copper loss performance. To boost torque production while maintaining short end-winding and hence low level of copper loss, two short-pitched, single layer winding SRMs with similar winding configurations to those of conventional and mutual coupled, double layer winding SRMs can be employed. It is found that for the same copper loss and without heavy magnetic saturation, both single and double layer mutually coupled SRMs can produce higher on-load torque compared to their conventional counterparts. Moreover, single layer mutually coupled SRM can achieve comparable torque against copper loss performance to the FPSRM but with much shorter end-winding and also smaller volume.","PeriodicalId":156295,"journal":{"name":"2015 IEEE International Conference on Industrial Technology (ICIT)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128288023","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Winding switching strategy for electric wheel drives in agricultural machinery 农业机械电动轮驱动的绕组切换策略

2015 IEEE International Conference on Industrial Technology (ICIT) Pub Date : 2015-03-17 DOI: 10.1109/ICIT.2015.7125204

M. Geissler, Pavel Osinenko, T. Herlitzius

引用次数: 0

Verification of Twist Drive system and its application to haptic robot hand 扭转驱动系统的验证及其在触觉机械手上的应用

2015 IEEE International Conference on Industrial Technology (ICIT) Pub Date : 2015-03-17 DOI: 10.1109/ICIT.2015.7125157

Seiji Uozumi, S. Shimizu, T. Matsunaga, T. Nakano, K. Ohnishi

引用次数: 0

An imperceptible and robust audio steganography employing bit modification 采用位修改的一种难以察觉的、鲁棒的音频隐写术

2015 IEEE International Conference on Industrial Technology (ICIT) Pub Date : 2015-03-17 DOI: 10.1109/ICIT.2015.7125331

K. Gopalan, Jiajun Fu

引用次数: 8

Toward an adaptive protection system for the distribution grid by using the IEC 61850 基于IEC 61850标准的配电网自适应保护系统的研究

2015 IEEE International Conference on Industrial Technology (ICIT) Pub Date : 2015-03-17 DOI: 10.1109/ICIT.2015.7125448

D. D. Giustina, A. Dede, A. A. D. Sotomayor, Francisco Ramos

引用次数: 16

Comparison of a ferrite based single, three-phase spoke and surface permanent magnet BLDC motor for a PV submersible water pump 光伏潜水泵用铁氧体单、三相轮辐和表面永磁无刷直流电机的比较

2015 IEEE International Conference on Industrial Technology (ICIT) Pub Date : 2015-03-17 DOI: 10.1109/ICIT.2015.7125175

Sashidhar Sashidhar, B. G. Fernandes

引用次数: 10

DAC to mitigate the effect of periodic disturbances on drive train using collective pitch for variable speed wind turbine 变速风力发电机组集体节距驱动系统周期性扰动的DAC缓解

2015 IEEE International Conference on Industrial Technology (ICIT) Pub Date : 2015-03-17 DOI: 10.1109/ICIT.2015.7125479

R. M. Imran, D. Hussain, M. Soltani

{"title":"DAC to mitigate the effect of periodic disturbances on drive train using collective pitch for variable speed wind turbine","authors":"R. M. Imran, D. Hussain, M. Soltani","doi":"10.1109/ICIT.2015.7125479","DOIUrl":"https://doi.org/10.1109/ICIT.2015.7125479","url":null,"abstract":"DAC is a linear control technique used to mitigate the effect of disturbance on the plant. It is a superposition of full state feedback and disturbance feedback. This paper presents a control technique based on Disturbance Accommodation Control (DAC) to reduce fatigue on drive train generated by wind which is combination of step and periodic disturbances (generated by wind shear and tower shadow) of the turbine for above rated wind speed (Region III). We have presented a wind modeling for wind shear and tower shadow effect for the wind turbine control simulation and also developed a control scheme to mitigate the effect of 3p flicker on drive train. 5MW wind turbine of the National Renewable Laboratories (NREL) is used as research object and results are simulated in MATLAB/Simulink. We designed the controller based on linearized model of the wind turbine generated for above rated wind speed and then tested its performance on the nonlinear model of wind turbine. We have shown a comparison of the results for proportional-integral(PI) and proposed DAC controller tested on nonlinear model of wind turbine. Result shows that our proposed controller shows better mitigation of flicker generated due to 3p effect by using collective pitch control as compared to PI with tower and actuator dynamics.","PeriodicalId":156295,"journal":{"name":"2015 IEEE International Conference on Industrial Technology (ICIT)","volume":"8 8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130488242","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 11