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Attitude Control for Quadcopters using Reinforcement Learning 使用强化学习的四轴飞行器姿态控制
2022 International Symposium on Electromobility (ISEM) Pub Date : 2022-10-17 DOI: 10.1109/ISEM55847.2022.9976737
Shun Nakasone, R. Galluzzi, Rogelio Bustamante-Bello
{"title":"Attitude Control for Quadcopters using Reinforcement Learning","authors":"Shun Nakasone, R. Galluzzi, Rogelio Bustamante-Bello","doi":"10.1109/ISEM55847.2022.9976737","DOIUrl":"https://doi.org/10.1109/ISEM55847.2022.9976737","url":null,"abstract":"In this paper, a novel control strategy based on Reinforcement Learning is presented to achieve better performance of attitude control for quadcopters. By using Proximal Policy Optimization, the agent is trained via a reward function and interaction with the environment. The control algorithm obtained from this training process is simulated and tested against proportional-integral-derivative control, being the most common attitude control algorithm used in drone races. The resulting control policies were comparable to the baseline counterpart and, in some cases, outperformed it in terms of noise rejection and robustness to external disturbances.","PeriodicalId":310452,"journal":{"name":"2022 International Symposium on Electromobility (ISEM)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114722037","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: 0
Series-Capacitor Boost Converter as Power Conditioner for Fuel Cell Electric Vehicles 用于燃料电池汽车的串联电容升压变换器
2022 International Symposium on Electromobility (ISEM) Pub Date : 2022-10-17 DOI: 10.1109/ISEM55847.2022.9976578
J. E. Valdez-Resendiz, J. Rosas-Caro, J. Mayo-Maldonado, D. Guillen-Aparicio, G. Escobar, E. Garza-Arias
{"title":"Series-Capacitor Boost Converter as Power Conditioner for Fuel Cell Electric Vehicles","authors":"J. E. Valdez-Resendiz, J. Rosas-Caro, J. Mayo-Maldonado, D. Guillen-Aparicio, G. Escobar, E. Garza-Arias","doi":"10.1109/ISEM55847.2022.9976578","DOIUrl":"https://doi.org/10.1109/ISEM55847.2022.9976578","url":null,"abstract":"This article deals with the development of a power electronics system for a fuel cell based electric vehicle. The main task of the power electronics converter is to regulate the output voltage of the fuel cell stack which typically has low and current dependent output voltage. The proposed power electronics system is based on a recently proposed series-capacitor boost converter. This converter has several advantages, such as reduced input current ripple, reduced average current through inductors and high voltage conversion ratio. The analysis of the converter, and the derivation of the dynamic model along with steady state equations are presented. An experimental prototype was also built to corroborate the claimed benefits of the power electronics converter. This work shows that the proposed converter is a compelling solution in applications where high gain converter ratio and low input current ripple is required.","PeriodicalId":310452,"journal":{"name":"2022 International Symposium on Electromobility (ISEM)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121864108","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: 0
Vanadium Redox Flow Battery: Design and Prototype 钒氧化还原液流电池:设计与原型
2022 International Symposium on Electromobility (ISEM) Pub Date : 2022-10-17 DOI: 10.1109/ISEM55847.2022.9976579
A. Santana, M. Pacheco, Isaac Ayala, Vanessa Chávez, Andres V. Pastrana, Jesús Leon, David Joanan, Israel Valdés
{"title":"Vanadium Redox Flow Battery: Design and Prototype","authors":"A. Santana, M. Pacheco, Isaac Ayala, Vanessa Chávez, Andres V. Pastrana, Jesús Leon, David Joanan, Israel Valdés","doi":"10.1109/ISEM55847.2022.9976579","DOIUrl":"https://doi.org/10.1109/ISEM55847.2022.9976579","url":null,"abstract":"Storage of energy has become an important aspect in today’s world, and it is a challenge to jump from small to large capacity batteries for providing larger amounts of energy. Vanadium Redox Flow Batteries (VRBs) have received attention due to their high energy efficiency and their long cycle life. They can be recharged by applying electrical current or simply by replacing the electrolytes, making them attractive for a wide variety of applications, such as electric vehicles and solar systems.In this study, a prototype of a VRB formed by one steel cell was designed by finite element analysis using open software. Its construction and assembly were mainly composed by one bipolar cell and two glass tanks storing the electrolyte. The cell is composed by serpentines machined in stainless steel plates using a serpentine with a half-moon configuration facilitate its manufacture and a better transfer of the electrolyte.","PeriodicalId":310452,"journal":{"name":"2022 International Symposium on Electromobility (ISEM)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122015339","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: 0
Potentials of Dual-speed Transmissions in Electric Powertrains depending on Passenger Vehicle Segment 基于乘用车细分市场的电动动力系统双速变速器的潜力
2022 International Symposium on Electromobility (ISEM) Pub Date : 2022-10-17 DOI: 10.1109/ISEM55847.2022.9976542
Gordon Witham, J. Hemsen, Daniel Swierc, L. Eckstein
{"title":"Potentials of Dual-speed Transmissions in Electric Powertrains depending on Passenger Vehicle Segment","authors":"Gordon Witham, J. Hemsen, Daniel Swierc, L. Eckstein","doi":"10.1109/ISEM55847.2022.9976542","DOIUrl":"https://doi.org/10.1109/ISEM55847.2022.9976542","url":null,"abstract":"This paper evaluates the potentials of dual-speed transmissions for battery-electric powertrains in different passenger vehicle segments. The evaluation takes into account the differing performance requirements as well as boundary conditions within these segments. Three design approaches, considering single and dual-speed transmission topologies as well as different power targets, are defined. For these powertrain concepts, the components electric machine, inverter and transmission are designed and simulated. Finally, the designed powertrains are holistically evaluated per segment on vehicle level and a comparison is conducted. We demonstrate that dual-speed transmissions can lower energy demand by up to 7.4 % compared to single-speed transmissions and that the effect increases with higher vehicle segment.","PeriodicalId":310452,"journal":{"name":"2022 International Symposium on Electromobility (ISEM)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124676034","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: 0
Synthesis of optimal controllers for model predictive control 模型预测控制最优控制器的综合
2022 International Symposium on Electromobility (ISEM) Pub Date : 2022-10-17 DOI: 10.1109/ISEM55847.2022.9976754
Wang Jianhong, R. Ramírez-Mendoza, Zhang Yunfeng
{"title":"Synthesis of optimal controllers for model predictive control","authors":"Wang Jianhong, R. Ramírez-Mendoza, Zhang Yunfeng","doi":"10.1109/ISEM55847.2022.9976754","DOIUrl":"https://doi.org/10.1109/ISEM55847.2022.9976754","url":null,"abstract":"This paper studies the synthesis analysis for robust quadratic programming, whose data are not known, but in the uncertainty set, such as ellipsoids. Synthesis analysis means both the combination with the theory and practice. Given one quadratic programming problem, whose data are not always known exactly, but in typically known in a domain, i,e, one uncertainty set, this robust quadratic programming problem becomes one conic quadratic programming through our own derivations. After applying semidefinite relaxation and linear matrix inequality on this robust quadratic programming, one necessary and sufficient condition of the existence of the optimal robust feasible is formulated as one linear matrix inequality. And one special affinely adjustable robust counterpart of quadratic programming is shown to solve other two decision variables. To complete the synthesis analysis for robust quadratic programming from the points of theory and practice, all our derived theoretical results are applied in state estimation with uncertainty set through using the idea of direct data driven.","PeriodicalId":310452,"journal":{"name":"2022 International Symposium on Electromobility (ISEM)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127189127","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: 1
Overview of Mexico´s transport sector: current situation, emissions trend and electromobility 墨西哥交通行业概述:现状、排放趋势和电动汽车
2022 International Symposium on Electromobility (ISEM) Pub Date : 2022-10-17 DOI: 10.1109/ISEM55847.2022.9976597
S. I. Vallarta-Serrano, E. Santoyo-Castelazo, R. Ramírez-Mendoza, Rogelio Bustamante-Bello
{"title":"Overview of Mexico´s transport sector: current situation, emissions trend and electromobility","authors":"S. I. Vallarta-Serrano, E. Santoyo-Castelazo, R. Ramírez-Mendoza, Rogelio Bustamante-Bello","doi":"10.1109/ISEM55847.2022.9976597","DOIUrl":"https://doi.org/10.1109/ISEM55847.2022.9976597","url":null,"abstract":"Due to the global interest in facing climate change, the world strives to control greenhouse gas emissions associated with anthropogenic activities, such as road transport. Mexico collaborates with the international agenda and establishes its national objectives and strategies, considering electromobility to mitigate emissions. However, the country faces implementation and compliance obstacles, such as the electricity produced to power electric vehicles generates indirect emissions. Therefore, the main contribution of this study is to provide a novel and robust overview of the Mexican road transport sector from a systemic and comprehensive perspective. This is with the objective to develop an updated business-as-usual emissions projection and compare it against the reduction targets, identifying challenges, strengths, and drivers that condition the performance of electromobility and the sustainable energy transition of the sector. The study creates a foundation for future studies of decarbonization scenarios strategies, including electromobility, to achieve an actual reduction without burden shifting.","PeriodicalId":310452,"journal":{"name":"2022 International Symposium on Electromobility (ISEM)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130969935","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: 0
Greenhouse gas emissions reduction from fuel switching in Heavy Duty Vehicles and its application in the international carbon market 重型汽车燃料转换的温室气体减排及其在国际碳市场上的应用
2022 International Symposium on Electromobility (ISEM) Pub Date : 2022-10-17 DOI: 10.1109/ISEM55847.2022.9976866
Oscar S. Serrano-Guevara, J. Huertas
{"title":"Greenhouse gas emissions reduction from fuel switching in Heavy Duty Vehicles and its application in the international carbon market","authors":"Oscar S. Serrano-Guevara, J. Huertas","doi":"10.1109/ISEM55847.2022.9976866","DOIUrl":"https://doi.org/10.1109/ISEM55847.2022.9976866","url":null,"abstract":"Heavy Duty Vehicles (HDVs) represent a quarter of CO2 emissions in the transport sector, due to their dependence on high-greenhouse gas emitting fossil fuels, such as diesel. This generates the emission of high levels of criteria pollutants as well as greenhouse gases (GHG), therefore it is important to seek and implement low-carbon technologies within the sector. Carbon offsetting projects focused on freight transport represent a great area of opportunity to decarbonize the sector. This work evaluates the fuel switch from diesel to compressed natural gas as a cost-effective solution to reduce GHGs emissions in the private road transport sector through the certification of it in the international carbon market. The avoided emissions from this action on a 2,857 HVDs fleet, was calculated though the AMS-III.S methodology from the Clean Development Mechanism. It was found that the total amount of GHG emissions were reduced by 7% in one year. With a certification through The Gold Standard, the total amount of money derived from the project activity carbon credits is of more than 240,000 euros. If the emissions reduction remains constant year by year, projections estimate a benefit of approximately 2 million euros in ten years due to carbon offsets.","PeriodicalId":310452,"journal":{"name":"2022 International Symposium on Electromobility (ISEM)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127838704","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: 0
Implementation of a Field-Oriented Control Strategy for Electromagnetic Shock Absorbers 电磁减震器场导向控制策略的实现
2022 International Symposium on Electromobility (ISEM) Pub Date : 2022-10-17 DOI: 10.1109/ISEM55847.2022.9976603
Gennaro Sorrentino, S. Circosta, R. Galluzzi, N. Amati, A. Tonoli
{"title":"Implementation of a Field-Oriented Control Strategy for Electromagnetic Shock Absorbers","authors":"Gennaro Sorrentino, S. Circosta, R. Galluzzi, N. Amati, A. Tonoli","doi":"10.1109/ISEM55847.2022.9976603","DOIUrl":"https://doi.org/10.1109/ISEM55847.2022.9976603","url":null,"abstract":"Chassis electrification is paramount in the automotive transition towards emission reduction and automated driving. In this context, electromagnetic shock absorbers are regarded as a promising technology for chassis control. They enhance the suspension with active and passive forces by means of a suitably interfaced and controlled electric machine. To this end, Field-Oriented Control is commonly adopted for brushless permanent-magnet machines. However, the suspension experiences impulsive forces at high speed, when the vehicle undergoes through bumps or potholes. Thus, a field-weakening strategy must be included to guarantee stable and efficient operation in the aforementioned conditions. This paper presents the implementation of a field-oriented control strategy with field weakening. Laboratory testing is carried out on a three-phase permanent-magnet synchronous motor of an electro-hydrostatic shock absorber.","PeriodicalId":310452,"journal":{"name":"2022 International Symposium on Electromobility (ISEM)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127744869","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: 0
Vehicle Suspension System with a Biodynamic model and a Passenger Comfort Oriented Controller 基于生物动力学模型和乘客舒适度控制器的汽车悬架系统
2022 International Symposium on Electromobility (ISEM) Pub Date : 2022-10-17 DOI: 10.1109/ISEM55847.2022.9976662
Luis F. Moreno, Carlos A. Lopez, Jan G. Alcantar, J.R. Montoya-Morales, Carlos Izaguirre-Espinosa, Fernando Piñal-Moctezuma, L. Félix-Herrán
{"title":"Vehicle Suspension System with a Biodynamic model and a Passenger Comfort Oriented Controller","authors":"Luis F. Moreno, Carlos A. Lopez, Jan G. Alcantar, J.R. Montoya-Morales, Carlos Izaguirre-Espinosa, Fernando Piñal-Moctezuma, L. Félix-Herrán","doi":"10.1109/ISEM55847.2022.9976662","DOIUrl":"https://doi.org/10.1109/ISEM55847.2022.9976662","url":null,"abstract":"Ensuring passenger comfort in automobiles is one of the most relevant and valued performance indicators. Regarding suspensions, which ensure passenger comfort by isolating the cabin from disturbances coming from the road profile, it is important to accurately measure the vertical dynamics of the passenger to improve comfort with an automatic control strategy. The contribution of this research is the generation of a mathematical model of 7 degrees of freedom (7DOF) from the connection of the 4DOF biodynamic model reported by Bai et al. (2017) and a 3DOF seat-chassis-tire model, limited to the vertical dynamics of a one-quarter vehicle (QoV). This proposal allows a more detailed analysis of the effects of disturbances on passengers and improves comfort through a semi-active suspension, e.g., a Skyhook control aimed at improving the passenger’s sense of comfort. Simulation results are presented in the time and frequency domains. The findings motivate the use of this biodynamic model in more advanced studies involving improvements in suspensions and/or the extension of the study to a half or full vehicle.","PeriodicalId":310452,"journal":{"name":"2022 International Symposium on Electromobility (ISEM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128711407","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: 0
Road surface data acquisition system with Fog Computing V2I Networks in Smart Cities 基于雾计算V2I网络的智慧城市路面数据采集系统
2022 International Symposium on Electromobility (ISEM) Pub Date : 2022-10-17 DOI: 10.1109/ISEM55847.2022.9976590
Luis A. Arce-Saenz, Rogelio Bustamante-Bello, J. Izquierdo-Reyes, Luis A. Curiel-Ramirez
{"title":"Road surface data acquisition system with Fog Computing V2I Networks in Smart Cities","authors":"Luis A. Arce-Saenz, Rogelio Bustamante-Bello, J. Izquierdo-Reyes, Luis A. Curiel-Ramirez","doi":"10.1109/ISEM55847.2022.9976590","DOIUrl":"https://doi.org/10.1109/ISEM55847.2022.9976590","url":null,"abstract":"The development of smart cities promises to solve several current problems observed in mega cities, one of them being the improvement of vehicular mobility. This research focuses on the design and deployment of a data collection platform to map the road network’s surface through the dynamic response of vehicles. V2I-Fog computing network allows the generation of an affordable, effective, attractive, and sustainable measurement system to record the response of the vehicle’s sprung and unsprung mass to the irregularities of the road surface. The generated data set involves the records of location and dynamic response of the vehicle due to potholes, manholes, speed bumps, pavement patches, as well as even and uneven road segments. The proposed system seeks to improve the data acquisition, analysis, and constant monitoring of road quality in mega cities, and in the future, classify them effectively for better road maintenance and vehicular mobility.","PeriodicalId":310452,"journal":{"name":"2022 International Symposium on Electromobility (ISEM)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134028607","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: 0
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