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Path-following by a UGV-UAV Formation Based on Null Space 基于零空间的UGV-UAV编队路径跟踪
2021 14th IEEE International Conference on Industry Applications (INDUSCON) Pub Date : 2021-08-15 DOI: 10.1109/INDUSCON51756.2021.9529472
Vinícius Pacheco Bacheti, Alexandre Santos Brandão, M. Sarcinelli-Filho
{"title":"Path-following by a UGV-UAV Formation Based on Null Space","authors":"Vinícius Pacheco Bacheti, Alexandre Santos Brandão, M. Sarcinelli-Filho","doi":"10.1109/INDUSCON51756.2021.9529472","DOIUrl":"https://doi.org/10.1109/INDUSCON51756.2021.9529472","url":null,"abstract":"This paper addresses the control of a formation composed of an unmanned ground vehicle (UGV) and an unmanned aerial vehicle (UAV) using the concepts of null space control. The formation navigates in a coordinated way, with the UAV following the UGV, keeping a relative pose with respect to it, while the UGV follows a specified path. The goal is that the UAV lands on the UGV at any desired instant, a situation quite similar to the return of the UAV to a moving base after delivering a package. Null space control techniques are used in order to get more precise control on the relative pose between the robots, increasing the reliability of the landing operation. Experimental results are presented and discussed, which validate the approach proposed to accomplish the desired task.","PeriodicalId":344476,"journal":{"name":"2021 14th IEEE International Conference on Industry Applications (INDUSCON)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130892025","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
Impact of Different Frequency-Dependent Soil Models in Transient Ground Potential Rise 不同频率土壤模型对瞬态地电位上升的影响
2021 14th IEEE International Conference on Industry Applications (INDUSCON) Pub Date : 2021-08-15 DOI: 10.1109/INDUSCON51756.2021.9529355
A. D. de Araújo, W. L. D. de Azevedo, J. Filho
{"title":"Impact of Different Frequency-Dependent Soil Models in Transient Ground Potential Rise","authors":"A. D. de Araújo, W. L. D. de Azevedo, J. Filho","doi":"10.1109/INDUSCON51756.2021.9529355","DOIUrl":"https://doi.org/10.1109/INDUSCON51756.2021.9529355","url":null,"abstract":"The frequency dependence of soil electrical parameters must be considered for a precise computation of the electrode grounding impedance and of the transient ground potential rise (GPR) generated by an injected lightning current. This work computes the grounding impedances of conductors (rods and electrodes) seen as short transmission lines (TL) based on the Transmission Line Model (TLM). These conductors are buried into distinct types of ground, such as frequency-independent (FI) and three distinct frequency-dependent (FD) soil models. Furthermore, the transient GPR generated by a lightning strike is computed. Results indicate that FD soil models have provided distinct responses which the GPR peaks are considerably reduced when the frequency dependency of the soil electrical parameters is included in the simulations.","PeriodicalId":344476,"journal":{"name":"2021 14th IEEE International Conference on Industry Applications (INDUSCON)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129779159","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
Minimização de Perdas na Distribuição de Energia por meio da Injeção de Potência Reativa utilizando Geração Fotovoltaica 通过光伏发电注入无功功率，使能量分配损失最小化
2021 14th IEEE International Conference on Industry Applications (INDUSCON) Pub Date : 2021-08-15 DOI: 10.1109/INDUSCON51756.2021.9529360
G. L. Filho, Flávio Henrique Teles Vieira, Ricardo Augusto Pereira Franco
{"title":"Minimização de Perdas na Distribuição de Energia por meio da Injeção de Potência Reativa utilizando Geração Fotovoltaica","authors":"G. L. Filho, Flávio Henrique Teles Vieira, Ricardo Augusto Pereira Franco","doi":"10.1109/INDUSCON51756.2021.9529360","DOIUrl":"https://doi.org/10.1109/INDUSCON51756.2021.9529360","url":null,"abstract":"Neste trabalho é apresentada uma proposta de controle e injeção de potência reativa em uma rede de distribuição elétrica radial com geração distribuída fotovoltaica. O algoritmo proposto tem como objetivo prover um balanço entre regulação de tensão e minimização de perdas elétricas. A potência reativa injetada na rede elétrica é controlada por meio do inversor fotovoltaico, que conecta os módulos fotovoltaicos na rede de distribuição. O desempenho do algoritmo foi testado em uma rede elétrica monofásica rural de 100 barras. Foram utilizados 3 fatores de penetração fotovoltaica na rede, e são apresentados os perfis de tensão em cada barra, assim como as perdas na distribuição. Nos resultados, o algoritmo proposto obteve as menores perdas e o melhor perfil de tensão (mais próximo a 1 pu) nos cenários simulados em comparação com outros algoritmos propostos na literatura.","PeriodicalId":344476,"journal":{"name":"2021 14th IEEE International Conference on Industry Applications (INDUSCON)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129976565","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
A New Framework and Methodology for Digital Twin Development 数字孪生体开发的新框架和新方法
2021 14th IEEE International Conference on Industry Applications (INDUSCON) Pub Date : 2021-08-15 DOI: 10.1109/INDUSCON51756.2021.9529701
Matheus Antônio de Andrade, H. Lepikson, C. Machado
{"title":"A New Framework and Methodology for Digital Twin Development","authors":"Matheus Antônio de Andrade, H. Lepikson, C. Machado","doi":"10.1109/INDUSCON51756.2021.9529701","DOIUrl":"https://doi.org/10.1109/INDUSCON51756.2021.9529701","url":null,"abstract":"Digital Twins can be defined as virtual copies of physical assets that interact in real time with their physical counterparts. It is rated as one of the most promising technologies in the Industry 4.0 context, but there are still many gaps to be filled for this technology to become effective and viable. This paper proposes a development methodology and a framework for the implementation of manufacturing process’ digital twins. The concept of Unit Manufacturing Process, that is the smaller part of an industrial process that can perform a significant changing of the raw material, and the modularity it brings to build digital twins facilitate the digitalization of an entire manufacturing process. The methodology was created to surpass generalization and scalability problems and can be applied to discrete, continuous and batch processes. Two digital twins of manufacturing processes are being developed to serve as testbeds for the methodology. The digital twin concept can be a very supportive tool to enhance productivity.","PeriodicalId":344476,"journal":{"name":"2021 14th IEEE International Conference on Industry Applications (INDUSCON)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130021344","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
Controle de Robô Colaborativo por Voz
2021 14th IEEE International Conference on Industry Applications (INDUSCON) Pub Date : 2021-08-15 DOI: 10.1109/INDUSCON51756.2021.9529471
C. Patrocinio, Cassius Zanetti Resende, Flávio Garcia Pereira
{"title":"Controle de Robô Colaborativo por Voz","authors":"C. Patrocinio, Cassius Zanetti Resende, Flávio Garcia Pereira","doi":"10.1109/INDUSCON51756.2021.9529471","DOIUrl":"https://doi.org/10.1109/INDUSCON51756.2021.9529471","url":null,"abstract":"Despite technological advances in the field of industrial manipulators with the advent of the use of collaborative robots (Cobots) on the factory floor living with human collaborators, it is observed that the way of programming the cobot remains the same as that of conventional manipulators, there has been no evolution . Among the features that can allow a cobot to be programmed in an intuitive way, verbal communication (voice) motivates this work. Among the methods currently used for the development of a voice recognition system, the ones that have stood out lately are those that use deep learning methods. In this context, this work proposed to develop a control of a cobot using a verbal communication resource (voice). The development consisted of building a system capable of receiving an audio file as input, recognizing the command contained in it and sending it to the programming cobot. During the experimental tests it was possible to observe that the system worked as expected, that is, it was able to recognize the commands correctly and program the cobot to perform the corresponding action.","PeriodicalId":344476,"journal":{"name":"2021 14th IEEE International Conference on Industry Applications (INDUSCON)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129969128","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
Identification of Mechanical Pre-Stressing Degradation in Piezoelectric Transducers 压电换能器机械预应力退化的辨识
2021 14th IEEE International Conference on Industry Applications (INDUSCON) Pub Date : 2021-08-15 DOI: 10.1109/INDUSCON51756.2021.9529443
Jaqueline Rohvedder de Oliveira, F. Arnold
{"title":"Identification of Mechanical Pre-Stressing Degradation in Piezoelectric Transducers","authors":"Jaqueline Rohvedder de Oliveira, F. Arnold","doi":"10.1109/INDUSCON51756.2021.9529443","DOIUrl":"https://doi.org/10.1109/INDUSCON51756.2021.9529443","url":null,"abstract":"The degradation of the mechanical pre-stressing in piezoelectric transducer is a drawback that reduces the performance of these devices. The behavior of the transducer is affected by the pre-stress and can be identified through of the impedance curves, mostly by the resonance deviations. In this work, we have proposed a circuit that allow us to know if the pre-stress is kept at a suitable level after the transducer operation. This circuit works based on the relation of pre-stress to phase difference between voltage and current in the transducer. The circuit provides an electric signal whose duty cycle and the average voltage can be used to identify small variations of pre-stress. The tests were conducted in three transducers originally pre-stressed at a reference level (52.8 MPa). Afterwards, the pre-stressing was deliberately degraded in 8.1 MPa and the tests repeated. The sensitivity of the system was around 0.23 V/MPa. The circuit is simple, low cost and can be used out of specialized laboratories.","PeriodicalId":344476,"journal":{"name":"2021 14th IEEE International Conference on Industry Applications (INDUSCON)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131006289","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
Robust Control via LMIs Applied to Small-Signal Stability in Power Systems 基于lmi的鲁棒控制在电力系统小信号稳定中的应用
2021 14th IEEE International Conference on Industry Applications (INDUSCON) Pub Date : 2021-08-15 DOI: 10.1109/INDUSCON51756.2021.9529378
Jefferson C. Rezende, Luis Carvalho, M. Costa, Elenilson V. Fortes, Leonardo H. Macedo
{"title":"Robust Control via LMIs Applied to Small-Signal Stability in Power Systems","authors":"Jefferson C. Rezende, Luis Carvalho, M. Costa, Elenilson V. Fortes, Leonardo H. Macedo","doi":"10.1109/INDUSCON51756.2021.9529378","DOIUrl":"https://doi.org/10.1109/INDUSCON51756.2021.9529378","url":null,"abstract":"This article proposes the application of a linear quadratic regulator feedback controller designed via linear matrix inequalities using the $mathfrak{D}$-stability concept to add damping to low-frequency electromechanical oscillations and ensure the stability of the single machine infinite bus electric power system, which was modeled using the current sensitivity model considering polytopic uncertainties. The objective is to insert a stabilizing signal into the system through the automatic voltage regulator of the synchronous generator. In the simulations, parametric variations in the system load are considered, as well as exogenous disturbances in the form of an increase in the mechanical input power on the generator’s shaft. In addition, the performance of the proposed controller is compared with optimal control approaches already known in the literature. Therefore, according to the obtained results, it is possible to verify that the proposed control approach is efficient for stabilizing the system since it has better performance indices than the optimal control approach, as well as the response in the frequency domain shows that the proposed controller is robust, thus accrediting the control strategy as a powerful tool in the study of small-signal stability in electrical power systems.","PeriodicalId":344476,"journal":{"name":"2021 14th IEEE International Conference on Industry Applications (INDUSCON)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127545095","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
Power Losses Minimization considering Small-Signal Stability Constraint 考虑小信号稳定性约束的功率损耗最小化
2021 14th IEEE International Conference on Industry Applications (INDUSCON) Pub Date : 2021-08-15 DOI: 10.1109/INDUSCON51756.2021.9529424
W. Peres, F. C. Coelho, Junior N. N. da Costa
{"title":"Power Losses Minimization considering Small-Signal Stability Constraint","authors":"W. Peres, F. C. Coelho, Junior N. N. da Costa","doi":"10.1109/INDUSCON51756.2021.9529424","DOIUrl":"https://doi.org/10.1109/INDUSCON51756.2021.9529424","url":null,"abstract":"This paper proposes an optimization approach to solve the Small-Signal Constrained Optimal Power Flow (SSOPF) in transmission systems. The main goal is to minimize the active power losses taking the minimum damping ratio in closed-loop operation as a small-signal stability constraint. The Particle Swarm Optimization (PSO) is used and its individuals are evaluated through a conventional power flow tool and a modal analysis tool for small-signal stability assessment. Results are obtained for the New England test system and validated through time-domain simulations.","PeriodicalId":344476,"journal":{"name":"2021 14th IEEE International Conference on Industry Applications (INDUSCON)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121675179","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
Orientação Espacial em Exoesqueletos de Membros Inferiores utilizando Filtros Markovianos 利用马尔可夫滤波器对下肢外骨骼进行空间定位
2021 14th IEEE International Conference on Industry Applications (INDUSCON) Pub Date : 2021-08-15 DOI: 10.1109/INDUSCON51756.2021.9529866
P. R. Albuquerque, Edson H. Francelino, S. L. Nogueira
{"title":"Orientação Espacial em Exoesqueletos de Membros Inferiores utilizando Filtros Markovianos","authors":"P. R. Albuquerque, Edson H. Francelino, S. L. Nogueira","doi":"10.1109/INDUSCON51756.2021.9529866","DOIUrl":"https://doi.org/10.1109/INDUSCON51756.2021.9529866","url":null,"abstract":"Estudos de metodologias para se obter dados de movimentos do corpo humano que envolvam perdas de capacidades motoras funcionais em função de doenças neurológicas, têm despertado o interesse de diversos pesquisadores para auxílio na análise dos movimentos humanos. Entre várias meto-dologias, as que envolvem o emprego de sensores inerciais têm se tornado viáveis em virtude do baixo custo destes dispositivos. Em consequência do emprego de sensores inerciais é preciso estabelecer estratégias que contornem alta sensibilidade a perturbações e erros inerentes a estes dispositivos. Em trabalhos anteriores deste grupo de pesquisa, foram realizadas estimativas angulares no plano sagital. Neste trabalho, foi utilizado a fusão de sinais na abordagem complementar de sensores inerciais através de um sistema Markoviano que escolhe o sensor mais confiável a cada instante e utiliza um filtro de Kalman para compensar os erros de desvio do giroscópio. Assim, tal sistema realizou a estimativa de atitude para os segmentos de um exoesqueleto de membro inferior, tendo apresentado correlação superior a 0.98 para os segmentos da coxa e canela, e erro médio inferior a 1.47o em ambos os segmentos, quando considerado o plano de maior movimento. Também verificou-se que o segmento do tronco apresentou baixa amplitude de movimento, e portanto a relação sinal/ruído foi inferior aos demais segmentos, ocasionando maior desvio de estimativa no segmento do tronco.","PeriodicalId":344476,"journal":{"name":"2021 14th IEEE International Conference on Industry Applications (INDUSCON)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123868499","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
Magneto-Thermo-Structural Analysis of Power Transformers under Short Circuit Condition 电力变压器短路条件下的磁热结构分析
2021 14th IEEE International Conference on Industry Applications (INDUSCON) Pub Date : 2021-08-15 DOI: 10.1109/INDUSCON51756.2021.9529721
António Sousa, Wellington Fonseca, M. Nunes, Ramon C. F. Araújo, D. D. S. Lima
{"title":"Magneto-Thermo-Structural Analysis of Power Transformers under Short Circuit Condition","authors":"António Sousa, Wellington Fonseca, M. Nunes, Ramon C. F. Araújo, D. D. S. Lima","doi":"10.1109/INDUSCON51756.2021.9529721","DOIUrl":"https://doi.org/10.1109/INDUSCON51756.2021.9529721","url":null,"abstract":"The main equipment responsible for connection and transmission of electric power from generating centers to consumers are power transformers. This equipment is subject to various types of faults that can affect its components, in some cases also compromising its operation and, consequently, the electric power supply. Thus, in this paper, electromagnetic, thermal and structural analysis of power transformers is carried out with the objective of providing the operator with information on the ideal moment for performing predictive maintenance, avoiding unplanned shutdowns. For this, computational simulations were performed using the Finite Element Method (FEM) and, from that, the different situations to which these types of equipment can be submitted, nominal currents and short-circuit current were analyzed. In this perspective, analyses of the effects that axial and radial forces exerted were carried out, contributing to possible defects in these types of equipment. As a study object, simulations were carried out on a 50MVA single phase transformer. It is important to emphasize that the simulations were validated with real data of measurements and with results presented in current literature.","PeriodicalId":344476,"journal":{"name":"2021 14th IEEE International Conference on Industry Applications (INDUSCON)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128714676","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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