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Serbian Journal of Electrical Engineering最新文献

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End-effector Cartesian stiffness shaping - sequential least squares programming approach 末端执行器笛卡儿刚度成形-序贯最小二乘规划方法
Serbian Journal of Electrical Engineering Pub Date : 2021-01-01 DOI: 10.2298/SJEE2101001K
Nikola Knezevic, Branko Lukić, K. Jovanovic, L. Žlajpah, T. Petrič
{"title":"End-effector Cartesian stiffness shaping - sequential least squares programming approach","authors":"Nikola Knezevic, Branko Lukić, K. Jovanovic, L. Žlajpah, T. Petrič","doi":"10.2298/SJEE2101001K","DOIUrl":"https://doi.org/10.2298/SJEE2101001K","url":null,"abstract":"Control of robot end-effector (EE) Cartesian stiffness matrix (or the whole mechanical impedance) is still a challenging open issue in physical humanrobot interaction (pHRI). This paper presents an optimization approach for shaping the robot EE Cartesian stiffness. This research targets collaborative robots with intrinsic compliance - serial elastic actuators (SEAs). Although robots with SEAs have constant joint stiffness, task redundancy (null-space) for a specific task could be used for robot reconfiguration and shaping the stiffness matrix while still keeping the EE position unchanged. The method proposed in this paper to investigate null-space reconfiguration's influence on Cartesian robot stiffness is based on the Sequential Least Squares Programming (SLSQP) algorithm, which presents an expansion of the quadratic programming algorithm for nonlinear functions with constraints. The method is tested in simulations for 4 DOF planar robot. Results are presented for control of the EE Cartesian stiffness initially along one axis, and then control of stiffness along both planar axis - shaping the main diagonal of the EE stiffness matrix.","PeriodicalId":37704,"journal":{"name":"Serbian Journal of Electrical Engineering","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68754294","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: 3
Energy benchmarking in educational buildings in the city of Kragujevac - possibilities for energy efficiency improvement 克拉古耶瓦茨市教育建筑的能源基准——提高能源效率的可能性
Serbian Journal of Electrical Engineering Pub Date : 2021-01-01 DOI: 10.2298/SJEE2101095R
A. Radojević, D. Nikolić, J. Radulović, J. Skerlic
{"title":"Energy benchmarking in educational buildings in the city of Kragujevac - possibilities for energy efficiency improvement","authors":"A. Radojević, D. Nikolić, J. Radulović, J. Skerlic","doi":"10.2298/SJEE2101095R","DOIUrl":"https://doi.org/10.2298/SJEE2101095R","url":null,"abstract":"The implementation of energy efficiency measures and use of renewable energy sources in educational buildings can significantly contribute to reducing energy consumption, but also to CO2 emissions in the entire public sector. The paper shows the comparison of energy consumption indicators for 61 elementary school buildings which have previously been divided in 12 groups, according to the period of construction and size, based on the national typology called TABULA, as the first step of further study on how to use the renewable energy sources. The aim of this paper is to use the energy benchmarking process to select representative facilities which are suitable for applying renewable energy sources, for their further energy efficiency improvement. Indicators of annual specific electricity consumption and CO2 emissions per unit area [kWh/m2] and per user [kWh/user] were calculated. After that, from two groups (in which the highest electricity consumption and CO2 emissions are 68.37% and 74.53% of the total consumption/ emissions), one representative facility was selected.","PeriodicalId":37704,"journal":{"name":"Serbian Journal of Electrical Engineering","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68754322","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
Application of metaheuristic optimization algorithms for image registration in mobile robot visual control 元启发式优化算法在移动机器人视觉控制中的应用
Serbian Journal of Electrical Engineering Pub Date : 2021-01-01 DOI: 10.2298/sjee2102155d
Lazar Djokic, Aleksandar Jokic, Milica Petrović, Nikola Slavković, Z. Miljković
{"title":"Application of metaheuristic optimization algorithms for image registration in mobile robot visual control","authors":"Lazar Djokic, Aleksandar Jokic, Milica Petrović, Nikola Slavković, Z. Miljković","doi":"10.2298/sjee2102155d","DOIUrl":"https://doi.org/10.2298/sjee2102155d","url":null,"abstract":"Visual Servoing (VS) of a mobile robot requires advanced digital image processing, and one of the techniques especially fitting for this complex task is Image Registration (IR). In general, IR involves the geometrical alignment of images, and it can be viewed as an optimization problem. Therefore, we propose Metaheuristic Optimization Algorithms (MOA) for IR in VS of a mobile robot. The comprehensive comparison study of three state-of-the-art MOA, namely the Slime Mould Algorithm (SMA), Harris Hawks Optimizer (HHO), and Whale Optimization Algorithm (WOA) is presented. The previously mentioned MOA used for IR are evaluated on 12 pairs of stereo images obtained by a mobile robot stereo vision system in a laboratory model of a manufacturing environment. The MATLsoftware package is used for the implementation of the considered optimization algorithms. Acquired experimental results show that SMA outperforms HHO and WOA, while all three algorithms perform satisfactory alignment of images captured from various mobile robot poses.","PeriodicalId":37704,"journal":{"name":"Serbian Journal of Electrical Engineering","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68754511","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
An enhanced exponential reaching law based sliding mode control strategy for a three phase ups system 基于增强指数趋近律的三相ups系统滑模控制策略
Serbian Journal of Electrical Engineering Pub Date : 2020-10-31 DOI: 10.2298/sjee2003313n
Venkatesh Nayak, Shylendra Kumar
{"title":"An enhanced exponential reaching law based sliding mode control strategy for a three phase ups system","authors":"Venkatesh Nayak, Shylendra Kumar","doi":"10.2298/sjee2003313n","DOIUrl":"https://doi.org/10.2298/sjee2003313n","url":null,"abstract":"UPS is used to deliver a high quality sinusoidal waveform to consumers\u0000 without any interruptions. This work proposes an Enhanced Exponential\u0000 Reaching Law (EERL) based Sliding Mode Control (SMC) for a three- phase UPS\u0000 30 kVA system used in industrial Applications. The work presents the\u0000 application of proposed controller on the rectifier side as well as on the\u0000 inverter side feeding a linear and/or a nonlinear load. Mathematical models\u0000 of the three phase rectifier (AC/DC) and three phase inverter (DC/AC) are\u0000 derived. Frequency response characteristics are plotted to observe the\u0000 system stability using state feedback approach. A DC/DC buck/boost converter\u0000 is utilised for charging and discharging of battery which acts as a\u0000 secondary power source for the UPS to feed critical loads. It also maintains\u0000 power balance. The design of SMC, HOSMC and EERL-SMC are presented. The EERL\u0000 based SMC is used in this work to obtain a pure sinusoidal waveform with\u0000 less settling time compared to a conventional SMC. It is robust against\u0000 sudden changes in load and is more efficient compared to SMC and higher\u0000 order sliding mode controller (HOSMC). Using EERL, chattering phenomenon can\u0000 be very much reduced with less steady state error. Chattering is observed\u0000 through phase plane plots in this paper. The system is presented with both\u0000 linear and nonlinear loads. A comparison is brought with respect to a\u0000 classical SMC and a higher order SMC (super twisting algorithm) for a UPS\u0000 system. EERL-SMC performs better in terms of pure sinusoidal waveform, good\u0000 tracking, less settling time (4ms) and less steady state error (1.74%) with\u0000 low THD (0.12%). It can be an alternative to a HOSMC. Simulation studies are\u0000 presented in PSCAD/EMTDC version 4.6. The system stability conditions are\u0000 analysed from frequency response plots obtained through MATLR2012b\u0000 platform.","PeriodicalId":37704,"journal":{"name":"Serbian Journal of Electrical Engineering","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47564503","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
Analysis of the impact of network architecture on signal quality in LTE technology LTE技术中网络架构对信号质量的影响分析
Serbian Journal of Electrical Engineering Pub Date : 2020-01-01 DOI: 10.2298/SJEE2001095S
I. Stojanovic, M. Koprivica, Nenad Stojanović, A. Neskovic
{"title":"Analysis of the impact of network architecture on signal quality in LTE technology","authors":"I. Stojanovic, M. Koprivica, Nenad Stojanović, A. Neskovic","doi":"10.2298/SJEE2001095S","DOIUrl":"https://doi.org/10.2298/SJEE2001095S","url":null,"abstract":"In this paper, the impact of the network architecture on signal quality in the fourth generation of the public mobile network is analyzed. The analysis was performed using RSRP (Reference Signal Received Power), RSRQ (Reference Signal Received Quality), SINR (Signal to Interference plus Noise Ratio) and throughput parameters in indoor environment. The signal quality parameters were collected by measurement using TEMS Investigation and TEMS Pocket software. The measurements were carried out at the School of Electrical Engineering on the ground floor of the Technical Faculty building for the macro and micro cell scenario. It has been found that better signal quality is ensured in micro cells. Quality of the signal is also considered by the various services provided to the users.","PeriodicalId":37704,"journal":{"name":"Serbian Journal of Electrical Engineering","volume":"17 1","pages":"95-109"},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68753317","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
Green’s function for the semi-infinite strip in terms of an improper integral 用反常积分表示的半无限条的格林函数
Serbian Journal of Electrical Engineering Pub Date : 2020-01-01 DOI: 10.2298/sjee2002235f
D. Filipovic, Tatijana Dlabač
{"title":"Green’s function for the semi-infinite strip in terms of an improper integral","authors":"D. Filipovic, Tatijana Dlabač","doi":"10.2298/sjee2002235f","DOIUrl":"https://doi.org/10.2298/sjee2002235f","url":null,"abstract":"Abstract: In this paper Green’s function for the semi-infinite strip (which is the two-dimensional Green’s function for a groove of infinite depth and length) is determined in the form of an improper integral, as opposed to the standard summation form. The integral itself, although rather complex, is found in a closed form. By using the derived Green’s function simple formulas are obtained for a single and two-wire line configurations inside the groove.","PeriodicalId":37704,"journal":{"name":"Serbian Journal of Electrical Engineering","volume":"17 1","pages":"235-246"},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68753486","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
Adaptive Symlet filter based on ECG baseline wander removal 基于心电基线漂移去除的自适应Symlet滤波
Serbian Journal of Electrical Engineering Pub Date : 2020-01-01 DOI: 10.2298/sjee2002187n
A. Nahar
{"title":"Adaptive Symlet filter based on ECG baseline wander removal","authors":"A. Nahar","doi":"10.2298/sjee2002187n","DOIUrl":"https://doi.org/10.2298/sjee2002187n","url":null,"abstract":"In this paper, proposed a new approach of combining the hybrid soft computing technique called Adaptive Symlet Wavelet Transform (ASWT) filter. The baseline wanders (BW) noise removal from an ECG signals to minimize distortion of the S-T segment of the ECG signal specially that have high sampling frequencies. Therefore, when using Symlet Wavelet Transform (SWT) to analysis the ECG signal can cause problems to analysis, exclusively when examining the content of the ECG signal at low-frequency such as S-T segment. The corresponding frequency components of the approximation coefficients at level number seven are (0-3.9) Hz. Since the BW frequency is below 0.5 Hz and ST segment frequency between (0.67-4) Hz. The adaptive filter with a unity reference signal used to remove the BW noise below 0.5 Hz from the lowest level of the approximation coefficient of the decomposed ECG signal. The denoising output from adaptive filter and the output from SWT (the other detail coefficients) will use as an input to ISWT for reconstruction ECG signals with the remove BW signal. This method represents a very effective filter for BW noise removal, as it does not need for any computation process of reference point.","PeriodicalId":37704,"journal":{"name":"Serbian Journal of Electrical Engineering","volume":"17 1","pages":"187-197"},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68753687","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: 2
Analyses of the surface parameters in polycrystalline diamonds 多晶金刚石表面参数分析
Serbian Journal of Electrical Engineering Pub Date : 2020-01-01 DOI: 10.2298/sjee2001111v
S. Veljković, V. Mitić, V. Paunovic, G. Lazovic, M. Mohr, H. Fecht
{"title":"Analyses of the surface parameters in polycrystalline diamonds","authors":"S. Veljković, V. Mitić, V. Paunovic, G. Lazovic, M. Mohr, H. Fecht","doi":"10.2298/sjee2001111v","DOIUrl":"https://doi.org/10.2298/sjee2001111v","url":null,"abstract":"There is a progressing interests for polycrystalline diamonds and they have been more extensively used recently. This area has been intensively researched due to the outstanding potential of this material, and this necessitated presenting some of the latest application related to engineering in this paper. A better insight of polycrystalline diamonds properties can be achieved by intensively researching the surface structure. Samples of nanocrystalline diamonds grown by the chemical vapor deposition method are analyzed and accordingly, the focus of the research was the surface parameters and their structure. It is observed that waviness and texture are unique for any direction, their values are almost the same for the chosen directions and they vary approximately from -0.2 nm to 0.4 nm. Analyses of the parameters allowed a more detailed insight into the morphology of the surfaces of polycrystalline films.","PeriodicalId":37704,"journal":{"name":"Serbian Journal of Electrical Engineering","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68753379","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
Novel reversible CLA, optimized RCA and parallel adder/subtractor circuits 新型可逆CLA，优化的RCA和并行加/减电路
Serbian Journal of Electrical Engineering Pub Date : 2020-01-01 DOI: 10.2298/sjee2003259g
Mohammad Gharajeh Samadi, M. Haghparast
{"title":"Novel reversible CLA, optimized RCA and parallel adder/subtractor circuits","authors":"Mohammad Gharajeh Samadi, M. Haghparast","doi":"10.2298/sjee2003259g","DOIUrl":"https://doi.org/10.2298/sjee2003259g","url":null,"abstract":"This paper proposes reversible circuit designs of the three most commonly used adders: carry look-ahead adder (CLA adder), ripple carry adder (RCA adder), and parallel adder/subtractor. The n-bit reversible CLA adder, called CLA-GH, is designed using the Peres and Fredkin gates. The n-bit optimized reversible RCA adder, called ORCA-GH, is designed using the reversible circuit of a parity-preserving reversible full adder. Both circuits reduce the quantum cost. However, the ORCA-GH circuit also improves the number of constant inputs. Furthermore, the n-bit reversible parallel adder/subtractor, called PAS-GH, is designed using the Feynman, Peres, and Fredkin gates. It decreases the number of garbage outputs and quantum cost. The transistor realizations of the CLA-GH and PAS-GH circuits are provided accordingly. The evaluation results indicate that the proposed circuits surpass the existing works in all figures of merit.","PeriodicalId":37704,"journal":{"name":"Serbian Journal of Electrical Engineering","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68754173","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
A modified ABC algorithm for solving optimal power flow problem 求解最优潮流问题的改进ABC算法
Serbian Journal of Electrical Engineering Pub Date : 2020-01-01 DOI: 10.2298/sjee2002199h
H. Hardiansyah
{"title":"A modified ABC algorithm for solving optimal power flow problem","authors":"H. Hardiansyah","doi":"10.2298/sjee2002199h","DOIUrl":"https://doi.org/10.2298/sjee2002199h","url":null,"abstract":"This paper presents a modified artificial bee colony (MABC) algorithm for solving the optimal power flow (OPF) problem in power system. Artificial bee colony algorithm is a recent population-based optimization method which has been successfully used in many complex problems. A new mutation strategy inspired from the differential evolution (DE) is introduced in order to improve the exploitation process. The new algorithm is implemented to the OPF problem so as to minimize the total generation cost when considering the equality and inequality constraints. In order to validate of the proposed algorithm, it is applied to the standard IEEE 30-bus test system. The results show that the proposed technique provides better solutions than other heuristic techniques reported in literature.","PeriodicalId":37704,"journal":{"name":"Serbian Journal of Electrical Engineering","volume":"17 1","pages":"199-211"},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68753745","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
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