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2021 XIX Workshop on Information Processing and Control (RPIC)最新文献

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On the feasibility of energy-maximising controllers for an Argentinian wave energy system 阿根廷波浪能系统能量最大化控制器的可行性
Pub Date : 2021-11-03 DOI: 10.1109/RPIC53795.2021.9648508
N. Faedo, Demián García-Violini, Y. Peña-Sanchez, J. Ringwood
Wave energy has attracted significant attention during the past decades worldwide, due to the significant amount of energy available in ocean waves. However, to date, wave energy systems have not reached commercial viability. As such, appropriate control system technology is considered a key driver to achieve commercialisation of wave energy converters (WECs). As of today, Argentina has not taken an active part in the discussion and development of suitable control techniques to harvest this energy resource, despite the geographic opportunities and the vast experience that Argentina has acquired and demonstrated in other non-carbon-based energy sources. In the light of this, we provide, in this paper, a feasibility assessment of three state-of-the-art control methodologies for wave energy harvesting systems, for a WEC prototype developed in Argentina. To this end, representative operating conditions, characteristic of the wave resource in the coastal area of Argentina, are considered. Finally, the performance of each controller is discussed, together with a set of conclusions and potential directions on the fundamental design of the WEC prototype from a control-oriented perspective.
波浪能在过去的几十年里引起了全世界的极大关注,因为海浪中有大量的能量。然而,到目前为止,波浪能系统还没有达到商业可行性。因此,适当的控制系统技术被认为是实现波浪能转换器(WECs)商业化的关键驱动因素。到今天为止,阿根廷还没有积极参与讨论和发展适当的控制技术来收获这种能源,尽管阿根廷在地理上有机会,并且在其他非碳基能源方面已经获得和展示了丰富的经验。鉴于此,我们在本文中为阿根廷开发的WEC原型提供了三种最先进的波浪能收集系统控制方法的可行性评估。为此,考虑了具有代表性的操作条件,以及阿根廷沿海地区波浪资源的特点。最后,对每个控制器的性能进行了讨论,并从面向控制的角度对WEC原型的基本设计提出了一组结论和可能的方向。
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引用次数: 0
Robust Control in Task Space for Redundant Manipulator 冗余机械臂任务空间鲁棒控制
Pub Date : 2021-11-03 DOI: 10.1109/RPIC53795.2021.9648420
Martin Crespo, Martín Mujica, Mourad Benoussaad, S. Junco
This paper presents a robust control law for a redundant robotic arm that manipulates an unknown load attached to its end effector. As it is considered that the robot manipulator may interact with the environment, the control law is expressed in terms of the operational space variables. An extended dynamic model of the robot, considering the uncertain load and intentional simplifications in the kinematic model, is presented for the control system design. The objective of the work is to develop, based in a sliding control mode, a robust motion control law featuring robustness in face of the above mentioned model uncertainties and simplifications, and to prove, with Lyapunov’s theory, the stability of the closed loop system. The kinematic redundancy of the manipulator is exploited to enhance the performance. It is shown, through simulations done on a 7-DOF KUKA LBR iiwa 14 R820 robot model, that the errors remain bounded when the box is following a trajectory even with different values of loads.
针对末端执行器上附加未知载荷的冗余机械臂,提出了一种鲁棒控制律。考虑到机器人操纵臂可能与环境相互作用,控制律用操作空间变量表示。在考虑不确定载荷和有意简化运动学模型的情况下,建立了机器人的扩展动力学模型,用于控制系统的设计。本工作的目的是在滑模控制的基础上,针对上述模型的不确定性和简化,建立具有鲁棒性的鲁棒运动控制律,并利用Lyapunov理论证明闭环系统的稳定性。利用机械手的运动冗余来提高机械手的性能。通过对KUKA LBR iiwa 14 R820 7自由度机器人模型的仿真表明,即使载荷值不同,当箱体沿轨迹运动时,误差仍然是有界的。
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引用次数: 0
An Efficient Wireless Power Transmitter Based on Companded OFDM Signals 一种基于OFDM信号的高效无线电力发射机
Pub Date : 2021-11-03 DOI: 10.1109/RPIC53795.2021.9648473
Santiago Fernández, F. Gregorio, F. J. López-Martínez, J. Cousseau
In this work, a waveform design using a combination of OFDM and companding technique is proposed to improve the wireless power transfer (WPT) efficiency without sacrificing the wireless information transfer performance. Employing a Simultaneous Wireless Information and Power Transfer (SWIPT) scheme called Power Splitting (PS) protocol, the transfer of power and data is achieved simultaneously between a Power Beacon (PB) and a receiver node. Furthermore, in order to capture all important nonlinear behaviors of a real energy harvester rectifier circuit, a curve fitting-based nonlinear rectifier model is used. Results show that the use of this companding technique allows the power amplifier (PA) to generate and transmit signals for WPT in a more efficient way, improving also the conversion efficiency of the energy harvester.
为了在不牺牲无线信息传输性能的前提下提高无线功率传输效率,提出了一种结合OFDM和压缩技术的波形设计方法。采用一种称为功率分割(PS)协议的同步无线信息和功率传输(SWIPT)方案,在功率信标(PB)和接收节点之间同时实现功率和数据的传输。此外,为了捕捉实际能量采集器整流电路的所有重要非线性行为,采用了基于曲线拟合的非线性整流模型。结果表明,采用这种压缩技术可以使功率放大器更有效地产生和传输WPT信号,提高了能量采集器的转换效率。
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引用次数: 2
Economic model predictive control for energy management in a hybrid storage microgrid 混合储能微电网能量管理的经济模型预测控制
Pub Date : 2021-11-03 DOI: 10.1109/RPIC53795.2021.9648465
Martín A. Alarcón, Rodrigo G. Alarcón, A. González, A. Ferramosca
This paper proposes a Model Predictive Control (MPC) strategy for energy resources management in a microgrid. A state-space discrete-time linear model is presented, characterized by an hybrid storage system, consisting of lithium ion battery banks and ultracapacitors. The renewable resource is composed by an array of solar panels and the microgrid is considered to be connected to the main electricity grid, having the possibility to interact with it, under certain restrictions. Simulation results are presented under different generation and consumption scenarios.
提出了一种用于微电网能源管理的模型预测控制(MPC)策略。提出了一个由锂离子电池组和超级电容器组成的混合存储系统的状态空间离散时间线性模型。可再生资源由一系列太阳能电池板组成,微电网被认为与主电网相连,在一定的限制下,有可能与主电网相互作用。给出了不同发电和消费场景下的仿真结果。
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引用次数: 1
A novel LQR Controller Design Method based on the Pontryagin’s Maximum Principle 一种基于庞特里亚金极大值原理的LQR控制器设计方法
Pub Date : 2021-11-03 DOI: 10.1109/RPIC53795.2021.9648447
M. Herrera, J. Pucheta, C. Salas, H. Patiño, Cristian Rodriguez Rivero
In this work, a new design methodology for the LQR deduction controller based on the Pontryagin’s maximum principle for LTI systems is presented. The advantage of this new procedure over the classic ones is that it allows tuning the weighting matrices, Q and R, in operation without requiring a large volume of computing effort, making it suitable for implementation in low-cost microcontrollers. In order to show its performance, computer simulations applied to the control of an inverted pendulum and a quadrotor are shown.
在这项工作中,提出了一种新的LQR扣除控制器的设计方法,该方法基于LTI系统的庞特里亚金最大原理。与传统程序相比,这种新程序的优点是,它允许在操作中调整加权矩阵Q和R,而不需要大量的计算工作,使其适合在低成本微控制器中实现。为了证明其性能,给出了计算机仿真应用于倒立摆和四旋翼飞行器的控制。
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引用次数: 0
Dynamic Model of the Cardiorespiratory System in Healthy Humans by using Electrocardiogram signals as Input 以心电图信号为输入的健康人心肺系统动态模型
Pub Date : 2021-11-03 DOI: 10.1109/RPIC53795.2021.9648436
José Antonio Trillos Paredes, Lina María Gómez-Echavarría, Freddy Bolaños Martínez
In this article, a dynamic model of the cardio-respiratory system is developed, which uses an electrocardiogram (ECG) signal as input. Identification of two models of the Hammerstein − Wiener type is carried out, in order to obtain the mass flow of air in the respiratory process and the blood flow, starting from the ECG signal. These flows are coupled in turn with a phenomenological-based dynamic model that describes respiratory dynamics. From the developed model, it is possible to obtain as a result the concentrations of oxygen (O2) and carbon dioxide (CO2) in different parts of the body for different ECG signals.
本文建立了一个以心电图信号为输入的心肺系统动态模型。为了从心电信号出发,得到呼吸过程中空气的质量流量和血液的流量,对Hammerstein−Wiener两种模型进行了识别。这些流动依次与描述呼吸动力学的基于现象学的动态模型相结合。从开发的模型中,可以获得不同ECG信号下身体不同部位的氧气(O2)和二氧化碳(CO2)浓度。
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引用次数: 0
Diagnosis of induction motor faults using the full spectrum of direct and quadrature currents 利用直流和正交电流的全频谱诊断感应电动机故障
Pub Date : 2021-11-03 DOI: 10.1109/RPIC53795.2021.9648412
M. Meira, C. Ruschetti, C. Verucchi, Guillermo R. Bossio, J. Bossio
In this work, it is proposed to use a new reference frame in dq variables fixed to the stator fluxes to discriminate faults such as broken rotor bars in induction motors from low frequency load oscillations. In this new reference frame, only the stator current q contributes to the electromagnetic torque. This makes it sensitive to load faults, such as oscillations, while the current d is sensitive to motor faults, such as broken bars. Also, the steady state currents in dq variables are constant. Finally, it is possible to obtain two three-phase currents, one load-sensitive and the other motor-sensitive, which can be analyzed with classical signal analysis techniques. The proposal is validated through simulations, analyzing the full spectrum of the two three-phase currents. It is shown that with this new reference frame it is possible to discriminate between broken rotor bars in induction motors and low-frequency load oscillations.
在这项工作中,我们提出了一个新的参考系,在定子磁链固定的dq变量中,用于区分感应电动机的故障,如转子断条和低频负载振荡。在这个新的参考系中,只有定子电流q对电磁转矩有贡献。这使得它对负载故障敏感,如振荡,而电流d对电机故障敏感,如断条。同时,dq变量中的稳态电流是恒定的。最后,可以得到两个三相电流,一个是负载敏感的,另一个是电机敏感的,可以用经典的信号分析技术进行分析。通过仿真验证了该方案,分析了两种三相电流的全频谱。结果表明,利用这种新的参考系可以区分异步电动机转子断条和低频负载振荡。
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引用次数: 1
NO2 monthly product for air quality in South America 南美空气质量NO2月产品
Pub Date : 2021-11-03 DOI: 10.1109/RPIC53795.2021.9648470
M. F. García Ferreyra, Anahí Bianco, Ivanna Tropper
Air quality is assessed by determining criteria pollutant levels in the atmosphere. While the most significant measurements are ground based, satellite remote sensing is rising as a complementary technique to reveal spatial distribution of pollutants in the integrated tropospheric column. In this work we present a new CONAE’s value-added monthly product of nitrogen dioxide (NO2) for South America, derived from the tropospheric NO2 column density estimated by TROPOMI/Sentinel-5p (ESA) data. Dataset generation of monthly mean, median, standard deviation and quantity of data used per pixel, along with distribution formats of downloading and visualizing data, are explained in order to provide to different users their characteristics and access. In addition, a spatial and temporal analysis is made for the Buenos Aires, Santiago and São Paulo cities along with ground measurements, for the august 2018 to may 2021 period and on a monthly basis. For this matter, higher values of nitrogen dioxide were observed in wintertime for the three cities, due to a greater quantity of stagnation episodes. While satellite derived data follows the temporal profile of ground-based concentrations, Santiago was the city of higher levels and bigger contrast to the summer levels. COVID-19 pandemic restrictions to traffic circulation is also noticed in the diminishing of NO2 in the two datasets, as it was also reported in previous studies. The publication of this new dataset holds the objective of supporting air quality monitoring in South America, helping non specialized users to freely access to interoperational data.
空气质量是通过确定大气中的污染物水平来评估的。虽然最重要的测量是基于地面的,但卫星遥感作为一种补充技术正在兴起,以揭示对流层综合柱中污染物的空间分布。在这项工作中,我们提出了一个新的CONAE南美二氧化氮(NO2)的增值月产品,该产品来自trotropomi /Sentinel-5p (ESA)数据估计的对流层NO2柱密度。解释了月平均值、中位数、标准差和每像素使用的数据量的数据集生成,以及下载和可视化数据的分布格式,以便为不同用户提供其特征和访问。此外,还对2018年8月至2021年5月期间的布宜诺斯艾利斯、圣地亚哥和圣保罗城市进行了空间和时间分析,并进行了地面测量。因此,这三个城市在冬季观测到的二氧化氮值较高,这是由于停滞期较多。虽然卫星获得的数据遵循地面浓度的时间分布,但圣地亚哥的浓度较高,与夏季浓度的对比也更大。正如之前的研究所报告的那样,两个数据集中二氧化氮的减少也注意到COVID-19大流行对交通流通的限制。这个新数据集的发布旨在支持南美洲的空气质量监测,帮助非专业用户自由访问互操作数据。
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引用次数: 0
Surface reflectance simulations of fresh and aged snow with light absorbing impurities 含吸光杂质的新鲜雪和陈年雪的表面反射率模拟
Pub Date : 2021-11-03 DOI: 10.1109/RPIC53795.2021.9648492
G. Beltramone, C. Scavuzzo, A. Germãn, M. Bonansea, A. Ferral
Monitoring the spatial and temporal changes of seasonal snow cover helps to predict and mitigate floods, avalanches, frost damage, among other hazards. It can also help estimating the supply for human consumption of fresh water, irrigation and hydropower stations, and may contribute to the improvement of weather forecasts and the understanding of the climate system. However, global warming and the effect of Light Absorbing Impurities (LAIs) are affecting the spatial and temporal variability of snowpacks and its complex processes and environmental interactions. This study is a first approach for assessing the impact of LAIs in the Argentinean snowpacks albedo through radiative transfer models. The results suggest that determining the state of the snowpack before estimating the presence, concentration and type of impurity is essential due to the fact that the albedo simulations vary significantly according to the snow grain size. Additionally, change percentage from unpolluted fresh and aged snow was calculated for snowpacks with high concentrations of black carbon, dust and ash considering the impurity values found in South America. Finally, the albedo results obtained with the SNICAR model were compared with the Landsat-8 relative spectral response in order to assess the capabilities of the sensor to estimate the presence of LAIs, which showed similar results than the ones obtained with SNICAR.
监测季节性积雪的时空变化有助于预测和减轻洪水、雪崩、霜冻等灾害。它还可以帮助估计供人类使用的淡水、灌溉和水电站的供应,并可能有助于改善天气预报和对气候系统的了解。然而,全球变暖和光吸收杂质(LAIs)的影响正在影响积雪的时空变化及其复杂的过程和环境相互作用。本研究是通过辐射转移模式评估LAIs对阿根廷积雪反照率影响的第一个方法。结果表明,由于反照率模拟结果因雪粒大小的不同而有显著差异,因此在估计杂质存在、浓度和类型之前确定积雪状态至关重要。此外,考虑到在南美洲发现的杂质值,计算了未污染的新鲜雪和陈年雪的变化百分比,这些积雪含有高浓度的黑碳、灰尘和灰分。最后,将SNICAR模型获得的反照率结果与Landsat-8相对光谱响应进行比较,以评估传感器估计LAIs存在的能力,结果与SNICAR模型获得的结果相似。
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引用次数: 0
Seismic Data Resizing Using Seam Carving 使用接缝雕刻调整地震数据大小
Pub Date : 2021-11-03 DOI: 10.1109/RPIC53795.2021.9648524
Julián L. Gómez, D. Velis
Seismic data interpretation can be accelerated by reducing the size of the seismic images. Cropping, decimation, and resizing (decimation after averaging), are some well-known techniques to accomplish these goals. Rather than regularly removing certain rows and columns (decimation), or predefined groups of rows and columns (cropping) from the input image, seam carving (SC) discards the least informative regions of the input image while preserving its content. SC is a computer vision algorithm originally devised to resize natural images that, to our best knowledge, had not been applied to resize geophysical data previously. We propose to adopt SC to deliver smaller, yet representative, seismic images that contain the most relevant structures and textures of the original data with amplitude preservation. These reduced images can be used by seismic interpreters to cope with day-to-day Industry demands and deadlines since they can analyze the results of filters and seismic attributes with less computational resources and in shorter time frames. Essentially, SC relies on an energy operator and dynamic optimization to find the optimal pixel trajectories to carve from the input image iteratively until the desired image size is attained. We modify the original SC algorithm by using an energy operator based on the well-known Sobel magnitude that grants high reduction rates in both dimensions with minimum artifacts. We illustrate SC by means of a toy example and an image from the Moon’s surface. Then, the proposed method is applied to resize field seismic data that comprise two seismic sections and one seismic amplitude time-slice. The results demonstrate that SC, contrarily to decimation or conventional resizing, provides meaningful reduced seismic images that preserve the main features of the original data.
通过减小地震图像的尺寸,可以加快地震资料的解释速度。裁剪、抽取和调整大小(平均后抽取)是实现这些目标的一些众所周知的技术。seam carving (SC)不是定期地从输入图像中删除某些行和列(抽取)或预定义的行和列组(裁剪),而是在保留输入图像内容的同时丢弃输入图像中信息量最少的区域。SC是一种计算机视觉算法,最初设计用于调整自然图像的大小,据我们所知,以前没有应用于调整地球物理数据的大小。我们建议采用SC来提供更小,但具有代表性的地震图像,这些图像包含原始数据中最相关的结构和纹理,并具有振幅保存。这些简化后的图像可以被地震解释人员用来处理日常的行业需求和截止日期,因为他们可以用更少的计算资源和更短的时间框架来分析过滤器和地震属性的结果。本质上,SC依赖于能量算子和动态优化来从输入图像迭代地寻找最佳像素轨迹,直到获得所需的图像尺寸。我们通过使用基于著名的Sobel幅度的能量算子来修改原始SC算法,该算子在两个维度上都具有较高的还原率和最小的伪影。我们通过一个玩具例子和月球表面的图像来说明SC。然后,将该方法应用于由两个地震剖面和一个地震振幅时间片组成的现场地震数据的大小调整。结果表明,与抽取或传统的调整大小相反,SC提供了有意义的简化地震图像,保留了原始数据的主要特征。
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引用次数: 0
期刊
2021 XIX Workshop on Information Processing and Control (RPIC)
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