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ATDN vSLAM: An all-through Deep Learning-Based Solution for Visual Simultaneous Localization and Mapping ATDN vSLAM:一种全面的基于深度学习的视觉同步定位和映射解决方案
Q3 Computer Science Pub Date : 2022-06-13 DOI: 10.3311/PPee.20437
M'aty'as Sz'ant'o, Gyorgy R. Bog'ar, L. Vajta
In this paper, a novel solution is introduced for visual Simultaneous Localization and Mapping (vSLAM) that is built up of Deep Learning components. The proposed architecture is a highly modular framework in which each component offers state of the art results in their respective fields of vision-based Deep Learning solutions. The paper shows that with the synergic integration of these individual building blocks, a functioning and efficient all-through deep neural (ATDN) vSLAM system can be created. The Embedding Distance Loss function is introduced and using it the ATDN architecture is trained. The resulting system managed to achieve 4.4% translation and 0.0176 deg/m rotational error on a subset of the KITTI dataset. The proposed architecture can be used for efficient and low-latency autonomous driving (AD) aiding database creation as well as a basis for autonomous vehicle (AV) control.
本文提出了一种基于深度学习的视觉同步定位与映射(vSLAM)解决方案。提出的架构是一个高度模块化的框架,其中每个组件在各自的基于视觉的深度学习解决方案领域提供最先进的结果。本文表明,通过这些单独的构建块的协同集成,可以创建一个功能强大且高效的全通道深度神经(ATDN) vSLAM系统。引入了嵌入距离损失函数,并利用它对ATDN体系结构进行了训练。最终系统在KITTI数据集的一个子集上实现了4.4%的平移和0.0176度/米的旋转误差。该架构可用于高效、低延迟的自动驾驶(AD)辅助数据库创建,并为自动驾驶汽车(AV)控制奠定基础。
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引用次数: 1
Critical Clearing Time and Angle for Power Systems Postfault Stability Assessment 电力系统故障后稳定性评估的临界清除时间和角度
Q3 Computer Science Pub Date : 2022-06-08 DOI: 10.3311/ppee.19858
Lounis Latiki, Abdallah Medjdoub, N. Taib
Transient stability analysis is a very important tool to deal with many behaviors of electrical power systems during and after being subjected to various disturbances. this paper propose a method for electrical power systems transient stability assessment using phase plane trajectories. A methodology for computing the critical stability conditions of generators is proposed. The critical conditions such as critical clearing time (CCT) and critical clearing angle (CCA) were obtained. The computation of CCA and CCT is curried out step by step using the characteristics of the faulted and postfault trajectories from given initial conditions until their intersection point. The angle and time values founded represent, by definition, the critical conditions of the system. The proposed algorithm can be used for complex models since it is based on solving systems of differential equations by iterative methods in the phase plane. The advantage provided by this method is it's accurate and small time consuming. To demonstrate the effectiveness of the proposed method, first, critical conditions calculation procedures are given, then the process used in judging power system stability is provided, finally, simulation results for various test cases of a single machine infinite bus (SMIB) system highlight the proposed methodology.
暂态稳定分析是处理电力系统在受到各种扰动时和扰动后的许多行为的重要工具。提出了一种基于相平面轨迹的电力系统暂态稳定性评估方法。提出了一种计算发电机临界稳定条件的方法。得到了临界清净时间(CCT)和临界清净角(CCA)等临界条件。利用断层和断层后轨迹的特征,从给定初始条件到它们的交点,逐级计算CCA和CCT。根据定义,所建立的角度和时间值代表系统的临界条件。该算法基于在相平面上用迭代法求解微分方程组,可用于复杂模型。该方法具有精度高、耗时短等优点。为了验证该方法的有效性,首先给出了临界条件的计算步骤,然后给出了用于判断电力系统稳定性的过程,最后通过单机无限母线(SMIB)系统各种测试用例的仿真结果验证了该方法的有效性。
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引用次数: 0
Study and Numerical Simulation of Negative and Positive Corona Discharge: A Review 负极和正极电晕放电的研究与数值模拟综述
Q3 Computer Science Pub Date : 2022-05-31 DOI: 10.3311/ppee.19952
Angel Asipuela, T. Iváncsy
Two models to describe the phenomenon of corona discharge are presented: the first is known as the plasma model which with plasma chemistry defines the volumetric and surface reactions among charge carriers such as electrons, positive, and negative ions. This model uses Poisson's equation and a formulation of the space-charge density to calculate the electric field necessary to solve the species transport equations. Besides, only the plasma model determines the density of the charge carriers. The second is a simplified model which describes the corona discharge in terms of current conservation coupled with Poisson's equation. This model does not have any connection with the attributes of plasma chemistry. Both models propose solutions for the electric potential and space charge density distribution from the corona electrode to the ground electrode.
提出了两种描述电晕放电现象的模型:第一种是等离子体模型,它用等离子体化学定义了电子、正离子和负离子等载流子之间的体积和表面反应。该模型使用泊松方程和空间电荷密度公式来计算解种输运方程所需的电场。此外,只有等离子体模型才能决定载流子的密度。第二种是简化的电晕放电模型,该模型用电流守恒和泊松方程相结合的方法来描述电晕放电。这个模型与等离子体化学的特性没有任何关系。两种模型都提出了电晕电极到地电极的电势和空间电荷密度分布的解。
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引用次数: 1
Modelling and Attitude Control of an Agile Fixed Wing UAV based on Nonlinear Dynamic Inversion 基于非线性动态反演的敏捷固定翼无人机建模与姿态控制
Q3 Computer Science Pub Date : 2022-05-31 DOI: 10.3311/ppee.20287
Stephen Muchai Kimathi, B. Lantos
An estimation model is key in the design and development of an unmanned aerial vehicle's control system. This work presents a complete methodology for modelling the dynamics of a fixed-wing UAV for aerobatic maneuvers. The UAV dynamic non-linear model considered uses total variables instead of a nominal values and perturbation values about certain trimmed conditions for conventional flight envelopes. Such modelling allows the expansion of the flight envelope of an unmanned aerial vehicle to cover the full range of the angle of attack. The quaternion formulation is used since it eliminates the nonlinearity of the aerodynamics due to Euler angles for high angle of attacks. The objective is to have a complete and accurate representation of a highly dynamic fixed wing UAV capable of making aerobatic maneuvers without encountering singularities. A set of controllers are then designed for the inner and outer loops for attitude control using nonlinear dynamic inversion in cascade with a PI controller. Simulations carried out show robust tracking of reference attitude angles.
估计模型是无人机控制系统设计与开发的关键。这项工作提出了一个完整的方法建模的动力学固定翼无人机的特技飞行机动。考虑的无人机动态非线性模型使用总变量代替标称值和摄动值对某些常规飞行包线裁剪条件。这样的建模允许扩展无人机的飞行包线,以覆盖攻角的全部范围。四元数公式的使用,因为它消除了非线性的空气动力学由于欧拉角大攻角。目标是有一个完整和准确的表示高动态固定翼无人机能够使特技飞行机动没有遇到奇点。在此基础上,设计了一套基于PI控制器的非线性动态串级反演的内外环姿态控制控制器。仿真结果表明,该方法具有较好的参考姿态角跟踪能力。
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引用次数: 2
Robust Neural Control of Wind Turbine Based Doubly Fed Induction Generator and NPC Three Level Inverter 基于双馈感应发电机和NPC三电平逆变器的风力发电机鲁棒神经控制
Q3 Computer Science Pub Date : 2022-05-17 DOI: 10.3311/ppee.19921
Khadraoua Narimene, Mendaz Kheira, Flitti Mohamed
This paper presents dynamic modeling and control of Doubly Fed Induction Generator (DFIG) based on wind turbine systems, where the stator of DFIG is directly connected to the grid and the rotor was fed by a three level PWM NPC inverter. The active and reactive power control of the DFIG is based on the feedback technique by vector control method by using a classical regulator of Proportional-Integral (PI) type which allows us, in association with the looping of powers, to obtain an efficient and robust system. This approach is a very attractive solution for devices using DFIG as wind energy conversion systems; because, it is a simple, practical implementation, commonly applied in the wind turbine industry and it presents very acceptable performance, However, this control approach has certain limitations and has several causes, vector command with NPC three-level inverter pulse width modulation (PWM) is used to control the reactive power and active power of the generator. Then, use the neural network design to replace the traditional proportional-integral (PI) controller. Finally, the Matlab/Simulink software is used for simulation to prove the effectiveness of the command strategy.
本文研究了基于风力发电系统的双馈感应发电机(DFIG)的动态建模与控制,其中DFIG的定子与电网直接相连,转子由三电平PWM NPC逆变器供电。DFIG的有功和无功功率控制是基于矢量控制方法的反馈技术,采用经典的比例积分(PI)型调节器,使我们能够与功率环相关联,获得高效和鲁棒的系统。这种方法对于使用DFIG作为风能转换系统的设备来说是一个非常有吸引力的解决方案;由于该控制方法简单、实用,在风力发电机组行业中得到了广泛应用,并呈现出令人满意的性能,但该控制方法存在一定的局限性和原因,采用矢量指令结合NPC三电平逆变器脉宽调制(PWM)来控制发电机的无功功率和有功功率。然后,用神经网络设计取代传统的比例积分(PI)控制器。最后,利用Matlab/Simulink软件进行仿真,验证了该命令策略的有效性。
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引用次数: 1
A Review on Electric Vehicles Charging Strategies Concerning Actors Interests 考虑行为主体利益的电动汽车充电策略研究综述
Q3 Computer Science Pub Date : 2022-05-03 DOI: 10.3311/ppee.19625
Shahab Sabzi, L. Vajta, T. Faghihi
Electric vehicles are becoming increasingly popular in societies and an important part of smart grids. Utility companies should be able to provide them with vital energy as they need electric energy instead of fuel, and this is where new challenges emerge in the network. In order to avoid causing utilities to incur additional energy and economic losses, researchers have proposed smart charging as a way to provide adequate energy to vehicles. When developing a charging schedule for a fleet of EVs, special considerations are made on variables such as energy, cost, and EVs milage. In this review paper, the importance of EVs integration into smart grids is studied, and then different methods to develop EVs charging scheduling are investigated. These methods can vary from optimization algorithms to learning-based, and game theory-based approaches. Then, as the considered system consists of three main actors, including EV users, the utility operator, and aggregators, a systematic review is conducted on these actors, and objectives related to each one are analyzed. Finally, research gaps related to the problem are studied. Researchers can use this review to conduct further research on the integration of EVs into smart grids.
电动汽车在社会上越来越受欢迎,也是智能电网的重要组成部分。因为他们需要电能而不是燃料,所以公用事业公司应该能够为他们提供至关重要的能源,这就是网络出现新的挑战的地方。为了避免给公用事业公司带来额外的能源和经济损失,研究人员提出了智能充电作为一种为车辆提供足够能源的方法。在为一组电动汽车制定充电计划时,需要特别考虑能源、成本和电动汽车行驶里程等变量。本文研究了电动汽车融入智能电网的重要性,并对制定电动汽车充电计划的不同方法进行了探讨。这些方法可以从优化算法到基于学习和基于博弈论的方法。然后,由于所考虑的系统由三个主要参与者组成,包括电动汽车用户、公用事业运营商和聚合器,因此对这些参与者进行了系统审查,并分析了与每个参与者相关的目标。最后,分析了与该问题相关的研究空白。研究人员可以利用这篇综述对电动汽车与智能电网的整合进行进一步研究。
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引用次数: 1
Detection of Lung Cancer Stages on Computed Tomography Image Using Laplacian Filter and Marker Controlled Watershed Segmentation Technique 基于拉普拉斯滤波和标记控制分水岭分割技术的ct图像肺癌分期检测
Q3 Computer Science Pub Date : 2022-04-27 DOI: 10.3311/ppee.19755
Tamanna Tajrin, Mamun Ahmed, S. Zaman
Lung cancer is a form of malignant tumor distinguished by aggressive multiplication of abnormal cells in lung tissues. If we can assure the detection of lung cancer in the early stage, then we have a chance to increase the survival rate by five years as effective treatment is still available at this stage. Many researchers in the field of image processing sector have built various systems to detect cancer by using image processing techniques. Internationally TNM (Tumor, Nodule, Metastases respectively) method is followed by a physician and radiologist to describe the stage of lung cancer. Our proposed system uses image processing techniques to detect and classify the tumor according to the TNM staging method. First, a series of image processing techniques are performed in a Computed tomography (CT) image. Then, features are extracted to identify the region of interest (ROI). In our proposed system, the classification approach is different from the reviewed existing systems, and the detection rate is comparatively high.
肺癌是一种恶性肿瘤,其特征是肺组织中异常细胞的侵袭性增殖。如果我们能保证在早期发现肺癌,那么我们就有机会将生存率提高5年,因为在这个阶段仍然有有效的治疗方法。许多图像处理领域的研究人员利用图像处理技术建立了各种癌症检测系统。在国际上,TNM(分别为肿瘤、结节、转移)方法是由内科医生和放射科医生来描述肺癌的分期。我们提出的系统采用图像处理技术,根据TNM分期方法对肿瘤进行检测和分类。首先,在计算机断层扫描(CT)图像中执行一系列图像处理技术。然后,提取特征以识别感兴趣区域(ROI)。在我们提出的系统中,分类方法不同于已审查的现有系统,并且检出率较高。
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引用次数: 0
Parameter Determination and Drive Control Analysis of Axial Flux Permanent Magnet Synchronous Motors 轴向磁通永磁同步电机参数确定及驱动控制分析
Q3 Computer Science Pub Date : 2022-03-31 DOI: 10.3311/ppee.19714
Attila Nyitrai, G. Szabó, S. Horváth
Axial flux electric motors have received a lot of attention in recent years due to successful implementations in industrial or traction applications. Particularly, axial flux permanent magnet synchronous motors (AFPMSM) can be an attractive choice in case of high torque-density requirements or when the drive environment (packaging) is geometrically limited to a disc-shaped motor. However, compared to radial flux motors, axial flux machine modeling possibilities are much less documented. In the present study, different electromagnetic modeling approaches have been compared through an example AFPMSM design. The motor parameters were determined by analytical and finite element methods. A 2D equivalent model (2D Linear Motor Modeling Approach – 2D-LMMA) and a 3D model results have been compared. The calculated values were used to carry out a drive control analysis of the axial flux motor.
近年来,轴向磁通电动机由于在工业或牵引应用中的成功实施而受到了广泛的关注。特别是,轴向磁通永磁同步电机(AFPMSM)可以是一个有吸引力的选择,在高扭矩密度要求的情况下,或当驱动环境(包装)是几何上限制为圆盘形电机。然而,与径向磁通电机相比,轴向磁通电机建模的可能性要少得多。在本研究中,通过一个AFPMSM设计实例,比较了不同的电磁建模方法。采用解析法和有限元法确定了电机参数。二维等效模型(二维线性电机建模方法- 2D- lmma)和三维模型结果进行了比较。利用计算值对轴向磁通电机进行驱动控制分析。
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引用次数: 2
Multiband Handset Antenna System for UMTS/LTE/WLAN/Sub-6 5G and mmWave 5G Future Smartphones 用于UMTS/LTE/WLAN/Sub-6 5G和毫米波5G未来智能手机的多频段手机天线系统
Q3 Computer Science Pub Date : 2022-03-28 DOI: 10.3311/ppee.19679
A. Sabaawi, K. Younus
In this paper, a new antenna system for rapidly emerging multifunction devices is presented. The proposed antenna system consists of four antenna components each one operating at different frequency bands separately. The designed antennas are isolated and integrated on a single substrate. The first antenna is designed to operate at 1920–2170 MHz covering the UMTS band, whereas the second antenna is proposed for the lower band 5G systems and WiMAX operating within the frequency range of 3.4–4.2 GHz. Furthermore, another antenna is designed to cover the higher band 5G system and the IEEE 820.11a WLAN within the frequency range of 5.1–5.85 GHz. Finally, a 28 GHz bowtie-based MIMO antenna array is designed and simulated for the mmWave future 5G mobile networks. The proposed antennas were designed and simulated by using CST microwave studio. The results showed that all of the proposed antennas exhibited excellent reflection characteristics below −20 dB at the resonant frequency and achieved high radiation efficiency reached 99% in some cases with a peak gain ranging between 4–6 dBi. The proposed antenna system helps smartphones to perform multitasks and achieve a better-quality operation especially with the enormous growth of IoT techniques.
本文提出了一种适用于快速发展的多功能器件的新型天线系统。所提出的天线系统由四个天线组件组成,每个天线组件分别在不同的频段工作。所设计的天线被隔离并集成在单一基板上。第一个天线的设计工作频率为1920-2170 MHz,覆盖UMTS频段,而第二个天线被提议用于较低频段的5G系统和WiMAX,工作频率范围为3.4-4.2 GHz。此外,还设计了另一根天线,用于覆盖更高频段的5G系统和5.1-5.85 GHz频率范围内的IEEE 820.11a WLAN。最后,针对毫米波未来5G移动网络,设计并仿真了基于蝴蝶结的28 GHz MIMO天线阵列。利用CST微波工作室对所提出的天线进行了设计和仿真。结果表明,所有天线在谐振频率- 20 dB以下均具有良好的反射特性,辐射效率高达99%,峰值增益在4-6 dBi之间。所提出的天线系统有助于智能手机执行多任务并实现更高质量的操作,特别是随着物联网技术的巨大增长。
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引用次数: 2
Spectroscopy-Based Partial Prediction of In Vitro Dissolution Profile Using Artificial Neural Networks 基于光谱学的体外溶出谱人工神经网络部分预测
Q3 Computer Science Pub Date : 2022-03-16 DOI: 10.3311/ppee.18552
M. Mrad, K. Csorba, D. Galata, Z. Nagy, Brigitta Nagy
In pharmaceutical industry, dissolution testing is part of the target product quality that essentials are in the approval of new products. The prediction of the dissolution profile based on spectroscopic data is an alternative to the current destructive and time-consuming method. RAMAN and Near Infrared (NIR) spectroscopy are two complementary methods, that provide information on the physical and chemical properties of the tablets and can help in predicting their dissolution profiles. This work aims to use the information collected by these methods to support the decision of how much of the dissolution profile should be measured and which methods to use, so that by estimating the remaining part, the accuracy requirement of the industry is met. Artificial neural network models were created, in which parts of the measured dissolution profiles, along with the spectroscopy data and the measured compression curves were used as an input to estimate the remaining part of the dissolution profiles. It was found that by measuring the dissolution profiles for 30 minutes, the remaining part was estimated within the acceptance limits of the f2 similarity factor. Adding further spectroscopy methods along with the measured parts of the dissolution profile significantly increased the prediction accuracy.
在制药工业中,溶出度检测是新产品批准过程中必不可少的目标产品质量的一部分。基于光谱数据的溶解剖面预测是目前破坏性和耗时方法的替代方法。拉曼光谱和近红外光谱(NIR)是两种互补的方法,可提供有关片剂物理和化学性质的信息,并有助于预测其溶解谱。这项工作的目的是利用这些方法收集的信息来支持决定应该测量多少溶解剖面和使用哪种方法,以便通过估计剩余部分来满足行业的精度要求。建立了人工神经网络模型,其中部分测量的溶解剖面,以及光谱数据和测量的压缩曲线作为输入来估计剩余部分的溶解剖面。结果发现,通过测量30分钟的溶出曲线,剩余部分估计在f2相似因子的可接受范围内。添加进一步的光谱方法以及溶解剖面的测量部分显着提高了预测精度。
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引用次数: 1
期刊
Periodica polytechnica Electrical engineering and computer science
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