Pub Date : 2021-11-22DOI: 10.1109/IEACon51066.2021.9654524
N. D. Roslizan, M. Rohani, A. S. Rosmi, B. Ismail, M. A. Jamlos, M. Z. Aihsan
The partial discharge (PD) method of evaluating insulation problems and finding possible faults in a power transformer is quite successful. Ultrahigh-frequency (UHF) sensors in the frequency spectrum higher than 300 MHz can detect electromagnetic waves emitted by PD. However, for practical placement inside a transformer, the size and frequency bandwidth of a UHF sensor for PD detection are a worry. To detect the PD signal early, sensors with high sensitivity and multiband frequency are required. Sensors with high sensitivity and multiband frequency are required to detect the PD signal early on. This paper presents a variety of side dimension sizes and thicknesses of a 4th order Hilbert fractal UHF sensor for PD detection inside a power transformer. This UHF sensor was designed to capture PD signals at frequencies ranging from 300 MHz to 3 GHz. The sensor is designed by using CST software where the setting the dimension of 40 mm, 50 mm, 60 mm, 70 mm, 80 mm, 90 mm, 100 mm and 150 mm for length and width with different thickness which is by fixed and by formula with an FR4 epoxy substrate of thickness 1.6 mm. Based on the simulation results, the suggested sensor can measure PD signals with a reflection coefficient of less than −10 dB and a VSWR of less than 5. This sensor's benefits include a wide bandwidth, excellent sensitivity, and an appropriate size for straightforward installation. As a result, this sensor has been approved for use in the power transformer as a UHF PD detection sensor.
{"title":"Multiband Frequency of 4th Order Hilbert Fractal UHF Sensor Modelling for Partial Discharge Detection in Power Transformer","authors":"N. D. Roslizan, M. Rohani, A. S. Rosmi, B. Ismail, M. A. Jamlos, M. Z. Aihsan","doi":"10.1109/IEACon51066.2021.9654524","DOIUrl":"https://doi.org/10.1109/IEACon51066.2021.9654524","url":null,"abstract":"The partial discharge (PD) method of evaluating insulation problems and finding possible faults in a power transformer is quite successful. Ultrahigh-frequency (UHF) sensors in the frequency spectrum higher than 300 MHz can detect electromagnetic waves emitted by PD. However, for practical placement inside a transformer, the size and frequency bandwidth of a UHF sensor for PD detection are a worry. To detect the PD signal early, sensors with high sensitivity and multiband frequency are required. Sensors with high sensitivity and multiband frequency are required to detect the PD signal early on. This paper presents a variety of side dimension sizes and thicknesses of a 4th order Hilbert fractal UHF sensor for PD detection inside a power transformer. This UHF sensor was designed to capture PD signals at frequencies ranging from 300 MHz to 3 GHz. The sensor is designed by using CST software where the setting the dimension of 40 mm, 50 mm, 60 mm, 70 mm, 80 mm, 90 mm, 100 mm and 150 mm for length and width with different thickness which is by fixed and by formula with an FR4 epoxy substrate of thickness 1.6 mm. Based on the simulation results, the suggested sensor can measure PD signals with a reflection coefficient of less than −10 dB and a VSWR of less than 5. This sensor's benefits include a wide bandwidth, excellent sensitivity, and an appropriate size for straightforward installation. As a result, this sensor has been approved for use in the power transformer as a UHF PD detection sensor.","PeriodicalId":397039,"journal":{"name":"2021 IEEE Industrial Electronics and Applications Conference (IEACon)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114383920","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}
Pub Date : 2021-11-22DOI: 10.1109/IEACon51066.2021.9654675
Najva Hassan, Abdulrahman Saleem
Trajectory tracking is a key component of autonomous robot navigation. Trajectory tracking control algorithms control the robots effectively to track the desired trajectory that is predetermined by the trajectory planning module. Since the control performance changes significantly depending on the scenarios, choosing an appropriate controller is a nontrivial task. A simulation study of trajectory tracking controllers for non-holonomic mobile robots is presented in this work. All the control algorithms are simulated and compared on a two wheeled differential drive mobile robot. The control algorithms are implemented on MATLAB/SIMULINK 2020a and the performance of control algorithms is evaluated by tracking circular trajectory as the reference trajectory.
{"title":"Analysis of Trajectory Tracking Control Algorithms for Wheeled Mobile Robots","authors":"Najva Hassan, Abdulrahman Saleem","doi":"10.1109/IEACon51066.2021.9654675","DOIUrl":"https://doi.org/10.1109/IEACon51066.2021.9654675","url":null,"abstract":"Trajectory tracking is a key component of autonomous robot navigation. Trajectory tracking control algorithms control the robots effectively to track the desired trajectory that is predetermined by the trajectory planning module. Since the control performance changes significantly depending on the scenarios, choosing an appropriate controller is a nontrivial task. A simulation study of trajectory tracking controllers for non-holonomic mobile robots is presented in this work. All the control algorithms are simulated and compared on a two wheeled differential drive mobile robot. The control algorithms are implemented on MATLAB/SIMULINK 2020a and the performance of control algorithms is evaluated by tracking circular trajectory as the reference trajectory.","PeriodicalId":397039,"journal":{"name":"2021 IEEE Industrial Electronics and Applications Conference (IEACon)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129198382","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}
Pub Date : 2021-11-22DOI: 10.1109/IEACon51066.2021.9654460
Ali Bughneda, Mohamed Salem, D. Ishak, Salah Alatai, M. Kamarol, Khlid Ben Hamad
Many power conversion technologies are based on multilevel inverters (MLIs). Due to their significant features of power conversion and regulation, they have been such a good choice to be utilized in renewable energy sources (RESs) integration, and grid-connected energy systems. The current attention on MLIs is mainly concerned to provide new methods or constructions by reducing the number of power switch counts and DC supplies to achieve efficient power and fault tolerance. Hence, this work is focused on the development of a modified 5-level CHB inverter with fewer switches (6 switches) and its combination with 2 PV arrays sources to achieve a 5-level voltage waveform with low harmonic distortion (HD). The modes of operation of the circuit configuration for the suggested inverter were also presented. The proposed configuration in this study achieved better output waveform quality with significant reduction in device counts and HD compared to the general structure of cascaded H-bridge MLI. Matlab/Simulink was used to simulate the suggested system. As a result, the system proved its validity to offer 849.7 V output with 97.6 % efficiency, and significant reduction of the total harmonics distortion to 1.96 %.
{"title":"Modified Five-level Inverter for PV Energy system with Reduced Switch Count","authors":"Ali Bughneda, Mohamed Salem, D. Ishak, Salah Alatai, M. Kamarol, Khlid Ben Hamad","doi":"10.1109/IEACon51066.2021.9654460","DOIUrl":"https://doi.org/10.1109/IEACon51066.2021.9654460","url":null,"abstract":"Many power conversion technologies are based on multilevel inverters (MLIs). Due to their significant features of power conversion and regulation, they have been such a good choice to be utilized in renewable energy sources (RESs) integration, and grid-connected energy systems. The current attention on MLIs is mainly concerned to provide new methods or constructions by reducing the number of power switch counts and DC supplies to achieve efficient power and fault tolerance. Hence, this work is focused on the development of a modified 5-level CHB inverter with fewer switches (6 switches) and its combination with 2 PV arrays sources to achieve a 5-level voltage waveform with low harmonic distortion (HD). The modes of operation of the circuit configuration for the suggested inverter were also presented. The proposed configuration in this study achieved better output waveform quality with significant reduction in device counts and HD compared to the general structure of cascaded H-bridge MLI. Matlab/Simulink was used to simulate the suggested system. As a result, the system proved its validity to offer 849.7 V output with 97.6 % efficiency, and significant reduction of the total harmonics distortion to 1.96 %.","PeriodicalId":397039,"journal":{"name":"2021 IEEE Industrial Electronics and Applications Conference (IEACon)","volume":"330 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116355215","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}
Pub Date : 2021-11-22DOI: 10.1109/IEACon51066.2021.9654622
C. Venugopal, Greg Pak, Simeon Florea, Jeff Perkins, Christopher Anderson
Stroke is a leading cause of hand disability in adults worldwide. This happens because of the abnormal increase in muscle tension in addition to the inability of the brain to acquire necessary motor skills for hand movements. The proposed Assisted Hand Device aids in grip and release of an object with the hand directly affected by the stroke, other injuries and age-related disabilities. This device is also capable of providing exercise therapies to users by providing robotic rehabilitation solutions to users struggling to regain the use of their hands. The Assisted Hand Device is designed as a silicone or soft rubber glove. The design comes with user friendly mode selection buttons to perform grip and release of the objects, and therapeutic functions, using one finger or two finger operations. The raspberry pi acts as the brain of the entire control system transmitting the sensor/push button switch signals to the actuators. The silicone actuators were selected by testing the material strength at different pressure levels. The system was designed and tested successfully with different sizes of objects using one, two and four finger operations. The thumb operation is not included in this design but to be considered as a future development of the project.
{"title":"Assistive Hand Device Using Silicone Actuators","authors":"C. Venugopal, Greg Pak, Simeon Florea, Jeff Perkins, Christopher Anderson","doi":"10.1109/IEACon51066.2021.9654622","DOIUrl":"https://doi.org/10.1109/IEACon51066.2021.9654622","url":null,"abstract":"Stroke is a leading cause of hand disability in adults worldwide. This happens because of the abnormal increase in muscle tension in addition to the inability of the brain to acquire necessary motor skills for hand movements. The proposed Assisted Hand Device aids in grip and release of an object with the hand directly affected by the stroke, other injuries and age-related disabilities. This device is also capable of providing exercise therapies to users by providing robotic rehabilitation solutions to users struggling to regain the use of their hands. The Assisted Hand Device is designed as a silicone or soft rubber glove. The design comes with user friendly mode selection buttons to perform grip and release of the objects, and therapeutic functions, using one finger or two finger operations. The raspberry pi acts as the brain of the entire control system transmitting the sensor/push button switch signals to the actuators. The silicone actuators were selected by testing the material strength at different pressure levels. The system was designed and tested successfully with different sizes of objects using one, two and four finger operations. The thumb operation is not included in this design but to be considered as a future development of the project.","PeriodicalId":397039,"journal":{"name":"2021 IEEE Industrial Electronics and Applications Conference (IEACon)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116826420","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}
Pub Date : 2021-11-22DOI: 10.1109/IEACon51066.2021.9654510
J. Sun, Feng Ju, Qinghao Wang, Yan Hong, Bai Chen, Hongtao Wu, Jiangsu Hengli
In this paper, a new square wave injection sensorless control algorithm based on steady-state linear Kalman filter (SSLKF) is proposed for standstill and low-speed operation of permanent magnet synchronous motors (PMSM). Usually, in the square wave injection method, phase-locked loop (PLL) is used to extract the rotor position and speed information from the excited current. However, due to the measurement noise in the current signal, there will be large errors in the estimated speed and position values, which will affect the system performance. Compared with traditional methods, the proposed algorithm is more robust to noise and has higher estimation accuracy even under very high noise. In addition, an additional acceleration feedforward term is introduced into the SSLKF, which improves the response speed of the system. The performance of the proposed algorithm is evaluated in simulations. The root mean square error (RMSE) of velocity estimation is reduced from 180 RPM to 30 RPM, and RMSE of position estimation is reduced from 10° to 5°.
{"title":"Rotor Position Estimation of PMSM With Noise Suppression Using Steady-State Linear Kalman Filter and High Frequency Square Wave Injection","authors":"J. Sun, Feng Ju, Qinghao Wang, Yan Hong, Bai Chen, Hongtao Wu, Jiangsu Hengli","doi":"10.1109/IEACon51066.2021.9654510","DOIUrl":"https://doi.org/10.1109/IEACon51066.2021.9654510","url":null,"abstract":"In this paper, a new square wave injection sensorless control algorithm based on steady-state linear Kalman filter (SSLKF) is proposed for standstill and low-speed operation of permanent magnet synchronous motors (PMSM). Usually, in the square wave injection method, phase-locked loop (PLL) is used to extract the rotor position and speed information from the excited current. However, due to the measurement noise in the current signal, there will be large errors in the estimated speed and position values, which will affect the system performance. Compared with traditional methods, the proposed algorithm is more robust to noise and has higher estimation accuracy even under very high noise. In addition, an additional acceleration feedforward term is introduced into the SSLKF, which improves the response speed of the system. The performance of the proposed algorithm is evaluated in simulations. The root mean square error (RMSE) of velocity estimation is reduced from 180 RPM to 30 RPM, and RMSE of position estimation is reduced from 10° to 5°.","PeriodicalId":397039,"journal":{"name":"2021 IEEE Industrial Electronics and Applications Conference (IEACon)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122071305","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}
Pub Date : 2021-11-22DOI: 10.1109/IEACon51066.2021.9654464
F. Ismail, J. Jamaludin, N. A. Rahim
Proportional active and reactive power delivered into the grid systems is capable to enhance power quality and harmonic mitigation. It is a promising solution for Distributed Generations (DG) for grid power compensation. Conventional Current Control Mode (CCM) strategy has a limitation to achieve grid power compensation with various load changes. While Voltage Control Mode (VCM) may regulate voltage and current based on the dq-component of current and voltage, both strategies show poor performance to generate the proportional active and reactive current when they are applied to the DG systems. Considering this problem, this paper proposes Power Control Mode (PCM) strategy in combination with CCM and VCM to improve the performance of the DG systems, by compensating for the distorted grid current and improving power quality. In this strategy, by using dynamic active and reactive power injection, harmonic mitigation can be enhanced. In order to verify the effectiveness of the proposed strategy, this paper presents the results of simulation work and comparative analysis against other strategies.
{"title":"Power Controller Effects for Mitigating Harmonics in a Three-Phase Grid-Connected Inverter","authors":"F. Ismail, J. Jamaludin, N. A. Rahim","doi":"10.1109/IEACon51066.2021.9654464","DOIUrl":"https://doi.org/10.1109/IEACon51066.2021.9654464","url":null,"abstract":"Proportional active and reactive power delivered into the grid systems is capable to enhance power quality and harmonic mitigation. It is a promising solution for Distributed Generations (DG) for grid power compensation. Conventional Current Control Mode (CCM) strategy has a limitation to achieve grid power compensation with various load changes. While Voltage Control Mode (VCM) may regulate voltage and current based on the dq-component of current and voltage, both strategies show poor performance to generate the proportional active and reactive current when they are applied to the DG systems. Considering this problem, this paper proposes Power Control Mode (PCM) strategy in combination with CCM and VCM to improve the performance of the DG systems, by compensating for the distorted grid current and improving power quality. In this strategy, by using dynamic active and reactive power injection, harmonic mitigation can be enhanced. In order to verify the effectiveness of the proposed strategy, this paper presents the results of simulation work and comparative analysis against other strategies.","PeriodicalId":397039,"journal":{"name":"2021 IEEE Industrial Electronics and Applications Conference (IEACon)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122801387","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}
Pub Date : 2021-11-22DOI: 10.1109/IEACon51066.2021.9654440
A. Surriani, O. Wahyunggoro, A. Cahyadi
Recently, reinforcement learning considered to be the chosen method to solve many problems. One of the challenging problems is controlling dynamic behaviour systems. This paper used policy gradient to balance cart pole inverted pendulum. The purpose of this paper is to balance the pole upright with the movement of the cart. The paper employed two main policy gradient-based algorithms. The results show that PG using baseline has faster episodes than reinforce PG in the training process, reinforce PG algorithm got higher accumulative reward value than PG using baseline.
{"title":"Reinforcement Learning for Cart Pole Inverted Pendulum System","authors":"A. Surriani, O. Wahyunggoro, A. Cahyadi","doi":"10.1109/IEACon51066.2021.9654440","DOIUrl":"https://doi.org/10.1109/IEACon51066.2021.9654440","url":null,"abstract":"Recently, reinforcement learning considered to be the chosen method to solve many problems. One of the challenging problems is controlling dynamic behaviour systems. This paper used policy gradient to balance cart pole inverted pendulum. The purpose of this paper is to balance the pole upright with the movement of the cart. The paper employed two main policy gradient-based algorithms. The results show that PG using baseline has faster episodes than reinforce PG in the training process, reinforce PG algorithm got higher accumulative reward value than PG using baseline.","PeriodicalId":397039,"journal":{"name":"2021 IEEE Industrial Electronics and Applications Conference (IEACon)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133037941","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}
Pub Date : 2021-11-22DOI: 10.1109/IEACon51066.2021.9654480
N. A. Rahman, N. Sa'Adon
Nonlinear loads in a radial electrical system generate harmonic components that distort supply current at the Point of Common Coupling (PCC). As a result, any linear load connected to the same PCC will operate under the distorted current condition. The radial system can install a Shunt Active Power Factor (SAPF) to mitigate the harmonic components. This work focuses on the centralised and individual SAPFs implementation to the supply current and linear load current waveforms in the radial system. There are three models of single-phase radial systems with a mixture of linear and nonlinear loads. An inductive linear load will be connected at the upstream, middle-stream or downstream of the radial systems. A single-phase SAPF based on Voltage Source Inverter (VSI) topology will act as centralised and individual SAPF depending on its connection points. A most straightforward control system consists of current and voltage control algorithms regulating the SAPF operation. According to the simulation findings, the centralised and individual SAPFs can mitigate harmonic components successfully. Regardless of the linear load's location, both filters maintain their performance in reducing the Total Harmonic Distortion (THD) of the supply current below 5%. However, they show different effects on the linear load current waveform. In conclusion, the centralised and individual SAPFs in the radial electrical system have different pros and cons.
{"title":"Centralised and Individual Shunt Active Power Filters in Radial Electrical Systems","authors":"N. A. Rahman, N. Sa'Adon","doi":"10.1109/IEACon51066.2021.9654480","DOIUrl":"https://doi.org/10.1109/IEACon51066.2021.9654480","url":null,"abstract":"Nonlinear loads in a radial electrical system generate harmonic components that distort supply current at the Point of Common Coupling (PCC). As a result, any linear load connected to the same PCC will operate under the distorted current condition. The radial system can install a Shunt Active Power Factor (SAPF) to mitigate the harmonic components. This work focuses on the centralised and individual SAPFs implementation to the supply current and linear load current waveforms in the radial system. There are three models of single-phase radial systems with a mixture of linear and nonlinear loads. An inductive linear load will be connected at the upstream, middle-stream or downstream of the radial systems. A single-phase SAPF based on Voltage Source Inverter (VSI) topology will act as centralised and individual SAPF depending on its connection points. A most straightforward control system consists of current and voltage control algorithms regulating the SAPF operation. According to the simulation findings, the centralised and individual SAPFs can mitigate harmonic components successfully. Regardless of the linear load's location, both filters maintain their performance in reducing the Total Harmonic Distortion (THD) of the supply current below 5%. However, they show different effects on the linear load current waveform. In conclusion, the centralised and individual SAPFs in the radial electrical system have different pros and cons.","PeriodicalId":397039,"journal":{"name":"2021 IEEE Industrial Electronics and Applications Conference (IEACon)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134506314","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}
Pub Date : 2021-11-22DOI: 10.1109/IEACon51066.2021.9654762
H. Ahmad, Mohammad Heerwan Peeie, M. S. Ramli, Amir Akramin Bin Shafie, M. Rahiman
This paper aims to investigate Robot Operating System (ROS) based environment modelling and mobile robot position estimation considering dead reckoning and uncertainties. A mobile robot movement is analyzed in a few environment conditions by using Extended Kalman Filter with ROS to identify and examined the mobile robot estimation performance on its surroundings. The heading angle and initial state covariance performance are assessed with different mobile robot movement. The paper is organized mainly to describe the results from both simulation and experiment using Extended Kalman Filter that consists of undetermined and unpredictable environment states. For experimental verification, a Turtlebot3 equipped with a 360-degree LiDAR and IMU is being applied to demonstrate the performance of estimation in a situation that has unknown uncertainties in several conditions. Both simulation and experimental results indicates that state covariance is converging lesser than the initial state covariance in any environmental cases which is in contrast with the literatures. Besides, it is also found that the mobile robot heading angle is important to be accurate at all times for better estimation results.
{"title":"Investigation of ROS Based Environment Modelling and Mobile Robot Position Estimation with Dead Reckoning and Uncertainties","authors":"H. Ahmad, Mohammad Heerwan Peeie, M. S. Ramli, Amir Akramin Bin Shafie, M. Rahiman","doi":"10.1109/IEACon51066.2021.9654762","DOIUrl":"https://doi.org/10.1109/IEACon51066.2021.9654762","url":null,"abstract":"This paper aims to investigate Robot Operating System (ROS) based environment modelling and mobile robot position estimation considering dead reckoning and uncertainties. A mobile robot movement is analyzed in a few environment conditions by using Extended Kalman Filter with ROS to identify and examined the mobile robot estimation performance on its surroundings. The heading angle and initial state covariance performance are assessed with different mobile robot movement. The paper is organized mainly to describe the results from both simulation and experiment using Extended Kalman Filter that consists of undetermined and unpredictable environment states. For experimental verification, a Turtlebot3 equipped with a 360-degree LiDAR and IMU is being applied to demonstrate the performance of estimation in a situation that has unknown uncertainties in several conditions. Both simulation and experimental results indicates that state covariance is converging lesser than the initial state covariance in any environmental cases which is in contrast with the literatures. Besides, it is also found that the mobile robot heading angle is important to be accurate at all times for better estimation results.","PeriodicalId":397039,"journal":{"name":"2021 IEEE Industrial Electronics and Applications Conference (IEACon)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128113805","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}
Pub Date : 2021-11-22DOI: 10.1109/IEACon51066.2021.9654520
Sachin Sen, Lei Song
Behind the great success of the current internet, Open Systems Interconnect (OSI) and Transport Control Protocol/Internet Protocol (TCP/IP) standards play the most important role. Whereas, due to a lack of standard architectures, industrial internet is lagging behind. This makes industrial internet applications experience increased security risks due to their integration with the information technology and exposure to the public internet. In this research, we propose a layered architecture for industrial internet of things (IIoT) based networked industrial control systems (n-ICS). Layer-wise functionality of this architecture could be useful in identifying necessary security protocols for each layer. Subsequently, this might assist in allocating resources towards the secure operation of industrial applications. To validate the proposed architecture, we modelled a water flow control system, where we demonstrated a data deception attack on its operation at the physical layer. This demonstration validates that from within the close proximity of networked control systems, threat actors can launch possible attacks to deceive physical industrial applications. Our proposed system includes a network communication architecture and a corresponding security architecture aligning with the network architecture. This will facilitate the design of security suites and/or the allocation of security resources on the basis of layered network functionalities.
{"title":"An IIoT-Based Networked Industrial Control System Architecture to Secure Industrial Applications","authors":"Sachin Sen, Lei Song","doi":"10.1109/IEACon51066.2021.9654520","DOIUrl":"https://doi.org/10.1109/IEACon51066.2021.9654520","url":null,"abstract":"Behind the great success of the current internet, Open Systems Interconnect (OSI) and Transport Control Protocol/Internet Protocol (TCP/IP) standards play the most important role. Whereas, due to a lack of standard architectures, industrial internet is lagging behind. This makes industrial internet applications experience increased security risks due to their integration with the information technology and exposure to the public internet. In this research, we propose a layered architecture for industrial internet of things (IIoT) based networked industrial control systems (n-ICS). Layer-wise functionality of this architecture could be useful in identifying necessary security protocols for each layer. Subsequently, this might assist in allocating resources towards the secure operation of industrial applications. To validate the proposed architecture, we modelled a water flow control system, where we demonstrated a data deception attack on its operation at the physical layer. This demonstration validates that from within the close proximity of networked control systems, threat actors can launch possible attacks to deceive physical industrial applications. Our proposed system includes a network communication architecture and a corresponding security architecture aligning with the network architecture. This will facilitate the design of security suites and/or the allocation of security resources on the basis of layered network functionalities.","PeriodicalId":397039,"journal":{"name":"2021 IEEE Industrial Electronics and Applications Conference (IEACon)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117094550","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}
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