Search results for: Inverter configuration

Authors: Hadj Bourdoucen, Adel Gastli

Abstract:

In this paper, an approach for finding optimized layouts for connecting PV units delivering maximum array output power is suggested. The approach is based on considering the different varying parameters of PV units that might be extracted from a general two-diode model. These are mainly, solar irradiation, reverse saturation currents, ideality factors, series and shunt resistances in addition to operating temperature. The approach has been tested on 19 possible 2×3 configurations and allowed to determine the optimized configurations as well as examine the effects of the different units- parameters on the maximum output power. Thus, using this approach, standard arrays with n×m units can be configured for maximum generated power and allows designing PV based systems having reduced surfaces to fit specific required power, as it is the case for solar cars and other mobile systems.

Keywords: Photovoltaic, PV unit, optimum configuration, maximum power, Orcad.

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Authors: Mkhinini Maher, Knani Jilani

Abstract:

We present in this work the performances of a mobile omnidirectional robot through evaluating its management of the redundancy of actuation. Thus we come to the predictive control implemented.

The distribution of the wringer on the robot actions, through the inverse pseudo of Moore-Penrose, corresponds to a « geometric ›› distribution of efforts. We will show that the load on vehicle wheels would not be equi-distributed in terms of wheels configuration and of robot movement.

Thus, the threshold of sliding is not the same for the three wheels of the vehicle. We suggest exploiting the redundancy of actuation to reduce the risk of wheels sliding and to ameliorate, thereby, its accuracy of displacement. This kind of approach was the subject of study for the legged robots.

Keywords: Mobile robot, actuation, redundancy, omnidirectional, inverse pseudo Moore-Penrose, reductive control.

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Authors: N. Ojaroudi Parchin, H. Jahanbakhsh Basherlou, Y. Al-Yasir, A. M. Abdulkhaleq, R. A. Abd-Alhameed, P. S. Excell

Abstract:

A compact design of multi-sector patch antenna array for 60 GHz applications is presented and discussed in details. The proposed design combines five 1x8 linear patch antenna arrays, referred to as sectors, in a multi-sector configuration. The coaxial-fed radiation elements of the multi-sector array are designed on 0.2 mm Rogers RT5880 dielectrics. The array operates in the frequency range of 58-62 GHz and provides switchable directional/omnidirectional radiation beams with high gain and high directivity characteristics. The designed multi-sector array exhibits good performances and could be used in the fifth generation (5G) cellular networks.

Keywords: MM-wave communications, multi-sector array, patch antenna, small cell networks.

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Authors: Y. Hoffner, Y. Rusho, S. Rubach, S. Abargil

Abstract:

This paper presents CommonSense, a platform that provides researchers with the infrastructure and tools that enable the efficient and smooth creation, execution and processing of multiple participant experiments taking place outside the laboratory environment. The platform provides the infrastructure and tools to accompany the researchers throughout the life cycle of an experiment – from its inception, through its execution, to its processing and termination. The approach of our platform is based on providing a comprehensive solution, which puts emphasis on the support for the entire life-cycle of an experiment, starting from its definition, the setting up and the configuration of the platform, through the management of the experiment itself and its post processing. Some of the components that support those processes are constructed and configured automatically from the experiment definition.

Keywords: Mobile applications, mobile experiments, web experiments, software system architecture.

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Authors: Michel Han, Christophe Besson, Alain Savary, Yvan Becher

Abstract:

The variable flux permanent magnet synchronous motor (VF-PMSM), also called "Memory Motor", is a new generation of motor capable of modifying the magnetization state with short pulses of current during operation or standstill. The impact of such operation is the expansion of the operating range in the torque-speed characteristic and an improvement in energy efficiency at high-speed in comparison to conventional permanent magnet synchronous machines (PMSMs). This paper reviews the operating principle and the unique features of the proposed memory motor. The benefits of this concept are highlighted by comparing the performance of the rotor of the VF-PMSM to that of two PM rotors that are typically found in the industry. The investigation emphasizes the properties of the variable magnetization and presents the comparison of the torque-speed characteristic with the capability of loss reduction in a VF-PMSM by means of experimental results, especially when tests are conducted under identical conditions for each rotor (same stator, same inverter and same experimental setup). The experimental results demonstrated that the VF-PMSM gives an additional degree of freedom to optimize the efficiency over a wide speed range. Thus, with a design easy to manufacture and with the possibility of controlling the magnetization and the demagnetization of the magnets during operations, the VF-PMSM can be interesting for various applications.

Keywords: Efficiency, magnetization state, memory motors, performances, permanent-magnet, synchronous machine, variable-flux, variable magnetization, wide speed application.

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Authors: Peristera Baziana

Abstract:

In this paper, we present a network configuration for a WDM LANs of passive star topology that assume that the set of data WDM channels is split into two separate sets of channels, with different access rights over them. Especially, a synchronous transmission WDMA access algorithm is adopted in order to increase the probability of successful transmission over the data channels and consequently to reduce the probability of data packets transmission cancellation in order to avoid the data channels collisions. Thus, a control pre-transmission access scheme is followed over a separate control channel. An analytical Markovian model is studied and the average throughput is mathematically derived. The performance is studied for several numbers of data channels and various values of control phase duration.

Keywords: Access algorithm, channels division, collisions avoidance, wavelength division multiplexing.

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Authors: Jing Zhang, Yongqin Chang, Yongwei Wang, Xiaolin Li, Shaoning Jiang, Farong Wan, Yi Long

Abstract:

Microstructural and hardening changes of Fe-0.2wt.%V alloy and pure Fe irradiated with 100 keV hydrogen ions at room temperature were investigated. It was found that dislocation density varies dramatically after irradiation, ranging from dislocation free to dense areas with tangled and complex dislocation configuration. As the irradiated Fe-0.2wt.%V samples were annealed at 773 K, the irradiation-induced dislocation loops disappear, while many small precipitates with enriched C distribute in the matrix. Some large precipitates with enriched V were also observed. The hardness of Fe-0.2wt.%V alloy and pure Fe increases after irradiation, which ascribes to the formation of dislocation loops in the irradiated specimens. Compared with pure Fe, the size of the irradiation-introduced dislocation loops in Fe-0.2wt.%V alloy decreases and the density increases, the change of the hardness also decreases.

Keywords: Irradiation, Fe-0.2wt.%V alloy, microstructures, hardness.

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Authors: S. W. Nawawi, M. N. Ahmad, J. H. S. Osman

Abstract:

The research on two-wheeled inverted pendulum (TWIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world. This paper describes the hardware design of such a robot. The objective of the design is to develop a TWIP mobile robot as well as MATLAB interfacing configuration to be used as flexible platform comprises of embedded unstable linear plant intended for research and teaching purposes. Issues such as selection of actuators and sensors, signal processing units, MATLAB Real Time Workshop coding, modeling and control scheme will be addressed and discussed. The system is then tested using a wellknown state feedback controller to verify its functionality.

Keywords: Embedded System, Two-wheeled Inverted Pendulum Mobile Robot.

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Authors: Marco Raciti Castelli, Paolo Cioppa, Ernesto Benini

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This paper presents a CFD analysis of the flow field around a thin flat plate of infinite span inclined at 90° to a fluid stream of infinite extent. Numerical predictions have been compared to experimental measurements, in order to assess the potential of the finite volume code of determining the aerodynamic forces acting on a bluff body invested by a fluid stream of infinite extent. Several turbulence models and spatial node distributions have been tested. Flow field characteristics in the neighborhood of the flat plate have been investigated, allowing the development of a preliminary procedure to be used as guidance in selecting the appropriate grid configuration and the corresponding turbulence model for the prediction of the flow field over a two-dimensional vertical flat plate.

Keywords: CFD, vertical flat plate, aerodynamic force

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Authors: A. M. Tahsini, S. Tadayon Mousavi

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The purpose of the present study is to analyze the effect of the target plate-s curvature on the heat transfer in laminar confined impinging jet flows. Numerical results from two dimensional compressible finite volume solver are compared between three different shapes of impinging plates: Flat, Concave and Convex plates. The remarkable result of this study proves that the stagnation Nusselt number in laminar range of Reynolds number based on the slot width is maximum in convex surface and is minimum in concave plate. These results refuse the previous data in literature stating the amount of the stagnation Nusselt number is greater in concave surface related to flat plate configuration.

Keywords: Concave, Convex, Heat transfer, Impinging jet, Laminar flow.

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Authors: Farid Moshgelani, Dhamin Al-Khalili, Côme Rozon

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In this paper, FinFET devices are analyzed with emphasis on sub-threshold leakage current control. This is achieved through proper biasing of the back gate, and through the use of asymmetric work functions for the four terminal FinFET devices. We are also examining different configurations of multiplexers and XOR gates using transistors of symmetric and asymmetric work functions. Based on extensive characterization data for MUX circuits, our proposed configuration using symmetric devices lead to leakage current and delay improvements of 65% and 47% respectively compared to results in the literature. For XOR gates, a 90% improvement in the average leakage current is achieved by using asymmetric devices. All simulations are based on a 25nm FinFET technology using the University of Florida UFDG model.

Keywords: FinFET, logic functions, asymmetric workfunction devices, back gate biasing, sub-threshold leakage current.

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Authors: Eiko Takaoka, Yoshiyuki Fukushima, Koichiro Hirose, Tadashi Hasegawa

Abstract:

Although, all high school students in Japan are required to learn informatics, many of them do not learn this topic sufficiently. In response to this situation, we propose a support package for high school informatics classes. To examine what students learned and if they sufficiently understood the context of the lessons, a questionnaire survey was distributed to 186 students. We analyzed the results of the questionnaire and determined the weakest units, which were “basic computer configuration” and “memory and secondary storage”. We then developed a package for teaching these units. We propose that our package be applied in high school classrooms.

Keywords: Computer Science Unplugged, computer science outreach, high school curriculum, experimental evaluation.

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Authors: Syed Islam, Yiyun Huang, Sebastian Magierowski, Ebrahim Ghafar-Zadeh

Abstract:

This paper presents system level CMOS solid-state nanopore techniques enhancement for speedup next generation molecular recording and high throughput channels. This discussion also considers optimum number of base-pair (bp) measurements through channel as an important role to enhance potential read accuracy. Effective power consumption estimation offered suitable range of multi-channel configuration. Nanopore bp extraction model in statistical method could contribute higher read accuracy with longer read-length (200 < read-length). Nanopore ionic current switching with Time Multiplexing (TM) based multichannel readout system contributed hardware savings.

Keywords: DNA, Nanopore, Amplifier, ADC, Multichannel.

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Authors: Yaw-Juen Wang, Po-Chun Hsu

Abstract:

This paper presents an equivalent circuit model based on piecewise linear parallel branches (PLPB) to study solar cell modules which are partially shaded. The PLPB model can easily be used in circuit simulation software such as the ElectroMagnetic Transients Program (EMTP). This PLPB model allows the user to simulate several different configurations of solar cells, the influence of partial shadowing on a single or multiple cells, the influence of the number of solar cells protected by a bypass diode and the effect of the cell connection configuration on partial shadowing.

Keywords: Cell Connection Configurations, EMTP, Equivalent Circuit, Partial Shading, Photovoltaic Module

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Authors: S. Rajabi, M. ArdebiliPoor, M. Shahabadi

Abstract:

In this paper we propose a method for modeling the correlation between the received signals by two or more antennas operating in a multipath environment. Considering the maximum excess delay in the channel being modeled, an elliptical region surrounding both transmitter and receiver antennas is produced. A number of scatterers are randomly distributed in this region and scatter the incoming waves. The amplitude and phase of incoming waves are computed and used to obtain statistical properties of the received signals. This model has the distinguishable advantage of being applicable for any configuration of antennas. Furthermore the common PDF (Probability Distribution Function) of received wave amplitudes for any pair of antennas can be calculated and used to produce statistical parameters of received signals.

Keywords: MIMO (Multiple Input Multiple Output), SIMO (Single Input Multiple Output), GBSBEM (Geometrically Based Single Bounce Elliptical Model).

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Authors: Mousa Mojarrad, Mashallah Abbasi Dezfouli, Amir Masoud Rahmani

Abstract:

Detection and recognition of the Human Body Composition and extraction their measures (width and length of human body) in images are a major issue in detecting objects and the important field in Image, Signal and Vision Computing in recent years. Finding people and extraction their features in Images are particularly important problem of object recognition, because people can have high variability in the appearance. This variability may be due to the configuration of a person (e.g., standing vs. sitting vs. jogging), the pose (e.g. frontal vs. lateral view), clothing, and variations in illumination. In this study, first, Human Body is being recognized in image then the measures of Human Body extract from the image.

Keywords: Analysis of image processing, canny edge detection, classification, feature extraction, human body recognition, segmentation.

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Authors: Takaaki Ishibashi

Abstract:

Independent component analysis can estimate unknown source signals from their mixtures under the assumption that the source signals are statistically independent. However, in a real environment, the separation performance is often deteriorated because the number of the source signals is different from that of the sensors. In this paper, we propose an estimation method for the number of the sources based on the joint distribution of the observed signals under two-sensor configuration. From several simulation results, it is found that the number of the sources is coincident to that of peaks in the histogram of the distribution. The proposed method can estimate the number of the sources even if it is larger than that of the observed signals. The proposed methods have been verified by several experiments.

Keywords: blind source separation, independent component analysys, estimation for the number of the blind sources, voice activity detection, target extraction.

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Authors: C. Sanchis-Borras, J. M. Molina-Garcia-Pardo, P. Degauque, M. Lienard

Abstract:

The objective of this contribution is to study the performances in terms of bit error rate, of space-time code algorithms applied to MIMO communication in tunnels. Indeed, the channel characteristics in a tunnel are quite different than those of urban or indoor environment, due to the guiding effect of the tunnel. Therefore, MIMO channel matrices have been measured in a straight tunnel, in a frequency band around 3GHz. Correlation between array elements and properties of the MIMO matrices are first studied as a function of the distance between the transmitter and the receiver. Then, owing to a software tool simulating the link, predicted values of bit error rate are given for VLAST, OSTBC and QSTBC algorithms applied to a MIMO configuration with 2 or 4 array elements. Results are interpreted from the analysis of the channel properties.

Keywords: MIMO, propagation channel, space-time algorithms, tunnel.

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Authors: M. A. Hajeeh

Abstract:

Pumping systems are an integral part of water desalination plants, their effective functioning is vital for the operation of a plant. In this research work, the reliability and availability of pressurized pumps in a reverse osmosis desalination plant are studied with the objective of finding configurations that provides optimal performance. Six configurations of a series system with different number of warm and cold standby components were examined. Closed form expressions for the mean time to failure (MTTF) and the long run availability are derived and compared under the assumption that the time between failures and repair times of the primary and standby components are exponentially distributed. Moreover, a cost/ benefit analysis is conducted in order to identify a configuration with the best performance and least cost. It is concluded that configurations with cold standby components are preferable especially when the pumps are of the size.

Keywords: Availability, Cost/ benefit, Mean time to failure, Pumps.

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Authors: Hassan M. Alkomy, Hesham A. Elkaranshawy, Ahmed S. Ashour, Khaled T. Mohamed

Abstract:

For a rigid body sliding on a rough surface, a range of uncertainty or non-uniqueness of solution could be found, which is termed: Painlevé paradox. Painlevé paradox is the reason of a wide range of bouncing motion, observed during sliding of robotic manipulators on rough surfaces. In this research work, the existence of the paradox zone during the sliding motion of a two-link (P-R) robotic manipulator with a unilateral constraint is investigated. Parametric study is performed to investigate the effect of friction, link-length ratio, total height and link-mass ratio on the paradox zone.

Keywords: Dynamical system, friction, multibody system, Painlevé paradox, robotic systems, sliding robots, unilateral constraint.

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Authors: G. Ahmadi, S.M. Shahrtash

Abstract:

A multiphase harmonic load flow algorithm is developed based on backward/forward sweep to examine the effects of various factors on the neutral to earth voltage (NEV), including unsymmetrical system configuration, load unbalance and harmonic injection. The proposed algorithm composes fundamental frequency and harmonic frequencies power flows. The algorithm and the associated models are tested on IEEE 13 bus system. The magnitude of NEV is investigated under various conditions of the number of grounding rods per feeder lengths, the grounding rods resistance and the grounding resistance of the in feeding source. Additionally, the harmonic injection of nonlinear loads has been considered and its influences on NEV under different conditions are shown.

Keywords: NEV, Distribution System, Multi-grounded, Backward/Forward Sweep, Harmonic Analysis

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Authors: S. Habte, K. Ouazzane, P. Patel, S. Patel

Abstract:

The dynamic and highly competitive nature of the consumer electronics retail industry means that businesses in this industry are experiencing different decision making challenges in relation to pricing, inventory control, consumer satisfaction and product offerings. To overcome the challenges facing retailers and create opportunities, we propose a generic data warehousing solution which can be applied to a wide range of consumer electronics retailers with a minimum configuration. The solution includes a dimensional data model, a template SQL script, a high level architectural descriptions, ETL tool developed using C#, a set of APIs, and data access tools. It has been successfully applied by ASK Outlets Ltd UK resulting in improved productivity and enhanced sales growth.

Keywords: Consumer electronics retail, dimensional data model, data analysis, generic data warehousing, reporting.

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Authors: Adel M. Sharaf, Foad H. Gandoman

Abstract:

Nowadays, Photovoltaic-PV Farms/ Parks and large PV-Smart Grid Interface Schemes are emerging and commonly utilized in Renewable Energy distributed generation. However, PVhybrid- Dc-Ac Schemes using interface power electronic converters usually has negative impact on power quality and stabilization of modern electrical network under load excursions and network fault conditions in smart grid. Consequently, robust FACTS based interface schemes are required to ensure efficient energy utilization and stabilization of bus voltages as well as limiting switching/fault onrush current condition. FACTS devices are also used in smart grid- Battery Interface and Storage Schemes with PV-Battery Storage hybrid systems as an elegant alternative to renewable energy utilization with backup battery storage for electric utility energy and demand side management to provide needed energy and power capacity under heavy load conditions. The paper presents a robust interface PV-Li-Ion Battery Storage Interface Scheme for Distribution/Utilization Low Voltage Interface using FACTS stabilization enhancement and dynamic maximum PV power tracking controllers. Digital simulation and validation of the proposed scheme is done using MATLAB/Simulink software environment for Low Voltage- Distribution/Utilization system feeding a hybrid Linear-Motorized inrush and nonlinear type loads from a DC-AC Interface VSC-6- pulse Inverter Fed from the PV Park/Farm with a back-up Li-Ion Storage Battery.

Keywords: AC FACTS, Smart grid, Stabilization, PV-Battery Storage, Switched Filter-Compensation (SFC).

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Authors: Yash Pal, A.Swarup, Bhim Singh

Abstract:

This paper presents a novel control strategy of a threephase four-wire Unified Power Quality (UPQC) for an improvement in power quality. The UPQC is realized by integration of series and shunt active power filters (APFs) sharing a common dc bus capacitor. The shunt APF is realized using a thee-phase, four leg voltage source inverter (VSI) and the series APF is realized using a three-phase, three leg VSI. A control technique based on unit vector template technique (UTT) is used to get the reference signals for series APF, while instantaneous sequence component theory (ISCT) is used for the control of Shunt APF. The performance of the implemented control algorithm is evaluated in terms of power-factor correction, load balancing, neutral source current mitigation and mitigation of voltage and current harmonics, voltage sag and swell in a three-phase four-wire distribution system for different combination of linear and non-linear loads. In this proposed control scheme of UPQC, the current/voltage control is applied over the fundamental supply currents/voltages instead of fast changing APFs currents/voltages, there by reducing the computational delay and the required sensors. MATLAB/Simulink based simulations are obtained, which support the functionality of the UPQC. MATLAB/Simulink based simulations are obtained, which support the functionality of the UPQC.

Keywords: Power Quality, UPQC, Harmonics, Load Balancing, Power Factor Correction, voltage harmonic mitigation, currentharmonic mitigation, voltage sag, swell

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Authors: Jan Busch, Sebastian Schneider, Konja Knüppel, Peter Nyhuis

Abstract:

In production processes, assembly conceals a considerable potential for increased efficiency in terms of lowering production costs. Due to the individualisation of customer requirements, product variants have increased in recent years. Simultaneously, the portion of automated production systems has increased. A challenge is to adapt the flexibility and adaptability of automated systems to these changes. The Institute for Production Systems and Logistics developed an aerodynamic orientation system for feeding technology. When changing to other components, only four parameters must be adjusted. The expenditure of time for setting parameters is high. An objective therefore is developing an optimisation algorithm for automatic parameter configuration. Know how regarding the interaction of the four parameters and their effect on the sizes to be optimised is required in order to be able to develop a more efficient algorithm. This article introduces an analysis of the interactions between parameters and their influence on the quality of feeding.

Keywords: Aerodynamic feeding system, design of experiments, interactions between parameters.

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Authors: Babak H. Mamamqani, Alimohammad Entezarmahdi

Abstract:

There are many researches on parameters affecting seismic behavior of steel moment frames. Great deal of these researches considers cover plate connections with or without haunch and direct beam to column connection for exterior columns. Also there are experimental results for interior connections with equal beam depth on both sides but not much research has been performed on the seismic behavior of joints with unequal beam depth. Based on previous experimental results, a series of companion analyses have been set up considering different beam height and connection detailing configuration to investigate the seismic behavior of the connections. Results of this study indicate that when the differences between beams height on both side increases, use of haunch connection system leads to significant improvement in the seismic response whereas other configurations did not provide satisfying results.

Keywords: Analytical modeling, Haunch connection, Seismic design, Unequal beam depth.

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Authors: Bakari M. M. Mwinyiwiwa, Mighanda J. Manyahi, Nicodemu Gregory, Alex L. Kyaruzi

Abstract:

Microgrids are increasingly being considered to provide electricity for the expanding energy demand in the grid distribution network and grid isolated areas. However, the technical challenges associated with the operation and controls are immense. Management of dynamic power balances, power flow, and network voltage profiles imposes unique challenges in the context of microgrids. Stability of the microgrid during both grid-connected and islanded mode is considered as the major challenge during its operation. Traditional control methods have been employed are based on the assumption of linear loads. For instance the concept of PQ, voltage and frequency control through decoupled PQ are some of very useful when considering linear loads, but they fall short when considering nonlinear loads. The deficiency of traditional control methods of microgrid suggests that more research in the control of microgrids should be done. This research aims at introducing the dq technique concept into decoupled PQ for dynamic load demand control in inverter interfaced DG system operating as isolated LV microgrid. Decoupled PQ in exact mathematical formulation in dq frame is expected to accommodate all variations of the line parameters (resistance and inductance) and to relinquish forced relationship between the DG variables such as power, voltage and frequency in LV microgrids and allow for individual parameter control (frequency and line voltages). This concept is expected to address and achieve accurate control, improve microgrid stability and power quality at all load conditions.

Keywords: Decoupled PQ, microgrid, multisource, renewable energy, dq control.

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Authors: Ying Huang, Zhiliang Wang, An Ping

Abstract:

With advances in computer vision, non-contact gaze tracking systems are heading towards being much easier to operate and more comfortable for use, the technique proposed in this paper is specially designed for achieving these goals. For the convenience in operation, the proposal aims at the system with simple configuration which is composed of a fixed wide angle camera and dual infrared illuminators. Then in order to enhance the usability of the system based on single camera, a self-adjusting method which is called Real-time gaze Tracking Algorithm with head movement Compensation (RTAC) is developed for estimating the gaze direction under natural head movement and simplifying the calibration procedure at the same time. According to the actual evaluations, the average accuracy of about 1° is achieved over a field of 20×15×15 cm3.

Keywords: computer vision, gaze tracking, human-computer interaction.

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Authors: Mohd Shahriman B. Mohd Yunus, Mohd Hanif B. Jamaludin, Norain Bt. Bahror

Abstract:

The performance of an embedded grounding system is very important for the safe operation of electrical appliances and human beings. In principle, a safe grounding system has two objectives, which are to dissipate fault current without exceeding any operating and equipment limits and to ensure there is no risk of electric shock to humans in the vicinity of earthed facilities. The case studies in this paper present the calculating grounding resistance for multiple configurations of vertical and horizontally by using a simple and accurate formula. From the analytic calculated results, observed good/empirical relationship between the grounding resistance and length of the embedded grounding configurations. Moreover, the configurations of vertical and horizontal observed effectiveness of grounding resistance and good agreement on the reduction of grounding resistance values especially for vertical configuration.

Keywords: Grounding system, grounding resistance, soil resistivity, electrode geometry, configurations.

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Authors: D. Karimi, M.J. Nategh

Abstract:

One of the main concerns about parallel mechanisms is the presence of singular points within their workspaces. In singular positions the mechanism gains or loses one or several degrees of freedom. It is impossible to control the mechanism in singular positions. Therefore, these positions have to be avoided. This is a vital need especially in computer controlled machine tools designed and manufactured on the basis of parallel mechanisms. This need has to be taken into consideration when selecting design parameters. A prerequisite to this is a thorough knowledge about the effect of design parameters and constraints on singularity. In this paper, quality condition index was introduced as a criterion for evaluating singularities of different configurations of a hexapod mechanism obtainable by different design parameters. It was illustrated that this method can effectively be employed to obtain the optimum configuration of hexapod mechanism with the aim of avoiding singularity within the workspace. This method was then employed to design the hexapod table of a CNC milling machine.

Keywords: Hexapod, Machine Tool, Singularity, Workspace.

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