Consideration of multi‐coil type magnetization system for magnetic particle testing of omnidirectional crack in all surfaces of 3D shape test object

Mechanical parts, plants, and cross‐linkages inspected with magnetic‐particle testing (MT) are typically complex 3D shapes. In complex 3D shape portions, because a magnetizer often cannot be configured to inspection portions and the test object cannot be appropriately magnetized, there is a possibility of overlooking a crack in such an instance. Thus, MT system development that was successfully able to detect omnidirectional cracks in 3D shape portions was considered in this study's trials. Two multi‐coil type magnetizers were hence arranged face‐to‐face, and the magnetization of omnidirectional scenarios for all surfaces of 3D shape test object was evaluated.     

基于目标跟踪的变电站隔离开关状态图像识别方法

为解决变电站中隔离开关状态的自动识别问题，提出了基于目标跟踪的开关分合状态图像识别方法。首先，基于隔离开关开合过程的动态视频，通过 Ｌａｓｓｏ正则化稀疏表示的目标跟踪模型对隔离开关运动轨迹进行识别；其次，利用隔离开关２个闸刀之间的距离自动识别算法获得开关的分合状态。实测结果表明，该方法可快速跟踪开关运行轨迹，实时对变电站中隔离开关状态进行准确识别。     

灭火器的定位和有效性辨识研究

智慧消防是智慧城市建设的重要组成部分，在消防工作创新发展中发挥重要作用。灭火器作为扑救初期火灾的最普遍、最便捷和最广泛使用的灭火设施，在初期火灾的扑救和火灾防控中发挥重要的作用，其有效性和完好性是扑救初期火灾的必要条件。基于物联网及大数据的优势，建立消防灭火设施的定位与有效性辨识系统，并介绍系统的关键技术、网络架构、技术特征。此系统可对灭火器等消防灭火设施的伺应状态、完好性、有效性等功能特性进行跟踪巡检和辨识，以实现对灭火器的实时监控和智能化管理，促进消防设施建设的完善和优化，增强灭火系统的可靠性，充分发挥智慧消防技术在智慧城市建设中的优势。     

基于龙格-库塔法自适应PID控制的太阳双轴跟踪系统

论述太阳光源双轴跟踪系统的工作原理,针对其控制系统中存在的时间滞后问题提出基于龙格-库塔法的自适应PID控制。并以基于直流电机的方位角传动机构为基础,建立方位角传动机构的数学模型,在MATLAB中进行仿真。仿真结果表明,基于龙格-库塔法的自适应PID控制系统响应速度快、稳定性高,具有较强的鲁棒性,能有效解决方位角传动系统中的时间滞后问题。     

Robust Mapping for Mobile Robot Based on Immobile Area Grid Map Considering Potential Moving Objects

Mobile robots need Simultaneous Localization and Mapping (SLAM) for autonomous movement in human living environments. The occupancy grid map used in SLAM is a conventional method which makes a map by an occupancy probability in each grid. This method renews a map based on whether an object is observed or not. In order to remove moving objects from a map, an additional method is required. However, conventional methods deal only with actually moving objects, and potential moving objects (e.g., standing humans) are mapped as static objects. Furthermore, only binary states, used or not used, are given to each object in map updating. This paper proposes the immobility area grid map to represent a map by an immobility probability in each grid. The proposed method renews a map based on the identification of observed objects by a robot's sensors, in addition to whether an object is observed or not. We introduce the map update parameter, which is set adaptively from the certainty of identification result of the object. Observed objects can take continuous states, truly static—unknown—truly moving, according to the parameter value. Potential moving objects are not mapped if the parameter takes values corresponding to moving objects. The experimental results show robust mapping in dynamic environments including potential moving objects.     

Fully distributed tracking control for non‐identical multi‐agent systems with matching uncertainty

This article addresses the fully distributed consensus tracking control problem of linear multi‐agent systems with parameter uncertainties. First, a new class of distributed protocol, based on the relative states of neighbors, is proposed. Theoretical analysis indicates that the considered problem can be solved if the control gain constant of the protocol is larger than the norm bound of the leader's nonlinear inputs. Furthermore, a distributed adaptive control protocol is proposed for the case without available global information. The distributed consensus tracking control problem of uncertain linear multi‐agent systems is solved based only on local information under the proposed adaptive protocol. Finally, an application in low‐Earth‐orbit satellite formation flying is provided to illustrate the theoretical results. Copyright © 2014 John Wiley & Sons, Ltd.     

A generalized global adaptive tracking control scheme for robot manipulators with bounded inputs

In this work, a generalized adaptive scheme for the global motion control of robot manipulators with constrained inputs is proposed. It gives rise to various families of bounded adaptive controllers defined through a general class of saturation functions. Compared with adaptive tracking control algorithms previously developed in a bounded input context, the proposed adaptive approach guarantees the motion control objective for any initial condition, avoiding discontinuities throughout the scheme, preventing the inputs to reach their natural saturation bounds, and permitting innovation on the saturating structure through its generalized form, giving a wide range of possibilities for performance improvement. Experimental results corroborate the efficiency of the proposed scheme. Copyright © 2014 John Wiley & Sons, Ltd.     

Maximum power point tracking supported proton exchange membrane fuel cell based intelligent dynamic voltage restorer

In modern era, electrical power utilities are more concerned about power quality. In this endeavour, dynamic voltage restorer (DVR) provides adequate support to the system. Accordingly, the present work illustrates intelligent hybrid control mechanism for DVR. Artificial neural network (ANN) is incorporated to obtain real-time optimal gains under distinct voltage situations. Closed loop type 2 fuzzy logic (CLT2-FL) is also realized in order to assist the ANN supported unit concomitantly. In order to enhance the potential of the present DVR, a CLT2-FL controlled maximum power point tracking (MPPT) based proton exchange membrane fuel cell arrangement is also explored in the present study. CLT2-FL module is adopted in DC-DC converter topology to provide simultaneous supply to the loads at different and regulated voltage levels. Consequently, the results are evaluated and compared to the state-of-the-arts which unveil the efficacy of the implemented controller against the oddity seen in the voltage waveform, thereby, exhibiting better voltage regulation and less harmonics. The effectiveness of the implemented MPPT unit from the viewpoints of convergence speed and oscillations is also established.     

Filtered adaptive constrained sampled-data control for uncertain multivariable nonlinear systems

A filtered adaptive constrained sampled-data controller for uncertain multivariable nonlinear systems in the presence of various constraints is synthesized in this paper. A piecewise constant adaptive law drives that estimation error dynamics to zero at each sampling time instant yields adaptive parameters. The filtered control scheme consists of two components. Based on an estimation/cancellation strategy, a disturbance rejection control law is designed to compensate the nonlinear uncertainties within the bandwidth of low-pass filters, whereas a constraint violation avoidance control law is designed to solve an online constrained optimization problem. Although a reduced sampling time helps to minimize the estimation error caused by the neglect of unknowns, the resulting aggressive signals put more restrictions on the control law. Greater sacrifice of tracking performance is required to satisfy the constraints. The constraints violation avoidance control law is in favor of a larger sampling time. Sufficient conditions are given to guarantee the stability of the closed-loop system with the sampled-data controller, where the input/output signals are held constant over the sampling period. Numerical examples are provided to validate the theoretical results, comparisons between the constrained sampled-data controller and unconstrained adaptive controller with the implementation of different sampling times are carried out.     

Enhanced control strategies for a hybrid battery/photovoltaic system using FGS-PID in grid-connected mode

This paper suggests improved control strategies using Fuzzy Gain Scheduling of Proportional-Integral-Derivative (FGS-PID) controller for a hybrid Photovoltaic (PV) and Battery Energy Storage (BES) system under different weather conditions. The proposed scheme is implemented using a two-level control system structure, combining the benefits of the PID as well as the fuzzy logic controller (FLC) for maximum power point tracking (MPPT). Ziegler-Nichols tuning method is also employed to select the initial values of PID gains. Within the period of steady-states and transients, FGS-PID adopts the gains to ensure the stability of the control scheme. It also damps out transient fluctuations and reduces settling time. Also, BES could be employed to provide a stable and reliable power from the output of PV sources to loads. It can enhance the performance of the entire power system during the grid-connected mode. The simulation results under Matlab/Simulink show that the suggested control strategies are robustness, fast transient response and proper steady-state performance in the grid-connected mode in comparison other presented methods.