Hardware In the Loop Simulation

Multi-rotor aircraft, such as the quadrotor, are increasingly popular for small-scaled VTOL UAVs. In order to develop an effective control system through simulation techniques, obtaining an accurate dynamic model of a given quadrotor is crucial. Moreover, given the anticipated stringent safety requirements, fault tolerance will be a crucial component of UAV certification. Accurate dynamic modeling and control of this class of UAV is an enabling technology and crucial for future commercial applications. In this paper, the extraction of the bare-airframe dynamic model of a quadrotor UAV in hover condition using frequency-domain system identification techniques and its simulation is presented. The model is verified in the time-domain using dissimilar flight test data not used in the identification. The dynamic model and onboard PID controller are simulated and verified in Simulink ® . Then, the controller is optimized to achieve significantly improved performance in both simulation analysis and flight tests. This paper presents details of the quadrotor system design, model extraction techniques, dynamic model verifications, controller optimization and flight test results. 𝑎𝑎 𝑥𝑥 = acceleration component along the longitudinal axis 𝑎𝑎 𝑦𝑦 = acceleration component along the lateral axis 𝑎𝑎 𝑧𝑧 = acceleration component along the vertical axis 𝑝𝑝 = vehicle roll rate 𝑞𝑞 = vehicle pitch rate 𝑟𝑟 = vehicle yaw rate 𝛿𝛿 𝑎𝑎𝑎𝑎𝑎𝑎 = roll control input 𝛿𝛿 𝑑𝑑𝑎𝑎𝑑𝑑 = pilot directional input 𝛿𝛿 𝑒𝑒𝑎𝑎𝑒𝑒 = pitch control input 𝛿𝛿 𝑎𝑎𝑎𝑎𝑙𝑙 = pilot lateral input 𝛿𝛿 𝑎𝑎𝑙𝑙𝑙𝑙 = pilot longitudinal input 𝛿𝛿 𝑑𝑑𝑟𝑟𝑑𝑑 = yaw control input 𝛿𝛿 𝑙𝑙ℎ𝑑𝑑 = vertical control input 𝛿𝛿 𝑣𝑣𝑒𝑒𝑑𝑑 = pilot vertical input 𝜃𝜃 = pitch Euler angle 𝜏𝜏 = time delay 𝜓𝜓 = yaw Euler angle 𝜙𝜙 = roll Euler angle

A well prepared and comprehensive Dynamic Positioning (DP) Failure Mode and Effect Analysis (FMEA) is fundamental to proving DP redundancy and ensuring safe operation. The DP FMEA is generally the only document on board a ship that provides a general overview of the critical installed equipment and their interaction. As such, it provides a valuable resource for understanding vessel operation and safe position keeping. However, the thoroughness, accuracy and readability of most FMEAs leads them to be largely ignored by operational staff. The first DP FMEAs began to appear in the late 1980's although it was not until the 1990's that industry requirements began to make them mandatory. Since that time these documents have become increasingly sophisticated yet quality and formats vary considerably. Class Societies and industry bodies, such as IMCA and MTS, have responded to this by further detailing basic requirements but no defined standard exists that provides a reliable guide ...

Accurate and transparent vehicle speed data are crucial for enforcing speed limits and other important applications. However, attaining the required levels of accuracy and transparency remains a challenge that needs to be addressed. The potential for further improvement is brought by technological advancements. To address this, it is necessary to understand the current developments in speed detection methods, technologies used in speed detection systems, and challenges of existing systems. This work reviews vehicle speed detection methods and provides a guideline for selecting an appropriate method. This work also reviews technologies for implementing smart systems and proposes an integrated approach for enhancing intelligence, interconnection, and transparency. Not only this, but this work also evaluates existing vehicle speed detection systems and highlights the need for further research. Furthermore, this work proposes a conceptual framework that integrates the Internet of Things, Artificial Intelligence, cloud computing, and blockchain technologies to enhance vehicle speed detection systems, particularly for developing countries. The Internet of Things facilitates data collection and transmission, ensuring system interconnectivity, while Artificial Intelligence is used for data pre-processing in cloud computing to improve system intelligence and scalability. Meanwhile, blockchain guarantees data security and transparency. A proof-of-concept demonstrator was implemented to validate the proposed conceptual framework. Evaluation results demonstrate an auspicious performance regarding end-to-end data delivery and transmission latency. This work provides both theoretical and practical insights regarding smart and transparent vehicle speed detection systems.

Objects Architecture Topology of the grid, integration of an entity or concept to the grid. Protocol Communication protocols, standards and norms. Modelling Methodologies for modeling, dynamic models, Simulation setup and modeling error. Algorithm Control and protection strategies, integration of advanced controllers. Physical Objects Grid High, Medium, Low Voltage Networks and all grid equipment (grid analyzer, protections, transformer, circuit breaker, etc.). DER Distributed Energy Sources (PV, ESS, Wind, Generators, Heat Storage Systems, etc.), integration of DER to the grid. ESS Energy Storage Systems (batteries, flywheels, super capacitors, etc.) Power Electronic Device Power conversion systems (i.e. inverter, converter, EV charger) EV Electric Vehicles, integration of EV to the grid. -Other Objects that do not fall into any of the aforementioned classes. ERIGrid GA No: 654113 01.05.2017 Deliverable: D5.1 Revision / Status: released 126 of 146 Figure 9-1 shows how the categorie...

Model-Based Design is a process that enables faster, more cost-effective development of dynamic systems, including control systems, signal processing, and communications systems. It enables to reduce time to market and these products have higher safety and reliability. Many products are mechatronic and this design approach is dedicated right for this type of products.

This paper is presenting a field bus protocol for modular converter systems. It is optimized for minimal cycle times and synchronisation of the converter modules to ±5 ns. The principle of operation is shown in detail, implemented on an FPGA based prototype system and validated by multiple measurements.

This paper deals with two issues: development of some advanced smart grid applications, and implementation of advanced testbeds to evaluate these applications. In each of the development cases, the role of the testbeds is explained and evaluation results are presented. The applications cover the synchrophasor systems, interfacing of microgrids to the main grid, and cybersecurity solutions. The paper hypothesizes that the use of the advanced testbeds is beneficial for the development process since the solution product-tomarket cycle may be shortened due to early real-life demonstrations. In addition, solution users' feedback to the testbed demonstration can be incorporated at an early stage when making the changes is not as costly as doing it at more mature development stages.

In this paper we present DYANA, an HLA-based hardware-in-the-loop simulation tool. This tool is used for distributed Real-Time Embedded Systems (RTES) simulation. RTES models are described by Unified Modeling Language (UML) statechart diagrams. The statechart diagram is transformed into HLA-based Simulation Model (HSM). After translation into HSM we use CERTI as the simulation runtime. The statechart diagram is also transformed into a Network of Timed Automata (NTA). After translation into NTA we use UPPAAL for RTES model verification.

Performances of flexible link multibody systems, in terms of accuracy and repeatability, can be negatively affected by link flexibility that causes unwanted vibration. Therefore, advanced controllers are necessary for vibration suppression. The synthesis of such controllers typically relies on the knowledge of all the system state variables, whose direct measurement is complicated, or at least of a meaningful set of the most relevant ones. For such a reason, these state variables should be estimated through state observers. In particular, state observers based on reduced-order dynamic models should be employed, to reduce the computational effort. This paper shows some preliminary results on state estimation in flexible-link multibody systems based on nonlinear, reduced-order dynamic model formulated through independent coordinates. Reduction is performed through a modified Craig-Bampton strategy. Numerical simulations of a six-bar planar mechanism show that the proposed observer delivers accurate estimates of both the rigid and elastic variables.

Performances of flexible link multibody systems, in terms of accuracy and repeatability, can be negatively affected by link flexibility that causes unwanted vibration. Therefore, advanced controllers are necessary for vibration suppression. The synthesis of such controllers typically relies on the knowledge of all the system state variables, whose direct measurement is complicated, or at least of a meaningful set of the most relevant ones. For such a reason, these state variables should be estimated through state observers. In particular, state observers based on reduced-order dynamic models should be employed, to reduce the computational effort. This paper shows some preliminary results on state estimation in flexible-link multibody systems based on nonlinear, reduced-order dynamic model formulated through independent coordinates. Reduction is performed through a modified Craig-Bampton strategy. Numerical simulations of a six-bar planar mechanism show that the proposed observer del...

Modern control schemes adopted in multibody systems take advantage of the knowledge of a large set of measurements of the most important state variables to improve system performances. In the case of flexible-link multibody systems, however, the direct measurement of these state variables is not usually possible or convenient. Hence, it is necessary to estimate them through accurate models and a reduced set of measurements ensuring observability. In order to cope with the large dimension of models adopted for flexible multibody systems, this paper exploits model reduction for synthesizing reduced-order nonlinear state observers. Model reduction is done through a modified Craig-Bampton strategy that handles effectively nonlinearities due to large displacements of the mechanism and through a wise selection of the most important coordinates to be retained in the model. Starting from such a reduced nonlinear model, a nonlinear state observer is developed through the extended Kalman filt...

This paper develops and validates experimentally a feedback strategy for the reduction of the link deformations in rest-to-rest motion of mechanisms with flexible links, named Delayed Reference Control (DRC). The technique takes advantage of the inertial coupling between rigid-body motion and elastic motion to control the undesired link deformations by shifting in time the position reference through an action reference parameter. The action reference parameter is computed on the fly based on the sensed strains by solving analytically an optimization problem. An outer control loop is closed to compute the references for the position controllers of each actuator, which can be thought of as the inner control loop. The resulting multiloop architecture of the DRC is a relevant advantage over several traditional feedback controllers: DRC can be implemented by just adding an outer control loop to standard position controllers. A validation of the proposed control strategy is provided by ap...

In the context of ERIGrid, scenarios are meant to be higher-level circumstance descriptions which will provide a basis for more detailed use case and test case definitions. As a term, scenario often refers to visionary descriptions of future development and the factors influencing it. Scenarios obviously apply long view perspectives where many uncertainties are present. In the context of ERIGrid, scenarios reaching to 2050 are of interest. In many cases, scenario work can feed in to political processes and decision making on different levels. In the course of ERIGrid, generic system configurations have been considered more useful than traditional high-level scenarios. A system configuration approach allows including more detailed and quantitative data in the descriptions and providing a better technical basis for developing the use cases and test cases. Whereas high-level

This paper presents an approach to extend the capabilities of smart grid laboratories through the concept of Power Hardware-in-the-Loop (PHiL) testing by re-purposing existing grid-forming converters. A simple and cost-effective power interface, paired with a remotely located Digital Real-time Simulator (DRTS), facilitates Geographically Distributed Power Hardware Loop (GD-PHiL) in a quasi-static operating regime. In this study, a DRTS simulator was interfaced via the public internet with a grid-forming ship-to-shore converter located in a smart-grid testing laboratory, approximately 40 km away from the simulator. A case study based on the IEEE 13-bus distribution network, an on-load-tap-changer (OLTC) controller and a controllable load in the laboratory demonstrated the feasibility of such a setup. A simple compensation method applicable to this multi-rate setup is proposed and evaluated. Experimental results indicate that this compensation method significantly enhances the voltage response, whereas the conservation of energy at the coupling point still poses a challenge. Findings also show that, due to inherent limitations of the converter's Modbus interface, a separate measurement setup is preferable. This can help achieve higher measurement fidelity, while simultaneously increasing the loop rate of the PHiL setup.

The complex and often safety-critical nature of cyber-physical energy systems makes validation a key challenge in facilitating the energy transition, especially when it comes to the testing on system level. Reliable and reproducible validation experiments can be guided by the concept of design of experiments, which is, however, so far not fully adopted by researchers. This paper suggests a structured guideline for design of experiments application within the holistic testing procedure suggested by the European ERIGrid project. In this paper, a general workflow as well as a practical example are provided with the aim to give domain experts a basic understanding of design of experiments compliant testing.

As future power systems become increasingly complex and interconnected to other energy carriers, a single research infrastructure can rarely provide the required test-beds to study a complete energy system, especially if different types of real power hardware are expected to be in-the-loop. Therefore, virtual interconnection of laboratories for large-scale systems plays an important role for geographically distributed realtime simulation. This paper presents the improvements made in simulation fidelity as well as usability for establishing future simulator and laboratory connections. A general procedure is proposed and analyzed for geographically distributed real-time simulation, which allows users easily to adapt this procedure to specific test cases. A systematic and comprehensive analysis of a dynamic phasor based co-simulation interface algorithm and its improvements are provided to demonstrate the advantages as well as limitations of this approach.

RESUMEN: Los sistemas de prototipado rápido son ampliamente usados en el desarrollo de productos en diferentes industrias, ya que permite configurar prototipos iniciales, probarlos bajo condiciones reales y optimizarlos con efectividad en tiempo y costo, sin mayor desarrollo de hardware. Con el concepto de Hardware-in-the-loop (HIL), se pueden emular condiciones de operación de un sistema real, llevándolo a un modelo matemático embebido en un sistema electrónico. Este trabajo muestra la implementación de una planta térmica en una FPGA que emula el comportamiento real y permite evaluar los alcances y beneficios de la técnica HIL. Por otro lado, se diseñó un controlador tipo PID en el software LabView®, que reguló la dinámica de la planta embebida usando comunicación serial. Se hizo una comparación entre el experimento y una simulación en Matlab® Simulink para validar el desempeño del sistema con los parámetros de diseño.

When there is damage to an aircraft, it is critical to be able to quickly detect and diagnose the problem so that the pilot can attempt to maintain control of the aircraft and land it safely. We develop methodology for real-time classification of flight trajectories to be able to distinguish between an undamaged aircraft and five different damage scenarios. Principal components analysis allows a lower-dimensional representation of multi-dimensional trajectory information in time. Random Forests provide a computationally efficient approach with sufficient accuracy to be able to detect and classify the different scenarios in real-time. We demonstrate our approach by classifying realizations of a 45 degree bank angle generated from the Generic Transport Model flight simulator in collaboration with NASA.

The future power system will integrate widely distributed energy resources (DER) interfaced by power electronics units, which may cause a reduction of the system inertia, resulting in non-compatibility with existing control algorithms and settings. Additional rotational-inertia can be provided to the system if many DER units combined with relative small storage units operate like virtual synchronous generators (VSG). This paper presents the measurement layer and the associated monitoring campaign needed for a VSG design and operation.

In PV systems grid-connected, we always have to work with power electronics modules. For safety, any design of power electronics converter should be simulated carefully in order to prevent from serious damages from high voltage, high current which can cause fire, explosion. By using hardware-in-the-loop (HIL) simulation, we could make sure the converter would operate the right way, which is not always achieve on the real hardware design when the first attempt, so that we can reduce ricks and furthermore reduce product development time and cost. After success on simulation, it will be not much complex to implement the algorithm to the real hardware. This paper presents the process for designing the HERIC inverter by using PSIM software which can be simulate and generate the project code for implement to the floating point DSP: TMS320F28335. The HERIC (Highly Ef cient and Reliable Inverter Concept) inverter is used in the design because of its advantages: high efficiency and safety by reducing the leakage ground current when the inverter is connected to the national grid without using a transformer. The algorithm was executed by the chip TMS320F28335 high performance up to 150MHz with a mathoptimized core. The process produced in this paper can be applied for any design idea about a high power, high efficiency power electronics converter.

In this paper a three stations MTDC grid is presented, providing a specific application of our work. The experimental platform is intended to combine electrical power components and communication/control equipment with real-time simulation tools. In this way the platform can test grid elements and evaluate different operation scenarios under various conditions.

I, Kerrylynn Rochelle Pillay, declare that: (i) The research reported in this thesis, except where otherwise indicated, is my original research. (ii) This thesis has not been submitted for any degree or examination at any other university. (iii) This thesis does not contain other persons' data, pictures, graphs or other information, unless specifically acknowledged as being sourced from other persons. (iv) This thesis does not contain other persons' writing, unless specifically acknowledged as being sourced from other researchers. Where other written sources have been quoted, then: a) Their words have been re-written but the general information attributed to them has been referenced; b) Where their exact words have been used, their writing has been placed inside quotation marks, and referenced. (v) Where I have reproduced a publication of which I am an author, co-author or editor, I have indicated in detail which part of the publication was actually written by myself alone and have fully referenced such publications. (vi) This thesis does not contain text, graphics or tables copied and pasted from the Internet, unless specifically acknowledged, and the source being detailed in the thesis and in the References sections.

This paper presents a decentralized controller to drive a team of agents to reach a desired formation in the absence of a global reference frame. Each agent is able to measure its relative position and orientation with respect to its neighbors. The different orientations imply that the relative positions between pairs of agents are sensed differently for each agent. In order to reach the desired configuration, the agents run two simultaneous consensus controllers, one to control their relative orientations, and another for their relative positions. The convergence to the desired configuration is shown by comparing the system with time-varying orientations with the equivalent approach with fixed rotations, showing that their difference vanishes as time goes to infinity. While the analysis in the paper is performed in a 2-dimensional space with orientations belonging to SO(2), our approach can be extended to handle 3 dimensions and orientations in SO(3). Simulation results, as well as hardware experiments with two quadrotor UAVs, corroborate the theoretical findings of the paper.

Many recent papers have been written in unmanned aerial systems (UAS) autopilot designing for fixed wing aircraft, in addition to vertical takeoff and landing aerial vehicles such as helicopter and quad-copters. The process of designing such a system needs great facilities, great cost, and has a significant risks of crashes. This paper introduces PID-based (proportional, integral, and derivative) autopilot design using Matlab\Simulink modeling to reduce design cost and time; in addition to minimizing risks. The PC/104 board was used as the hardware for the system. This paper assured the validity, simplicity, and time efficient of PID-based design, and the significant reduction of cost and effort in autopilot design using the Software in Loop (SILS) and Hardware in Loop simulations (HILS).

In electric and hybrid-electric vehicles, seriesconnected battery packs are commonly used. Should the stateof-health (SOH) of one or several individual cells deteriorate, the entire battery pack is affected, reducing battery pack capacity which in turn reduces the maximum distance able to be driven. In order to predict the SOH of the individual battery cells, this paper introduces the concept of effective battery capacitance. Effective capacitance is defined as the local slope of the voltage vs charge curve derived from a third-order polynomial relationship between these parameters. The location of maximum effective capacitance can be used as a means of identifying end-of-life and/or catastrophic failure of battery modules. Four different Toyota Prius battery packs were used in establishing this method in the proof of concept work. The paper presents a linear relationship between maximum effective capacitance and SOH; this relationship is confirmed with a larger dataset.

The Toyota Prius battery pack consists of 38 individual battery blades, each blade contains 6 NiMH cells in series. This means that each pack contains 228 NiMH cells. Each cell has the potential to fail. This report investigates the mode of failure of Prius battery packs by first analysing a number of packs in the lab, and then road testing them in a Toyota Prius. The analysis of the battery packs shows that some packs had aged "linearly", that is in a balanced manner, such that the state of health of all blades remained similar. However, in other packs discrete blades had significantly different states of health. A pack that consists of cells that are matched in both state of health and state of charge delivers the best performance. The research also showed that the worst cell in the pack determines the overall pack performance. This was demonstrated by substituting reducedcapacity or short-circuited blades into a functioning battery pack. A vehicle with a pack consisting of 37 2400 mAh battery blades and one 1200 mAh battery blade was only able to drive 1.3 km in Electric Vehicle mode, as opposed to 2.6 km with a pack consisting of 38 2400 mAh battery blades.

Power-Hardware-in-the-Loop (PHIL) is a kind of real-time simulation, capable of exchanging not just low-voltage, low current signals, but the power required by the power device under test (PDuT). PHIL requires a PDuT to be connected to a real-time digital power network simulator via a power interface (PI). There have been quite a few PIs proposed in the past. Among them, ideal transformer model (ITM) is the most commonly used due to its ease of implementation. Other PIs such as partial circuit duplication and damping impedance can be considered as an extended version of ITM. These PIs need to follow a strict impedance ratio between PDuT and the rest of the system prior to the PHIL implementation, which could be a tedious and difficult task. This paper proposed a new PI for PHIL based on multi-dimensional golden section search algorithm, which can eliminate such a constraint. The proposed method has been shown to have wider stability regions when PDuT is a passive device or active one such as an inverter based resource. Moreover, dynamic responses of the proposed method are similar to those of the ITM under stable conditions. The validity of the proposed method has been justified with offline simulation and experimental PHIL setups. INDEX TERMS Real-Time Simulation, Power Hardware-in-the-Loop (PHIL), Golden Section Search (GSS), Gauss-Seidel, Power Amplifier.

This paper presents the identification of mathematical models governing dynamics in both the vertical and horizontal planes for a axisymmetric, torpedo-shaped Gavia class Autonomous Underwater Vehicle (AUV), based on a least squares optimisation algorithm. Rather than using the least squares algorithm to roughly estimate the mathematical models in a fixed time period, a simulator is developed based on least squares optimisation algorithm with the goal of accurately predicting the system response over time starting from initial conditions. The general equations for six degrees of freedom motions are decoupled into non-interacting longitudinal and lateral subsystems in the form of linear state space models with unknown parameters. These unknown parameters are initially determined by applying a least squares algorithm for experimental data collected from the AUV's on-board sensors. The previously identified models are then optimised to form the simulator able to estimate the system response. The numerically simulated data from the simulator show a good agreement with the field measured data. The simulator provides a useful tool to examine the manoeuvrability of AUV. The verification process proved that the least squares algorithm could be utilised as an optimisation algorithm in the system identification of autonomous underwater vehicle.

Developing ECUs (Electronic Control Units) has been integral to advancing embedded systems in the aerospace and automotive industries[8]. Over the past decade, the industry has made significant efforts to improve the efficiency and accuracy of ECU validation using simulation technologies such as Model-in-the-Loop (MIL) and Software-in-the-Loop (SIL). These techniques enable early validation of ECU software and control algorithms, ensuring that embedded systems meet functional and performance requirements before integration with hardware. This paper examines the evolution of ECU validation techniques, mainly focusing on how simulation-based testing has evolved over the last decade and how some of these methodologies can be effectively applied to In-Flight Entertainment (IFE) systems. IFE providers can use simulation tools to test communication protocols and system integration to reduce validation time, increase software quality, and ensure seamless interaction between ECUs and cabin management systems. The paper also discusses how ecu simulators can be effectively used in the design and integration phase by suggesting an approach and talking about theoretical results it can achieve.

El uso de sistemas fotovoltaicos se ha incrementado de manera considerable en años recientes. Resulta de gran utilidad el uso de modelos de simulación para caracterizar de manera eficiente la potencia y la relación voltaje corriente bajo condiciones ambientales cambiantes y de sombreado parcial. Con ello se permite establecer condiciones de diseño para circuitos de seguimiento de MPP. En este artículo se presenta la implementación de modelos de sistemas fotovoltaicos utilizando la herramienta de simulación de alto nivel VerilogA. De esta manera se incorporan las ventajas de los modelos matemáticos y la posibilidad de analizar las brought to you by CORE View metadata, citation and similar papers at core.ac.uk

This paper discusses the latest techniques in vehicle modeling and simulation to support ground vehicle performance and fuel economy studies, enable system design optimization, and facilitate detailed control system design. The Autonomie software package, developed at Argonne National Laboratory, is described with emphasis on its capabilities to support Model-in-the-Loop, Software-in-the-Loop (SIL), Component-in-the-Loop (CIL), and Hardware-in-the-Loop simulations. Autonomie supports Model-Based Systems Engineering, which is growing in use as ground vehicles become more sophisticated and complex, with many more subsystems interacting within the vehicle and the environmental conditions in which the vehicles operate becoming more challenging and varied. With the advent of hybrid powertrains, the additional dimension of vehicle architecture has become one of the design variables that must be considered. This complexity results in the need for a simulation tool that is capable of incorporating systems of various levels of detail and fidelity, as well as handling scalable simulation tasks, from individual component models up to complete vehicles. Autonomie automates the process of building system simulations comprising the models chosen by the user, and then executes those simulations, producing tabular and graphical results. This capability eliminates the need for many of the manual steps that are normally encountered when creating and running a system simulation model. Specific applications are described to show the applicability of Autonomie to a wide range of problems. These applications highlight the use of Autonomie for SIL-based detailed control design using compiled production control software, ground vehicle performance and fuel economy optimization studies, and CIL testing at Argonne National Laboratory.

For OBC (On-Board Charger) and LDC (Low DC-DC Converter) used as essential power conversion systems of PHEV (Plug-in Hybrid Electric Vehicle), system performance is required as well as reliability, which is need to protect the vehicle and driver from various faults. While current development processor is sufficient for embodying functions and verifying performance in normal state during development of prototypes for OBC and LDC, there is no clear method of verification for various fault situations that occur in abnormal state and for securing stability of vehicle base, unless verification is performed by mounting on an actual vehicle. In this paper, a CCM (Charger Converter Module) was developed as an integrated structure of OBC and LDC. In addition, diverse fault situations that can occur in vehicles are simulated by a simulator to artificially inject into power conversion system and to test whether it operates properly. Also, HILS (Hardware-in-the-Loop Simulation) is carried out to verify whether LDC is operated properly under power environment of an actual vehicle.

Reducing the size and weight of a power electric system is a prodigious challenge to researchers as the development of the latest technologies emerge in the field of electrical engineering. A similar urge is there to develop a light-weight mobile power substation (MPS) to use in the electric power distribution systems during emergency conditions. This thesis proposes a power electronics based solution using the modular multilevel converter (MMC) topology to design the MPS system. The market-available power semiconductor devices are analyzed and suitable devices are selected to design the system. The phase-shifted pulse width modulation (PS-PWM) and selective harmonic elimination (SHE) switching algorithms are selected to modulate the MMC terminals. To validate the proposed techniques simulation files are built in MATLAB/SIMULINKTM. Simulation results are presented and analyzed to verify the theoretical claims. These simulation results prove the feasibility of designing the MPS syste...

This paper reports on the impact of PV farm location in Low-Voltage Distribution Networks (LVDNs) in terms of power loss and voltage profile. Simulation results from a five node or bus radial network within the Power Systems Computer Aided Design (PSCAD) software, successfully demonstrate the effect of the solar farm interface at different network buses on the degree of power loss and voltage variation under three load power sizes, namely 5%, 50% and 100% of the rated power. The results also suggest that the generators' phase angle, point of coupling location, inverters and associated converters switching algorithms have great influence on the aforementioned issues. Furthermore, the injected power by the PV farm at the load side will decrease the power demand from the substation. This in turn leads to the loss reduction and voltage profile improvement within the network. However, if the PV farm power generation is more than the load demand, some power may flow towards the substation. Consequently, a voltage rise can be expected along the distribution network. The rise of the voltage limits the amount of penetration level that can be installed in the distribution networks.

In PV systems grid-connected, we always have to work with power electronics modules. For safety, any design of power electronics converter should be simulated carefully in order to prevent from serious damages from high voltage, high current which can cause fire, explosion. By using hardware-in-the-loop (HIL) simulation, we could make sure the converter would operate the right way, which is not always achieve on the real hardware design when the first attempt, so that we can reduce ricks and furthermore reduce product development time and cost. After success on simulation, it will be not much complex to implement the algorithm to the real hardware. This paper presents the process for designing the HERIC inverter by using PSIM software which can be simulate and generate the project code for implement to the floating point DSP: TMS320F28335. The HERIC (Highly Ef cient and Reliable Inverter Concept) inverter is used in the design because of its advantages: high efficiency and safety by reducing the leakage ground current when the inverter is connected to the national grid without using a transformer. The algorithm was executed by the chip TMS320F28335 high performance up to 150MHz with a mathoptimized core. The process produced in this paper can be applied for any design idea about a high power, high efficiency power electronics converter.

The rapid evolution of smart grid technologies necessitates innovative approaches for managing energy resources, especially in the face of growing electric vehicle (EV) adoption and the integration of distributed generation (DG). Fuzzy logic and edge computing have emerged as powerful tools for addressing these challenges by enabling intelligent decision-making and real-time system optimization. This paper proposes a synergistic framework that leverages fuzzy logic and edge computing to optimize DG allocation and enhance EV longevity in smart grids. A comprehensive discussion is presented on system design, implementation methodology, simulation results, and practical applications. The outcomes demonstrate significant improvements in energy efficiency, system reliability, and EV battery health.

Unlike traditional reliability analysis in power systems, which focuses on safely and securely withstanding credible contingencies during daily operations, resilience assessments are concerned with high-impact, low-probability (HILP) events in the grid. This paper proposes an autonomous load restoration architecture based on the IEC 61850-8-1 GOOSE communication protocol to enhance feeder-level resilience in active power distribution grids. Unlike previous research on outage management, which often lacks a focus on resilience, offers reactive solutions to local single-fault events, and does not fully utilize both network built-in flexibilities and flexible resources, this proposed solution leverages in Imported power and flexibility from neighboring networks, Distributed energy resources and Vehicle-to-grid capacity of electric vehicle aggregations. These elements enhance feederlevel resourcefulness for agile response and recovery. The proposed solution employs real-time selfreconfiguration strategies to manage both single and subsequent outage events, thereby improving resilience before and during contingency periods. Additionally, a resilience evaluation framework that quantifies the contributions of all resources involved in service restoration is developed.

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Goal directed fluid therapy (GDFT) implies the flow-related parameters guided infusion of fluids. It requires adherence to complex clinical algorithms and fluid protocols, as well as simultaneous monitoring of several parameters and evaluation of their fluid responsiveness or actual response to fluid challenges. Automated clinical decision support systems (ACDSS) are used to ease the task. However, they are based on the flow-related (hemodynamic) parameters -arterial blood pressure, cardiac output, etc. Meanwhile, infusions guided by hemodynamic endpoints may lead to edema. A mini Volume Loading Test (mVLT) may be helpful in detection of imminent edema from changes in hemodilution during stepwise infusion which is conventionally used for hemodynamic optimization. We developed an ACDSS which is based on evaluation of both hemodynamic and hemodilution parameters. It operates on the basis of our unique algorithm which implies interchangeable application of fluid loading, vasopressor injection and red cell transfusion. This ACDSS is used in our PC-based command centre of a prototype semi-closed loop (SCL) infusion system. We developed a simulator -'Virtual Patient' -on the basis of our previous clinical records aiming to test a new controller, as well as train the research team before starting a clinical trial. In silico testing continued for 12 hours on five occasions. Primary endpoint was the compliance of a controller with our clinical algorithm and the stability of operation in a spectrum of arterial hypotension and bleeding scenarios. The prototype SCL infusion system was found ready for clinical validation.

This paper proposes a simplified predictive direct power control for the grid-tied quasi Z-source inverter. The proposed control implements a model predictive control structure to achieve the maximum obtainable power from the collected PV source. The power delivered to the grid is managed to compensate for the reactive power and, as needed, to ensure the grid’s stability. A predictive power model for a quasi Z-source inverter is developed in which the proposed control can operate with a fixed switching frequency without a weighting factor. The simplified space vector modulation uses the three appropriate switching vectors that are selected and applied using precalculated switching times during each switching period, in which the required switching vectors are determined only from one sector in the space vector diagram, taking all of the information of the other sectors, which leads to reducing the computational burden. Simulation results and comparative study are used to confirm the...

UAS flight simulation for research and development is a difficult problem because each airframe requires accurate physical models, control systems, an organized method of testing new control systems, virtual cameras for vision-based control, and methods of testing new control in the transition from simulation to flight tests. In an environment where researchers are temporary, such as a university, a standard research and development platform with these properties expedites prototyping and prevents code loss when an employee leaves. We develop a research simulation which conforms to all of these properties inside a Matlab environment. A series of mex functions provide connections to the autopilot for hardware-in-theloop testing, graphical interfaces, and vision processing. The option to write C mex functions offers a seamless method of porting code to embedded systems, minimizing coding errors. We demonstrate fast prototyping by showing flight test data where the simulation provided virtual vision data to avoid virtual obstacles. Keywords Flight simulation • Micro air vehicle • Unmanned air system • Matlab • Hardware in the loop J. Saunders • R. Beard (B) Electrical and Computer Engineering,

The aim of this paper is to review the available simulators defining in a first step the necessary requirements to cope with the multi-vehicles cooperation context. In order to get a complete overview of these tools, a new classification is proposed and is used to sort the existing simulators. It is worth to be noted that we focus our interest on simulators which can at least address the problem of marine robotics. None of the available simulators being compliant with the previous requirements, a new simulation architecture is proposed. Thetis is a real-time multi-vehicles hybrid simulator for heterogeneous vehicles. This simulator allows Hardware In The Loop (HIL) simulations including the use of virtual sensors which allows to provide a representation of a virtual world, and includes the support of communication devices. The included acoustic propagation model allows communications between the vehicles. Finally some simulation results involving one or more AUV (Autonomous Underwater Vehicle) and/or USV (Unmanned Surface Vehicle) are presented.

The purpose of this paper is to present Thetis: a real-time multi-vehicles hybrid simulator for heterogeneous vehicles. This simulator allows Hardware In Loop (HIL) simulations including virtual sensors which allow to provide a representation of a virtual world, and including the support of communication devices. The architecture of this simulator is conceived so that it ensures a temporal decoupling between the virtual environment, the vehicles, sensors and communication simulators and, of course, the actual embedded controller which warrants us the quality of the results. This paper presents a classification and a short state-of-the-art of the different types of existing simulators. Then we will introduce the architecture and functionalities of Thetis. Finally we will compare results obtained during sea-trial with our AUV Taipan300 and with our simulator.

The purpose of this paper is to present the communications aspect in Thetis , a real time multi-vehicles hybrid simulator for heterogeneous vehicles. This simulator allows hardware in loop (HIL) simulations including virtual sensors which allows to provide a representation of a virtual world, and with the support of communication devices, which allow overall communications between vehicles. After a short state of the art, we introduce the main mechanisms of our simulator. Then we present the modeling of the phenomena which are encountered when AUVs (Autonomous Underwater Vehicle) communicate with aquatic modems, and the messages distribution system considering the assumptions we have made. Finally, we present results of our Hardware In Loop Simulation in which Taipan 2 and Taipan 300 (our 2 AUVs) exchange messages in different spatial configurations.

In many applications it is advantageous to simulate the relative motion of two bodies in a laboratory environment. This permits the testing of sensors and systems critical to the safety of equipment and personnel with reduced risk, and facilitates stage-gate management of large projects to mitigate financial risks. The University of Bristol is collaborating with Cobham Mission Equipment to develop a large-scale facility for relative motion simulation, primarily for the purpose of testing automated air-to-air refuelling systems. The facility incorporates two 6DOF articulated robotic arms whose motion is dictated by real-time numerical simulations of the physical environment. Sensors on the robot-mounted equipment feed back into the numerical simulation to perform closed loop simulations with real hardware. This paper discusses the development of the facility and the different approaches considered for achieving real-time control of the robotic hardware. It then goes on to focus on aspects of the control topologies and motion optimisation which are used to maximise the performance of the facility. The current capabilities are demonstrated with respect to an aerial refuelling exercise and future challenges are explored.

The first term in J(n) represents a cost associated with the aircraft's outputs as the sum of the squares of the error between the desired trajectory, yr(n), and the predicted trajectory, ym(n). Out is the number of outputs, Nf is the mhhum-costing horizon for the i& output, and Ni is the maximum-costing horizon for the ih output. The outer summation denotes each output to be minimized while the inner summation specifies the Don Soloway, NASA Ames Research Center -

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