Automatic Control Mode Research Articles

Early-stage Testing of Thermal Power Dispatch Simulator for Subjective Mental Workload and Evolution Time

The excess thermal energy produced by nuclear power plants (NPPs) during low electricity demands can be utilized in industrial processes, such as hydrogen production, through a thermal power dispatch (TPD) system. Initial testing of the first iteration of a single-train TPD design with a manual control mode at the Idaho National Lab (INL) revealed a high operator workload and degraded control capability. The current study evaluated the impact of an enhanced dual-train TPD design on operators’ subjective mental workload and evolution task-time while completing two operating scenarios in manual and automatic control modes. The results showed no statistically significant difference between participants’ mental workload using both control modes. Evolution time in automatic control mode took a shorter time than in manual control, with participants completing all evolutions in less than the 10-min set as the design specification limit. The shorter evolution time is discussed within the context of plant safety and operational efficiency.

Probabilistic neural network-based diagnosis of blockage faults in air conditioning and refrigeration units

Abstract The refrigeration unit is a core component of the air conditioner, and its typical faults are pipe scaling and blockage, which can cause refrigerant leakage in serious cases, and these faults can affect the cooling effect of the air conditioner and even affect the safety of using the air conditioner in serious cases. Therefore, it is necessary to study the fault diagnosis system of the refrigeration unit. The traditional fault diagnosis system for refrigeration units, which generally uses wireless sensor networks to transmit data, is a challenge because of its slow diagnosis speed and the low accuracy rate of fault diagnosis for refrigeration units. This paper uses a probabilistic neural network (PNN) to debug a blockage fault diagnosis algorithm system for simulated fault training. The system successfully achieves four levels of pre-warning for blockage faults: “uncertainty, micro-blockage, blockage, and severe blockage”, with the fastest pre-warning time of “uncertainty, micro-blockage” being less than 2 seconds. The experimental results of this paper show that the PNN system can take timely measures against blockage faults, and the fault diagnosis accuracy of the model reaches 97.97%, which is 13.34% higher than the traditional fault identification algorithm. The PNN model can pinpoint the blockage faults of the refrigeration unit, which enables the working state of the refrigeration unit to be continuously optimized, and the air conditioner to maintain energy-efficient operation. The fault simulation of the air conditioning refrigeration unit in automatic control mode verifies the blockage fault diagnosis’s accuracy and the algorithm’s feasibility, providing reference and learning for the development of fault diagnosis algorithms.

A system for the validation of collision avoidance algorithm performance of autonomous ships

Adequate validations on intelligent ships are essential to guarantee navigation safety and efficiency. In this paper an emulated validation system is constructed to test collision avoidance ability of autonomous ships in open waters, coastal regions and archipelago areas with different traffic densities. A synthetic map generator is designed, the map meshing conbines the techniques from Voronoi Tessellation, Poisson-disk Sampling and Perlin Noise to build up more natural coastlines and detailed elevation data. To imitate random encounter scenarios, a new method is designed to maintain target ship quantity, to conduct various tests, 3 types of water geography, different ship behaviors as well as manual and automatic control modes are applied, during testing, each ship is designed to follow the planned routes which are generated arbitrarily and then smoothed. A validation scheme is put forward for comprehensive testing procedures. Finally, A set of experiments on the collision avoidance algorithm show the merits and drawbacks, this verifies the effectiveness of the validation system.

Automated Fire Extinguishing System Using a Deep Learning Based Framework

Fire accidents occur in every part of the world and cause a large number of casualties because of the risks involved in manually extinguishing the fire. In most cases, humans cannot detect and extinguish fire manually. Fire extinguishing robots with sophisticated functionalities are being rapidly developed nowadays, and most of these systems use fire sensors and detectors. However, they lack mechanisms for the early detection of fire, in case of casualties. To detect and prevent such fire accidents in its early stages, a deep learning-based automatic fire extinguishing mechanism was introduced in this work. Fire detection and human presence in fire locations were carried out using convolution neural networks (CNNs), configured to operate on the chosen fire dataset. For fire detection, a custom learning network was formed by tweaking the layer parameters of CNN for detecting fires with better accuracy. For human detection, Alex-net architecture was employed to detect the presence of humans in the fire accident zone. We experimented and analyzed the proposed model using various optimizers, activation functions, and learning rates, based on the accuracy and loss metrics generated for the chosen fire dataset. The best combination of neural network parameters was evaluated from the model configured with an Adam optimizer and softmax activation, driven with a learning rate of 0.001, providing better accuracy for the learning model. Finally, the experiments were tested using a mobile robotic system by configuring them in automatic and wireless control modes. In automatic mode, the robot was made to patrol around and monitor for fire casualties and fire accidents. It automatically extinguished the fire using the learned features triggered through the developed model.

Furuta Pendulum Design Update for Accessible Control Demonstrations

Pendulum systems have been studied and used for several decades to demonstrate principles in the systems and control community. The Furuta Pendulum has been a popular system because it is safe and compact while allowing profound complexity for the small number of degrees-of-freedom. A modern update is presented in this paper to enhance the public accessibility of the system for educational and industry control demonstrations. Several updates to the Furuta Pendulum are provided and the design approach for each is described in detail. Manual-only and automatic control modes are enabled to promote user intuition of automatic control schemes. Manual-only control is enabled by disengaging a mechanical coupler from the DC motor and main shaft. 3D printing provides an economical and flexible approach for creating the system for kits and public sharing. Almost all parts are printed with PLA, including the shafts. An open-source BeagleBoneBlue controller was used to encourage public availability of project materials. A nonlinear model is derived and linearized for experimental validation to prove the model's validity for various control demonstrations. The linear model is a state-space realization with lumped parameters. The parameters were estimated using the Simulink Parameter Estimation workflow.

Моделирование траектории струи огнетушащего средства из пожарного лафетного ствола при возмущающих воздействиях

One of the important stages in the development of fire safety systems and determining the area of efficient fire extinguishing of robotic fire extinguishing installations using remotely controlled fire monitors is a calculation of the trajectory of the fire extinguishing agent jet. In the absence of disturbing influences, the jet trajectory is well described by mathematical models built based on the empirical data. However, in the presence of wind action in open space and automatic control mode, significant disturbing factors are introduced into the calculation of the jet trajectory, which make it difficult to construct the required trajectory of the fire extinguishing agent. To solve this problem, the algorithms were developed to simulate the movement of a jet under disturbing influences using the methods of computational fluid dynamics and verification based on the results of field tests. Algorithms of the computational fluid dynamics based on numerical methods for solving the equations of gas-hydrodynamics of flows (equations of conservation of energy, momentum, continuity, state, etc.) allow to model the corresponding processes with high accuracy. Based on the simulation results, the jet trajectory was obtained, and its comparison with the results of field experiments indicates that the use of computational fluid dynamics methods in particular the k–ε model (mass density and turbulence kinetic energy dissipation rate) allows to describe the jet trajectory from the fire monitor with a sufficiently high accuracy under disturbing influences. The obtained calculation methods can be used in the development of algorithms for automatic control of fire robots operating under wind load conditions, including for solving the problem of determining its identification by the deviation of the jet from the calculated trajectory.

Study of the performance change in digital mammography systems depending on the total number of examinations

Digital mammography equipment should operate at a high-performance level for detecting breast cancer over the lifetime of the systems. This study investigates the performance of the Fujifilm Amulet Innovality full-field digital mammography system in relation to the number of exposures. The performance of twelve systems, from new and up to 17 000 examinations, was compared. The x-ray output, half-value layer (HVL), contrast-detail (C-D) detectability, contrast-to-noise ratio (CNR), mean glandular dose (MGD), signal transfer property (STP), pre-sampled modulation transfer function (MTF), normalized noise power spectra (NNPS), detective quantum efficiency (DQE) tests were performed to determine the performance change. The noise sources were also analyzed in the spatial domain. The x-ray output and HVL values at 28 kV with tungsten anode and rhodium filter were 15 μGy/mAs ± 1.0 (coefficient of variation (cov) = 7.0%) and 0.54 mmAl ± 0.008 (cov = 1.5%), respectively. The average MGDs for 60 mm equivalent breast to reach the achievable image quality level for 0.1 mm and 0.25 mm detail diameters of circular discs on the CDMAM 3.4 phantom image were 1.17 mGy ± 0.13 (cov = 11%) and 1.40 mGy ± 0.09 (cov = 6%), respectively. The average MGD for 53 mm equivalent breast was 1.08 mGy ± 0.14 (cov = 13%) at dose setting Normal in automatic exposure control (AEC) mode. All tested devices demonstrated good linearity with R2 ≥ 0.999 in the STP curves. The average MTF at 5.0 mm−1 spatial frequency was 0.66 ± 0.007 (cov = 1.0%). The average NNPS was 2.38 × 10−6 mm2 ± 2.13 × 10−7 (cov = 9.0%) at 5.0 mm−1. The average DQE value at 5.0 mm−1 was 0.33 ± 0.02 (cov = 5.0%), and the mean peak DQE was 0.66 ± 0.03 (cov = 5.0%). The mean power coefficient (b), determined from the power relationship between linearised standard deviation and detector dose while analyzing noise sources, was 0.49 ± 0.007 (cov = 1.4%). There was no gradual change in the x-ray tube and detector performance by the number of exposures, and taking up to 68 000 images did not decrease the quality of the systems.

Comparison of Manual Mode With Automatic Gas Control Mode for Sevoflurane Consumption in Maquet Flow-I Anesthesia Machine

Background: Inhalational anesthetic agents used for general anesthesia can have adverse effects on operation theater staff and environment. The innovative automated gas controller reduces inhalational anesthesia agent consumption. Aim: To compare sevoflurane consumption in manual mode versus automatic gas control (AGCTM) mode on Maquet Flow-i anesthesia machine in adult laparoscopic surgeries. Methods: This study was a randomized control trail conducted at Department of anesthesia, Security Forces Hospital Riyadh, Saudi Arabia and Pakistan Kidney and Liver Institute and Research Center, Lahore, Pakistan from December 2019 till December 2020. Sixty patients were randomly divided into two Groups A (Automatic Gas Control, AGCTM) and Group B (Manual Mode). Sevoflurane consumption and sevoflurane consumption rate was calculated in both groups. Data was analyzed using SPSS V.20. Results: Two groups were comparable in term of age, gender, and comorbidities. The mean sevoflurane consumption rate in group A was 23.92+4.6 as compared to 40.23+4.4 in group B (P=0.001). Similarly sevoflurane consumption rate is also statistically significant. (0.28 + 0.04 ml/min vs 0.47 + 0.02 ml/min, p=0.001) Conclusion: Sevoflurane consumption and sevoflurane consumption rate is lower in AGCTM mode as compared to manual mode of Maquet Flow-I anesthesia machine. Keywords: Sevoflurane, Maquet Flow-i, Automatic Gas Controller (AGCTM), Laparoscopic Surgeries

Design and test of an improved active disturbance rejection control system for water sampling unmanned surface vehicle

Unmanned surface vehicles (USVs) have wide application prospects in military and civil fields. Motivated by the large demand for environmental protection equipment, a water-sampling USV (WS-USV) system is designed in this study. The software and hardware of the entire system are designed and developed independently. Two water sampling modes, a manual remote control mode and remote interface automatic control mode are designed for handling emergencies. The WS-USV is propelled by twin-propellers. These propellers have many input constraints owing to their inherent structure, making the design of the controller very difficult. In this study, an improved active disturbance rejection control (ADRC) method is proposed and a saturation function is introduced to design a path-following control system for the WS-USV. This enhances the anti-disturbance ability for addressing environmental disturbances by wind, waves and currents in the water sampling process. The stability of the system is improved. The feasibility, stability and performance superiority of the control system are proven by water sampling contrast experiments.

К проблеме редукции в динамике гиростата

We consider the motion relative to the fixed pole of the gyrostat, which occurs in the automatic control mode according to R. Grammel. The gyrostat is acted upon by a system of specified non-stationary forces caused by the influence of the external environment. A description is given to the procedure for reducing the dynamic system of the gyrostat, for which there must be a first integral linear in the components of the angular sorption of its carrier. The reduction is realized as a result of constructing a nonlinear integro-differential equation that determines the dependence of one of the components of the absolute angular velocity vector of the gyrostat carrier. Some special cases of reduction associated with the structural and dynamic features of the gyrostat and the types of a given analytical dependence of the components of the gyrostat moment vector are considered.

Applied spectroscopy methods application in the defluorinated phosphate production technological process control problem

The paper considers the applied optical spectroscopy methods application in the defluorinated phosphate production, controlling the technological process task. The emission spectral analysis using the method possibilities to control the charge hydrothermal acid processing process, which takes place in special furnaces with natural gas burning and a temperature of 1340 – 1400°C, have been studied. Experiments have been carried out in production conditions, and the radiation spectral characteristics study results from the furnace during the defluorination technological process are presented. It is shown that, by measuring individual spectral lines, it is possible to provide an automatic control mode for the defluorination technological process in the furnace burner controlling the combustion mode terms without the need for visual observation by the operator to ensure a better product yield. The work second part is devoted to the defluorinated phosphate chemical composition study by the laser-spark emission spectrometry method (LIBS). The LIBS method application for the defluorinated phosphate chemical composition analysis is proposed, which allows the production process parameters real-time control. The plasma spectra measurement and interpretation results from the ready-made defluorinated phosphate sample, obtained using the LIBS method, are presented.

Control of quality and modes of power supply systems using contactless devices

The article discusses the issues of creating contactless switching devices for automatic quality control and operation modes of power supply systems, using the developed contactless thyristor voltage relays, characterized by high reliability and speed, combining a sensitive system and a powerful final controlling element. Schemes with operating principles and experimental characteristics are given. It is proposed to use it to automatically turn on or off the booster transformer winding when the input voltage changes to maintain the rated voltage of electricity consumers, as well as to create a power regulator for capacitor banks of reactive energy compensating devices.

Research on Automatic Control Mode of Profile Cutting Machine Based on PLC

Aiming at the constant need of cutting various metal profiles in industry, the control mode of automatic profile cutting machine is studied, which is based on PLC (Programmable Logic Controller) controller. MCGS (Monitor and Control Generated System) is used for monitoring and management, and the modular design of control layer is completed. The core of the control layer is that we have a cutting material database, which makes up for the fact that the current cutting machine control system only aims at a single cutting model or material, and the cutting speed and torque of the cutting machine need to be adjusted or designed manually. Based on this market demand, the automatic control mode of profile cutting machine based on PLC is established. Practice shows that this mode is based on the analysis and comparison of common cutting materials in the market, and the material database is consequently established. Users can choose the required cutting mode through the intuitive MCGS graphical interface, which improves the cutting efficiency of users and reduces the development cost of enterprises.

Energy Pricing and Sharing Strategy Based on Hybrid Stochastic Robust Game Approach for a Virtual Energy Station With Energy Cells

In this paper, a novel energy pricing and sharing strategy is proposed to solve the energy management and market bidding problems of a virtual energy station (VES) in multi-carrier energy systems. First, the energy cell-tissue-based group interaction framework and the multiagent-based communication and control architecture are established in the VES. Second, the general model of an energy cell is built, in which the integrated demand response process and the automatic generation control mode of a combined heat and power unit are designed. Third, according to the classification of energy cells, the aggregation rules of the VES without the participation of third-party agents are proposed, and the internal trading mechanism of the VES led by a higher energy cell is designed based on a Stackelberg game. Moreover, a three-stage hybrid stochastic robust optimization strategy is proposed to address uncertainties in market prices and renewable energy output. Finally, the optimization model is linearized and solved by duality theory, KKT conditions, and column-and-constraint generation (C&CG) algorithm. Simulation results prove the rationality and effectiveness of the framework and business model for the VES.

DIAGNOSTIC SYSTEM OF PERCEPTION OF NAVIGATION DANGER WHEN IMPLEMENTATION COMPLICATED MANEUVERS

Context. The article focuses on the question of automated decision-making analysis made by the operator in ergatic systems of critical infrastructures on the example of marine transport control in difficult navigation conditions. It is evident enough that the main criterion for an adequate perception of input information done by an operator is highly likely to predict the choice of behavioral decision-making strategies in discrete time conditions. However, the difficulty of modeling the operator’s actions is found to be lying in non-linear pattern of taking definite decisions in emergency situations and deviations from the Codes and Rules.Objective. The research purpose strategy of conducted investigation can be defined as the development of the mathematical platform for a decision support system (DSS) module with an aim to identify the class-forming set of atomic elements. In particular this issue determines the fact of distortion of the perception of information about navigation risks predicting the operator’s behavior pattern while having vessel running process. This is possible to have it depicted through formal analysis.Method. To capture the analysis of danger perception by the operator the paper introduces a mathematical model of data collection which identifies the fact of perception distortion in the form of attribute space of metadata obtained by the method of converting information from navigation devices. Besides, the factor of disorientation of the operator can be considered to be a shift on a displaced bridge which significantly affects on the analysis of information for adequate decision making. In addition, taking into account the failure of navigation equipment such as: RADAR, ARPA, AIS, ECDIS, especially while doing exit from the automatic control mode, a dangerous precedent can possibly be created for the operator not ready to perceive the complexity of the situation. To make it work a formal analysis was carried out using the extending risks possibility level tasks during the transition under these conditions. In addition to this item, a probabilistic model of perceiving the situation under the conditions of the error set is reported to have been constructed. So, as the result, the modeling process turned out to show the definite evidence of getting no way possibility to have the degree of criticality of the navigation situation determined without a clear identification of factors affecting the distortion of perception of the operator. Nevertheless, generalized statistical data are sure to be not enough and there is a special need of taking into account an individual information model of each operator for the effective work of DSS as this process faces real challenges. It must be significantly noticed that in order to analyze the perception of information by the operator a special test for defining preferences when choosing a strategy of control actions in the form of maneuvering under difficult navigation conditions purpose was created. Regarding the test results, as well as data on the passage of locations, certain attention is advised to be drawn to the classification analysis of 15 parameters using artificial neural networks having been carried out by our team and, as a consequence, the boundaries of deviations in the perception of navigational danger were found out and clarified. Additional superior item to be spoken about is certainly the introduction of rules and algorithms having been welcomed into the DSS core including the following: interaction field, RADAR and NIS synchronization tools; actual navigational hazard in a given cartographic area; ships trajectories and, as a result, simulations of probable deviations in the information perception of the operator.Results. In order to meet beneficial agreement between the effectiveness of the developed DSS with the proposed formalanalytical approaches an experiment was assumed to be appropriate to be conducted using the Navi Trainer 5000 navigation simulator (NTPRO 5000). Based on the foregoing, due to comprehensive results in experiment metadata for the 2.5 years of operation of navigation simulators and DSS software tools the identification of the deviation probabilities in the information perception of dangers was achieved and export the predicted data to new locations for the operator and cartographic areas was performed. Undoubtedly, the experimental investigation confirmed the hypothesis of the study and reflected completely the feasibility of using this DSS to make predictions of possible risks when control the vessel by analyzing the information model of the operator.Conclusions. Formal-analytical approaches presented in the study combined with the developed DSS software tools and the information itself made it possible to classify the decision-making strategies of the operator when control the vessel and to predict the probability of catastrophic consequences. The feasibility of the proposed models and methods was successfully revealed by carried out experiments.

Design and Research of a Model of a Pair Active Aircraft Control Sidesticks Operation in MATLAB

Development of an aircraft active sidestick control is an actual direction in modern flight control systems which allows to increase safety, to improve cabin ergonomics and to reduce the mass and weight of control levers. The article devoted to simulation modeling of a pair active sidesticks based on electromechanical actuators coupled by a frameless kinematic scheme, providing identical dynamic characteristics for the pitch and roll channels. MATLAB, Simulink, Simscape, with SimMechanics and SimPowerSystems libraries was used to create the mathematical model. Parameters such as moments of inertia was count based on the 3D model of the active sidestick. The complex model includes two active sidesticks units, three blocks as the input source ("Autopilot", blocks of the 1st and 2nd pilots), a block that compute a loading characteristic for the manual control mode and a block with logic for switching from automatic to manual mode. The model of each active sidestick unit consists of three main blocks: a regulator, an electric motor with a control system, and a block of mechanics. The regulator block includes a PID regulator and a PWM modulator. The electric motor unit includes a power source, a three-phase bridge inverter, a model of a brushless three-phase electric motor from the SimPowerSystems library and a power switch control unit. The mechanics block includes a planetary gearbox, hinge mechanism, handle, moments of inertia, a position sensor, a torsion rod equal to tension springs which are used in device, a nonlinear speed damper and a torque source unit, depending on the force applied by the pilot. Developed model makes it possible to get static and dynamic characteristics of the actuators, to check control algorithms to simulate operating modes in automatic and manual control, including piloting by both pilots at the same time and the interruption in automatic control mode. Including in model a " hold position block" allowed to simulate situation when in manual control mode the 1st pilot tries to hold the handle in a position that he considers correct, despite the intervention of the 2nd pilot. The simulation results showed that developed device meets specified requirements for the aircraft active sidesticks.

Design and test of laser-controlled paddy field levelling-beater.

The technology for implementing a precise soil beating after precise soil levelling was proposed to improve the flatness of the paddy field and shorten the cycle time between the soil beating and levelling; in addition, a laser-controlled paddy field levelling-beater was designed according to the working principle. And the grade and tilt of the levelling scraper and beating mechanism are automatically controlled according to the levelling-beater vertical height and the tractor roll angle, respectively. The designed levelling-beater is capable of precise levelling and beating paddy fields at the same time with an adjustable beating depth. A paddy field test of the levelling-beater was conducted to compare the performance under both manual and automatic control modes, with the roll angles of the tractor and the levelling-beater measured using two attitude and heading reference systems (AHRSs), and the change in grade of the levelling-beater was measured using a global navigation satellite system (GNSS). The test results demonstrate that the operational quality of the levelling-beater is more stable when operating in automatic control mode than when operating in manual control mode. More specifically, the elevation of the levelling-beater varied ±4 cm around the mean elevation and roll angle varied within the range of ±0.5° when operating in automatic control mode. However, when operating in manual control mode, the elevation and roll angle were greater than ±11 cm and ±2.5°, respectively. The test results also demonstrate that the laser-controlled paddy field levelling-beater significantly improves the paddy field flatness, and enables it to operate at a stable depth to realise an even levelling and beating layer. More specifically, the maximum variation of elevation was reduced from 26.4 cm before the levelling and beating operation to 11.5 cm after the operation. In addition, the standard deviation of the elevation was reduced from 4.13 cm to 2.18 cm after the operation. The total number of flatness sampling points with the absolute difference of the desired elevation less than or equal to 3cm was more than 86%. The effective beating depth was 14.2 cm, compared with the set beating depth of 15cm, and the standard deviation of the beating depth was 2.46 cm. Keywords: laser control, levelling, beating, paddy field, flatness DOI: 10.25165/j.ijabe.20201301.4989 Citation: Zhou H, Hu L, Luo X W, Tang L M, Du P, Mao T, et al. Design and test of laser-controlled paddy field levelling-beater. Int J Agric & Biol Eng, 2020; 13(1): 57–65.

Assessment of building daylight systems considering sunscreens under real conditions of the sky

Introduction. Lighting engineering is a complex scientific field which requires the generalization of knowledge in visual comfort evaluation, design and architectural solutions as well as in other areas including the humanities. Global ecological problems and the drive for Sustainable Development require achieving maximum energy efficiency from architectural designers. The tasks of designing daylight systems under real sky conditions cannot be solved without considering the problems of insolation and sunscreens. Russian and foreign standards cover long-put questions about the need to improve the daylight calculation method considering additional light reflected from adjacent surfaces under the clear and partially cloudy skies. The objective of the study is analysis and improvement of the daylight system calculation method considering sunscreens under intermediate sky conditions. Materials and methods. The methods of searching and selecting relevant literature in international abstract databases with well-developed tools for thematic search as well as analytical methods are described. Results. A method for calculating daylight system considering sunscreens under the intermediate sky conditions is suggested. The analysis of the obtained formulae confirmed the proposed theory: under the influence of direct sunlight, reflection from adjacent surfaces significantly increases the daylight level in a room. Conclusions. Assessment of daylight in a room under the intermediate sky conditions should take into account a reflection of the direct sunlight. Correcting the problem under conditions of the CIE overcast sky model in the calculation is associated with the availability of a light climate database. This approach makes it possible to formulate the criteria for a dynamic daylight assessment. Combination of an artificial lighting system with an automatic control mode guarantees the requirements of indoor illuminance and energy saving.

Development of Ingenious Floor Cleaner using ARDUINO

Automation has the predominant influence on renovation of most of the household tasks to modernized automated household tasks which saves labor resource by means of time. Most of the household tasks are mechanized in current scenario. Cleaning is one of the crucial and essential work. Technical improvement in computational efficiency, artificial intelligence and robotics provide a strong platform for mechanization. One such technology is ingenious floor cleaner. Ingenious floor cleaner using ARDUINO works in automatic and manual control modes along with vacuum cleaning and wet mopping exercise. In automatic mode, both sweeping and mopping, only mopping and only sweeping are possible.Arduino UNO is the widely used recognized board which pedals the entire progress. Bluetooth module HC05 assists controlling the robot in manual control and ultrasonic sensor assists for obstacle detection in automatic mode. This Ingenious floor cleaner can reach the corners of the cleaning space in effective manner. The robotic cleaners can be deployed in assisting labor in floor cleaning works at homes, hotels, restaurants, offices, hospitals etc

Automatic Generation Control in a Smart Grid using Electrical vehicle as a Battery Energy Storage System

The Load Frequency Control (LFC) problem in a smart grid is presented in this paper. For the visualization of the problem, an isolated two area restructured power system contains thermal-thermal non-reheat unit with distributed wind energy system considered. In the study presented here efforts have been put to visualize and realize the LFC problem because of sudden load variation and uneven wind power in the smart grid. The generators are assumed working in Automatic Generation Control (AGC) mode under the bilateral market contract to meet the load demand. For visualization of load frequency control problem with local load variation of +20% and wind power which further add in sudden load deviation has been considered. Generators running under AGC mode are facing the cyclic and random load frequency fluctuations due to this sudden load variation and grid-connected wind power. In this way to enhance the solution the grid-connected aggregated EV batteries are used in distribution areas in the simulation with charging and discharging mode as distributed battery energy storage. The effect of grid-connected EV has studied for the improvement in stability as well as system dynamic response. From the results it is observed that the peak overshoots and settling time in load frequency fluctuations have minimized during the sudden load variation and wind power fluctuations.