Autonomous Mode Research Articles

Seamless transfer of virtual synchronous generator using virtual synchronizing torque controller

AbstractInverter‐dependent renewable energy sources are being integrated into the grid, raising several stability‐related difficulties. This is because these renewable sources have less inertia than synchronous generators. Since the power grid's overall inertia has improved, the introduction of virtual synchronous generators (VSG) has gained much attention. A robust microgrid system requires an effortless transition from grid‐connected to autonomous mode. This can be easily achieved with the help of VSGs. The angle, frequency, and magnitude of the grid voltage needed for synchronization have traditionally been determined by phase‐locked‐loop (PLL). The virtual synchronizing torque and voltage‐based synchronization controller for simple switching between islanding and grid‐connected modes are presented in this study. The proposed method requires no additional controller to identify the unwanted islanding situations because the operating mode can be identified with the help of synchronizing torque. The proposed method does not need to shift to different control algorithms while changing between grid connection and stand‐alone modes. The effectiveness of the suggested controller is established by comparing the experimental prototype of the VSG incorporating the proposed controller to the existing synchronization methods.

Self-Driving Car Using Simulator

Due to rapid technological growth in transportation, self-driving cars became the topic of concern. The main purpose of this project is to use the CNN and train the neural network in order to drive the car in autonomous mode in a simulator environment. Front camera of a car captures the images and we use those captured images in order to train the model, in short we can say we have used the concept of behavioural cloning. In behavioural cloning, the system tries to mimic the human driving behaviour by tracking the steering angle. That means a dataset is generated in the simulator by a user driven car in training mode, and the deep neural network model then drives the car in autonomous mode. In one track a car is trained and in other tracks the car drives in autonomous mode. The dataset for Track 1, which was straightforward to drive and had good road conditions, was utilized as the training set for the automobile to drive itself on Track 2, which has abrupt curves, barriers, heights, and shadows are all things to consider. Image processing and other augmentation techniques were utilized to solve this difficulty, allowing for the extraction of as many data and features as feasible. In the end, the vehicle performed admirably on Track 2. In the future, the team hopes to achieve the same level of accuracy using real-time data.

АВТОМАТИЧЕСКАЯ ОБУЧАЮЩАЯ СИСТЕМА КОМПЬЮТЕРНОГО ТРЕНАЖЕРА

One of the effective tools of a computer simulator is considered – an automatic training system (AOS) designed to train operators of technological installations on a simulator in an autonomous mode without the participation of an instructor

Multimodal brain-controlled system for rehabilitation training: Combining asynchronous online brain–computer interface and exoskeleton

Background:Traditional therapist-based rehabilitation training for patients with movement impairment is laborious and expensive. In order to reduce the cost and improve the treatment effect of rehabilitation, many methods based on human–computer interaction (HCI) technology have been proposed, such as robot-assisted therapy and functional electrical stimulation (FES). However, due to the lack of active participation of brain, these methods have limited effects on the promotion of damaged nerve remodeling. New method:Based on the neurofeedback training provided by the combination of brain–computer interface (BCI) and exoskeleton, this paper proposes a multimodal brain-controlled active rehabilitation system to help improve limb function. The joint control mode of steady-state visual evoked potential (SSVEP) and motor imagery (MI) is adopted to achieve self-paced control and thus maximize the degree of brain involvement, and a requirement selection function based on SSVEP design is added to facilitate communication with aphasia patients. Comparison with existing methods:In addition, the Transformer is introduced as the MI decoder in the asynchronous online BCI to improve the global perception of electroencephalogram (EEG) signals and maintain the sensitivity and efficiency of the system. Results:In two multi-task online experiments for left hand, right hand, foot and idle states, subject achieves 91.25% and 92.50% best accuracy, respectively. Conclusion:Compared with previous studies, this paper aims to establish a high-performance and low-latency brain-controlled rehabilitation system, and provide an independent and autonomous control mode of the brain, so as to improve the effect of neural remodeling. The performance of the proposed method is evaluated through offline and online experiments.

Model-Scale Evaluation of Autonomous Ship Landing Guidance and Control Modes

This paper presents the results of an extensive model-scale experimental evaluation of autonomous ship landing guidance and control modes, with flight tests performed in the Maneuvering and Seakeeping (MASK) Basin at the U.S. Naval Surface Warfare Center Carderock Division. The experiments were performed using a commodities-based multirotor unmanned aerial vehicle (UAV) operating from a 20-ft-long model scale ship subject to scaled wave conditions. During testing, two separate guidance algorithms were evaluated: a quadratic programming (QP) based landing algorithm that plans the trajectory to a forecasted deck state and a simpler “baseline??? method that tracks deck motions while closing the distance between the aircraft and deck at a constant rate. Both algorithms commanded a Froude-scaled explicit model following control law, and the control law parameters were modified to progressively degrade aircraft tracking bandwidths. The results showed that the predictive capabilities of the QP algorithm allowed more direct landing paths to be planned when compared to the baseline algorithm and also allowed the QP algorithm to land with lower tracking bandwidths. But while the QP algorithm performed well in the majority of cases, there were several landings where a combination of poor deck state predictions and how the QP algorithm utilizes predictions to choose a land time resulted in significant terminal velocity and attitude errors. The baseline guidance algorithm, on the other hand, proved to be both simple and reliable when the UAV was in high bandwidth configurations but required a high reference tracking bandwidth.

Станция подводного обслуживания гибридного необитаемого подводного аппарата системы мониторинга подводного добычного комплекса

The use of support vessels significantly increases the cost of monitoring objects of underwater production complexes (UPC), and the presence of a cable communication line significantly limits the possibility of using remote-controlled uninhabited underwater vehicles (ROV), which is reduced to zero in conditions of continuous ice coverage of the work area. An obvious alternative to the use of ROVs are autonomous uninhabited underwater vehicles (AUVs), equipped with equipment for conducting contact work with monitoring objects and communicating with the shore control post. At the same time, the necessary autonomy for the use of such hybrid autonomous uninhabited underwater vehicles (HAUVs) can be ensured by a network of bottom stations equipped with systems for contactless charging and information exchange with the shore UPC control post. The work proposes the concept of an underwater service station (USS) for a HAUV, which allows, in long-term underwater deployment conditions, to use the device not only in an autonomous mode, but also in a remote control mode from a shore control post. A model for using the station for its intended purpose and the composition of the equipment necessary for its implementation have been determined, the design of the technical solution of the station has been presented, determined taking into account the features of installation on a complex bottom surface and the requirements for docking the HAUV for contactless charging and information exchange, including in the mode of remote control from the SCP. Basic technical solutions for the USS have been developed that provide automatic adjustment of the horizontal position of the docking unit, reliable docking and holding of the HAUV charging and information exchange terminals, and control of the vehicle’s pointing process using a set of rotary video cameras with lamps and a sector-view sonar. Algorithms for interaction between the station and the HAUV have been developed for autonomous and controlled via optical communication cable operating modes of the vehicle.

Capabılıtıes of usıng UAVs to determıne forest road excavatıon volumes ın mountaınous areas

Decision support systems based on spatial data are widely used in some countries for planning production activitiesin forestry and designing forest roads. In recent years, Unmanned Aerial Vehicles (UAVs) have been playingan active role in the production of high resolution and accurate digital elevation models (DEMs) of forested areas.In the preparation of progress payments for forest road construction works, the workload is high, while the feethat has to be paid to the contractor company after the completion of the road construction is determined accordingto the final cost in the progress payment schedules. In this study, the applicability of UAV technology for determiningforest road cut volume and land classification was investigated. A 640-meter section of the forest roadcoded 001 of Taşlıyayla Forest Management Sub-Directorate (Bolu/Türkiye) was examined in the study. Flightswith an UAV (drone) were carried out in autonomous mode before and after the construction of the road examinedin the study. In addition, in order to determine the amount of cut, measurements of the geometric characteristicsof the road were made in the field after the road construction. As a result of the study, 2189 m³ cut volumewas found with the UAV data with an average error of 3 cm. According to the field measurement results, theamount of cut was determined as 2080 m³. A difference of +5% was found between the UAV data and the fieldmeasurement results. In addition, using the JavaScript coding language on the Google Earth Engine platform, soil(46%) and loose soil (54%) land classification was identified from the orthophoto images. The obtained resultsreveal the usability of UAVs in determining forest road volumes.

Development of control algorithm for autonomous intelligent robotic complex (AIRTC)

The work is dedicated to the development of a control algorithm for the autonomous intelligent robotic complex (AIRTC). The unmanned ground vehicle consists of a corpus that contains batteries, motor wheels, sensors, video cameras, on-board computer for processing data from sensors and video cameras. The general dimensions of the autonomous mobile robotic platform are 780x650x550 mm. The small size of the mobile platform allows it to be used in small areas, where the use of other vehicles is economically unprofitable. The key role in the autonomous mode of operation of the robotic complex is intended to the use of machine learning technologies to realize the possibility of performing the task assigned to the autonomous robotic platform in indoor and outdoor areas. An algorithm has been developed to control the basic platform of an autonomous robotic technical complex and to detect key obstacles automatically using a neural network. The accuracy of detecting the eight designated classes of obstacles was 85%.

Study of on-board equipment of modern uavs

This paper analyzes the development and production of modern unmanned aerial vehicles (UAVs). It is noted that they have the following main systems: glider; propulsion system; power supply system; management system; navigation system; telemetry system; radio communication system. All UAV systems are interconnected and work as one complex mechanism. Depending on the list of combat tasks to be solved, the following devices can be additionally installed on board the UAV: optical-electronic, thermal imaging, radar, radiotechnical, radiation, chemical, bacteriological and other types of reconnaissance systems with small intelligence storage systems; means of setting active radio-electronic jammers; means of aiming and adjusting guided weapons; various means of defeat; means of control and communication with the ground control point; responsible for the state identification system; autonomous flight and automatic landing devices. The work reveals the features of the UAV engine design, it is noted that 4, 6 or more engines are installed on modern helicopter-type UAVs, so-called "multicopters", "quadracopters", "drones". In this work, it is noted that the UAV navigation equipment can have various level of complexity and use several signals coming from sensors of different physical origins to calculate its location. The features of the UAV radio communication system are revealed, which is a set of various lines through which intelligence information of various levels of importance and protection is transmitted. All communication links can use different frequency bands and different relay modes, use different signal-code designs, specially adapted to the importance of the intelligence information being transmitted. It was noted that in the absence of a control command, the UAV goes into autonomous flight mode.

Design of a robotic system to assist in the treatment of severe COVID‐19 patients

AbstractThe article presents the conceptualization, development, and implementation of a sophisticated mobile robotic system with the purpose of providing aid in the medical care of those afflicted with severe cases of COVID‐19. The robotic system will engage in verbal communication with the patient and provide updates regarding the external environment. Additionally, it will facilitate the delivery of food, beverages, and other consumable items to the isolation room. The robot has the capability to navigate to its intended location using two distinct modes: autonomous mode and online control mode. The hardware is constructed within a mobile robot system that is interconnected to the Internet over a 4G mobile network. The system employs a client–server software architecture wherein the transmission of data between the client and the server occurs through various transport protocols. Experimental simulations were conducted in an active treatment room to evaluate the performance of autonomous operating mechanisms, including obstacle avoidance positioning, safe destination navigation, and feedback display for remote robot operation.

Pneumatic Structural Deformation to Enhance Resonance Behavior for Broadband and Adaptive Radar Stealth.

Ideal radar absorbing materials (RAMs) require instantaneous, programmable, and spontaneous adaptability to cope with a complex electromagnetic (EM) environment across the full working frequency. Despite various material systems and adaptive mechanisms having been demonstrated, it remains a formidable challenge to integrate these benefits simultaneously. Here, we present a pneumatic matrix that couples morphable MXene/elastomer conductors with dielectric spacers, which leverages controllable airflow to reconfigure the spatial structure between a flat sheet and a hemispherical crown while maintaining resistance stability via wrinkle folding and unfolding. The interdimensional reconfigurations drastically induce multiple resonance behavior, enabling the matrix remarkable frequency tunability (144.5%), ultrawide bandwidth (15 GHz), weak angular dependence (45° incidence), ultrafast responsiveness (∼30 ms), and excellent reproducibility (1000 cycles). With multichannel fluidic and conceptual automated control systems, the final pneumatic device demonstrates a multiplexed, programmable, and autonomous transformable mode that builds a promising platform for smart radar cloaking.

Sky-Worker: a heterogeneous dual-arm robot with dynamic authority assignment for live-line working

Purpose The current difficulties of distribution network working robots are mainly in the performance and operation mode. On the one hand, high-altitude power operation tasks require high load-carrying capacity and dexterity of the robot; on the other hand, the fully autonomous mode is uncontrollable and the teleoperation mode has a high failure rate. Therefore, this study aims to design a distribution network operation robot named Sky-Worker to solve the above two problems. Design/methodology/approach The heterogeneous arms of Sky-Worker are driven by hydraulics and electric motors to solve the contradiction between high load-carrying capacity and high flexibility. A human–robot collaborative shared control architecture is built to realize real-time human intervention during autonomous operation, and control weights are dynamically assigned based on energy optimization. Findings Simulations and tests show that Sky-Worker has good dexterity while having a high load capacity. Based on Sky-Worker, multiuser tests and practical application experiments show that the designed shared-control mode effectively improves the success rate and efficiency of operations compared with other current operation modes. Practical implications The designed heterogeneous dual-arm distribution robot aims to better serve distribution line operation tasks. Originality/value For the first time, the integration of hydraulic and motor drives into a distribution network operation robot has achieved better overall performance. A human–robot cooperative shared control framework is proposed for remote live-line working robots, which provides better operation results than other current operation modes.

A Novel Control and Monitoring Interface Design for ROS Based Mobile Robots

In this study, an interface design was carried out in order to provide convenience to the user in the control and monitoring of the Robot Operating System (ROS) based autonomous mobile robot (AMR). Qt Designer and Python were used in the interface design. Thanks to the designed interface, autonomous and manual control of AMR was provided. Using the gmapping algorithm, the environment in the virtual world was mapped and transformed into a picture in .png format and visualized in the interface. The location information from the ROS was transferred to the said picture and the instant tracking of the AMR was done via the interface. It was shown which algorithm is used locally and globally at that moment. While in autonomous mode, the vehicle was provided to move to the previously recorded point. The total distance and time spent by the AMR while moving between two points were also calculated by the interface. The location (x, y, z) and orientations (x, y, z, w) of the previously recorded station were monitored from the stop list. On the other hand, the position (x, y, z) and orientation (x, y, z, w) information of the AMR could be followed as real time via the interface. In this way, when the AMR reaches the goal station, the time elapsed between two points, the transportation distance, settlement information such as the location and orientation of the vehicle can be tracked and be compared via the interface.

Stand-Alone Wind Power System Operating with a Specific Storage Structure

In this paper we analyze a low power wind system operating in autonomous mode. We present a control structure that ensures the maximization of wind energy conversion and the balance between required and produced power. We have studied two stand alone wind system structures based on the capacitor voltage control and the buffer battery operation. The simulation results have been obtained in Matlab/Simulink environment, using PowerSim toolbox.

Aircraft Upset Recovery Strategy and Pilot Assistance System Based on Reinforcement Learning

The upset state is an unexpected flight state, which is characterized by an unintentional deviation from normal operating parameters. It is difficult for the pilot to recover the aircraft from the upset state accurately and quickly. In this paper, an upset recovery strategy and pilot assistance system (PAS) based on reinforcement learning is proposed. The man–machine closed-loop system was established and the upset state, such as a high angle of attack and large attitude angle, was induced. The upset recovery problem was transformed into a sequential decision problem, and the Markov decision model of upset recovery was established by taking the deflection change of the control surface as the action. The proximal policy optimization (PPO) algorithm was selected for the strategy training. The adaptive pilot model and the reinforcement learning method proposed in this paper were used to make the aircraft recover from the upset state. Based on the correspondence between the flight state, the recovery method, and the recovery result, the aircraft upset recovery safety envelopes were formed, and the four-level upset recovery PAS with alarm warning, coordinated control, and autonomous recovery modes was constructed. The results of the digital virtual flight simulation and ground flight test show that compared with a traditional single pilot, the aircraft upset recovery strategy, the upset recovery safety envelopes, and the PAS established in this study could reduce the handling burden of the pilot and improve the success rate and effect of upset recovery. This research has certain theoretical reference values for flight safety and pilot training.

Autonomous locomotion mode transition in quadruped track-legged robots: A simulation-based analysis for step negotiation

Hybrid track/wheel-legged robots combine the advantages of wheel-based and leg-based locomotion, granting adaptability across varied terrains through efficient transitions between rolling and walking modes. However, automating these transitions remains a significant challenge. In this paper, we introduce a method designed for autonomous mode transition in a quadruped hybrid robot with a track/wheel-legged configuration, especially during step negotiation. Our approach hinges on a decision-making mechanism that evaluates the energy efficiency of both locomotion modes using a proposed energy-based criterion. To guarantee a smooth negotiation of steps, we incorporate two climbing gaits designated for the assessment of energy usage in walking locomotion. Simulation results validate the method’s effectiveness, showing successful autonomous transitions across steps of diverse heights. Our suggested approach has universal applicability and can be modified to suit other hybrid robots of similar mechanical configuration, provided their locomotion energy performance is studied beforehand.

КОНЦЕПТУАЛЬНИЙ ДИЗАЙН КРЕАТИВНОЇ ЕКОНОМІКИ

The article systematizes modern theoretical approaches to defining the essence of the category "creativity", reveals the key factors of its formation and development in the conditions of globalization. It is proven that the fundamental transformations that the world economic system has undergone in recent decades include radical changes in the nature and forms of organization of economic activity with the loss of traditional reproductive factors of production of their leading role in the competitive development of companies, states and entire regions. Their retention of high competitive positions on the market is decisively determined by creative resources, which, although they cannot be evaluated in traditional value categories, are actively introduced into the process of social reproduction based on the generation of new creative ideas by economic entities and their large-scale market commercialization. The creative economy makes new demands on the workforce, production infrastructure and institutional environment compared to the industrial economy. This sector is becoming an important strategic tool for revitalization and transformation. The epistemological-psychological paradigm of the theoretical design of the creative economy has been clarified. Despite the lack of a single and generally accepted definition of the category "creativity" within the epistemological-psychological paradigm of the theoretical design of the creative economy, its essential content can be identified as a unique cognitive property of the human mind, thanks to which an individual can carry out socially important activities and generate non-standard solutions based on the combination and synthesis of new ideas and systematic generalization of publicly available data. The dominance of the transdisciplinary level of creativity research at the intersection of art, political economy, philosophy, business activity, technology, education, culture, media and sociology is proven. It has been updated that different forms and levels of creative activity represent fundamentally different spheres of socially important activity (technological and innovative (invention), financial and economic (entrepreneurship), artistic and cultural activity), which, although developing in an autonomous mode, nevertheless demonstrate a high level of convergence and accelerate each other's development.

Autonomous mode and parallel operation of an asynchronous generator with the electrical network

This article explains that an asynchronous machine, like other electrical machines, can operate as a motor and generator due to the property of reciprocating motion and that an asynchronous generator is not different in design from an induction motor. The work is devoted to the study of a three-phase asynchronous generator, the magnetic excitation flux of which is formed by a three-phase voltage source and moves relative to the rotor. Ideally, induction generators operate best in a stable region between the idle state and the maximum torque region. In addition, an asynchronous generator connected to a capacitor system can generate sufficient reactive power to operate independently.

Wind Turbines Equipped with Self-Excited Induction Machine in Autonomous Mode: Analytical and Numerical Starting Studies.

This paper deals with the definition of a new proceduredevoted to the analysis of an autonomous self-excitedinduction generator (IG) comportment. First, for thesteady state, a new single phase equivalent scheme isproposed. Then, this scheme is used to analyze the self-excited starting. Numerical study based on spacephasor theory, as well as experiments, allow to validatethe theorical approaches.

Modelling the operation modes of local MicroGrid networks with mobile wind and solar power plants

The basis for the development of the global energy sector is the introduction of alternative energy and, accordingly, a complete change in approaches to the structural reorganisation of energy systems. An analysis of the state of electric power networks in Ukraine shows their almost complete depreciation, low reliability and structural obsolescence, which makes further development and expansion difficult to ensure the rapid growth of electricity consumption. Therefore, a trendy solution to the problem of modernising electric power networks while increasing their capacity and reliability is the use of MicroGrid systems, which are structural elements of the Smart Grid concept based on the intellectualisation of the management of the full cycle of electricity generation, use and storage. The miniaturisation and localisation of smart electric networks makes it possible to minimise power losses and ensure full control over their operating modes. A MicroGrid provides management of distributed energy resources and is essentially a hybrid, as it includes renewable energy sources alongside traditional ones. Regulation of MicroGrid operation modes and power flows in it is the key to increasing the sustainability of the operation processes. The article proposes the use of mobile wind-solar power plants as sources of distributed generation in the MicroGrid system, which is a new technical solution for improving the structural scheme of its implementation and optimising the management of operating modes. The structure of MicroGrid is substantiated and developed, and mathematical modelling of autonomous and hybrid modes of operation of the system with mobile renewable energy power plants is performed. The obtained results show the feasibility and energy efficiency of the developed MicroGrid system. Conclusions are drawn regarding the prospects for further development of MicroGrid with mobile power plants.