Telecontrol System Research Articles

The propagation of power line communications using the S-matrix approach

In this paper, we are interested in the above-mentioned problem by emphasizing the notions of transfer function and especially of power transmitted by HF signals. This work aims at an analysis of the propagation of PLC on power transmission lines and cables as well as on the distribution network. The objective finds its interest in the need for a telecontrol system specific to the power transmission network requiring a greater amount of information to broaden its scope and improve its performance. In this study, we are interested in the propagation of CPL (power line communication), and we deal with modeling HF signals in the electrical network. We present the mathematical elements for representing a tube (multi-wire line or cable) by matrix S. This will then be followed by a presentation on the S-matrix topological approach that we will use to model HF propagation in a multi-wire network (radial or mesh).

Communication Times Reconstruction in a Telecontrolled Client–Server Scheme: An Approach by Kalman Filter Applied to a Proprietary Real-Time Operating System and TCP/IP Protocol

Nowadays, various systems were developed in the telecommunications field which make use of technologies for the transmission and reception of information. One of these technologies is the Internet, which was developed in tandem with scientific growth. Therefore, its application in the control of various industrial processes has a notable influence. In this context, there are industrial processes that, due to the potential danger they represent to human beings, must be controlled by means of a remote control system. Such systems can be implemented through client–server communication schemes, which form a network of computers to exchange information. In the exchange of information, delay times are generated. These inactivity times have a close relationship with the latency in the communication network and have a negative impact on the performance of closed-loop control systems. In this sense, for physical implementation, it is essential to measure and mathematically characterize their magnitudes in order to know their variability and thus be able to design control strategies that compensate for their effects. Hence, this research paper presents the reconstruction of the communication times measured from a telecontrol system, where it is assumed that only one subsystem acts as the controller and the other one acts as the controlled. In other words, this paper addresses a control scheme type of single-input-single-output system (SISO). This reconstruction is based on the Kalman filter, which estimates the communication times that are measured on an experimental test bench with a client–server communication scheme. Communication times are characterized as stochastic processes. So, in order to validate the reconstruction presented, the level of dependence between the random processes is evaluated by analyzing their moments of probability as well as their covariance moments. Finally, an analysis based on the mean square error is presented, through which it can be concluded that the reconstruction technique used allows one to know the dynamics of the communication times generated by the remote control process presented in this research.

On the Design of Integrated Tele-Monitoring/ Operation System for Therapeutic Devices in Isolation Intensive Care Unit

We design a central controller system (CCS) and a tele-controlled system (TCS) with an aim of developing the integrated tele-monitoring/operation system that can enable the medical staff to tele-monitor the state of therapeutic devices utilized in the isolation intensive care unit (ICU) and to tele-operate its user interfaces. To achieve this aim, we survey the medical staff for medical requirements first and define the design guideline for tele-monitoring/operation functionality and field applicability. In designing the CCS, we focus on realizing the device having intuitive and user-friendly interfaces so that the medical staff can use the device conveniently without pre-training. Further, we attempt to implement the TCS capable of manipulating various types of user interfaces of the therapeutic device (e.g., touch screen, buttons, and knobs) without failure. As two core components of the TCS, the precision XY-positioner having a maximum positioning error of about 0.695 mm and the end-effector having three-degrees-of-freedom motion (i.e., pressing, gripping, and rotating) are applied to the system. In the experiment conducted for assessing functionality, it is investigated that the time taken to complete the tele-operation after logging into the CCS is less than 1 minute. Furthermore, the result of field demonstration for focus group shows that the proposed system could be applied practically to the medical fields when the functional reliability is improved.

Construction of a Bilateral Tele-control System Using Omni-directional Mobile Robots

Construction of a Bilateral Tele-control System Using Omni-directional Mobile Robots

Teleoperation of wheeled mobile robots subject to longitudinal slipping and lateral sliding by time-domain passivity controller

Wheeled mobile robot (WMR)-based exploration on soft terrains has created new difficulties for its tele-control system. A critical problem is that wheel-terrain contact areas may induce both longitudinal slipping and lateral sliding. In this paper, a new approach for tele-driving a WMR that addresses the difficulties simultaneously induced by both longitudinal slipping and lateral sliding is presented. In the augmented coordination between the master and slave site, the translational and angular velocities of the slave WMR were modified by the wheel sliding angle. Moreover, they were separately coordinated with the positions of the master haptic interface. To improve the command-tracking performance with the augmented coordination, the teleoperator was designed with feedforward of the sliding angle. To compensate for the non-passivity induced by longitudinal slipping and lateral sliding, a time-domain passivity controller also is proposed. The stability and transparency of the proposed approach were analyzed based on the passivity theory. Numerical experiments validate that this proposed approach can effectively improve the teleoperation performance of human operators for the WMR on soft terrains.

Temperature Characteristics of Post-Harvest Technology Equipment Based on Biomass Waste Energy Using the Internet of Things Telecontrol System

Technological innovations based on the internet of things have been designed, this technology is very suitable to deal with New Normal conditions (Covid 19). This internet of things-based technology tool has been tested on a laboratory scale to produce a prototype tool, which is ready to be implemented on an industrial scale. Biomass-based post-harvest technology innovation with the internet of things system, Stages of research methods to achieve goals. The first stage is to design a technological innovation design, to design an internet of things work system, to test the results of the tool design on a laboratory scale. The results of the characteristic test of this technological tool using coconut shell biomass waste with variations in the number of shells, 6, 8, 10 and 14. The results of the temperature characteristics in the drying chamber show that there is a linear relationship between the maximum temperature results produced and the number of coconut shells. Temperature results data can be viewed via an Android phone or based on the Internet of Things (IoT).

Research of Forecasting Information Time Delays with Nenural Network in Telecontrol System

Abstract Aiming at the issues of random delay and delay uncertainty in both the before channel and feedback channel for network control system, the root causes of random delay influence closed-loop control system by case is analysis, and the predictive control method based on neural network to solve the feasibility of existence network random delay in control system closed-loop control has provided. Simulation results show that the method can reflect and predict the delay characteristics of between measurement data represents the network path, and can effectively substitute for the actual network in the design of closed-loop control system based on Internet to research; the method used fast and accurate can be used for online learning network model and forecast the network delay value, provides a new way to remote closed-loop control based on Internet.

Control modules in the “Intelligent building” system

The relevance of the article consists on the use of telemetry control modules to organize the uninterrupted operation for dispatching service, including remote work. Thanks to telemetric means of dispatching control and management of the conditions of water supply facilities, the process is reaching a new qualitative level. The functionality of the water intake unit has been significantly improved as a result of the introduction of a telemetry and telecontrol system in the form of separate technological modules. The developed modules provide additional functions for water quality control, including residual chlorine, accounting for a number of random pollution factors in addition to the route technology of the dispatching system; remote control of executive mechanisms with the possibility of automatic control; self- diagnostics of the software and hardware complex, as well as planning of preventive and repair work of engineering systems. The results of water quality on-line monitoring by using a telemetry module in the chlorination room automatically providing the optimal ratio of chlorine added to the water are presented.

Guiding a supersonic controlled object in a multi-position air basing radar

The possibility of control of a guided supersonic aviation unmanned interceptor on a moving target in an autonomous airborne multi-position radar station has been investigated. To obtain the coordinate information, the algorithm of difference-range finding and difference range-Doppler spatial measurements is selected using a limited number of transmitting positions that do not provide an unambiguous determination of the coordinates and speed of the object with high accuracy. The paper proposes various approaches to eliminate a priori uncertainty regarding the estimated coordinates in a limited set of measuring radio engineering positions.An analytical method is considered for constructing an optimal state control device for a nonlinear multidimensional and multiply connected dynamic object, taking into account the constraints, which allows one to obtain finite computational relations in a closed algebraic form. The control device was synthesized using measurements in the Cartesian and spherical coordinate systems, several varieties of the combined method of pointing a controlled object to an instant meeting point were obtained. The given guidance algorithms are a generalization of the method of proportional navigation widely used in practice and its modifications. A distinctive feature of the synthesized algorithms is the natural accounting for the nonlinear, multidimensional, and multiply connected structure of the control object, as well as the parameters of unsteady perturbations (acceleration of gravity, projections of the longitudinal acceleration of the object and acceleration of the target’s maneuver) that act in the guidance process.The unified kinematic differential equations that describe the dynamics of the control object, are obtained, and they can be used to synthesize a controller that operates according to switched or smoothly matched non-stationary optimality criteria (target functions, target integral manifolds). The developed algorithms can be used in the design of autonomous homing and telecontrol systems, implemented in hardware and software both on board an unmanned aerial or artillery interceptor, and as a part of autonomous multiposition airborne radar stations.

Design and Build Temperature Control and Monitoring in Diesel Engines Using Mobile

Diesel engines is generally used for industrial and agricultural machines. Few people care about the engine temperature so it is forced to reach temperature of 100oC, which causes overheating of the diesel engine and has an impact on the performance itself. This also uses a hopper cooling system which is certainly not effective, because it's necessary to see that the water in the reservoir is still or not, also not equipped with an engine temperature display so it's difficult to ascertain the temperature inside. This study aims to monitor and control the temperature of cooling water. Operation of temperature control uses a telecontrol system that is connected to network (Internet of Things) so diesel temperature control can be done remotely. Monitoring of temperature and water level in the reserve tank using Web Mobile. In addition, there is a temperature sensor that is used to measure the temperature of the cooling water so that users can monitor the temperature of the diesel engine on Web Mobile. The test results obtained, the temperature sensor has an average temperature reading error of 0.031004%. Diesel engines with controlled solenoid valve cooling systems can produce ideal temperatures compared to when the solenoid valve is open (using the radiator continuously) or when the solenoid valve is Closed (without using a radiator). When the solenoid is controlled the engine temperature can be ideal because the solenoid valve opening and closing system has the lowest temperature of 56.34oC and the highest temperature of only 80.85oC.

Design of linked sirens for tsunami early warning system using telecontrol system (case study at PUSDALOPS PB BPBD of Cilegon city)

Cilegon is an industrial city located near and facing the Megathrust Sunda Strait Subduction Zone. Around the Sunda Strait is Mount Anak Krakatau which is the most active mountain in the world. So that, it has the potential for a tsunami to cause a catastrophic failure of technology along the coast of Cilegon. In this study, TEWS (Tsunami Early Warning System) is made in the form of sirens that are connected in parallel (linked sirens), can be controlled from the PUSDALOPS room of BPBD in Cilegon City. Communication system used by GSM and amateur radio. The test is carried out using a BPBD repeater with a radius of 146 km. The results of the study prove that the delay in the GSM communication system is 14.5 seconds, whereas the delay in the RF system is 6.4 seconds.

A Distributed Approach for Estimating Battery State-Of-Charge in Solar Farms.

A common problem in solar farms is to predict when accumulators stop working optimally and start losing efficiency. This paper proposes and describes how to use Bayesian networks together with expert systems to predict this moment by using a telecontrol multiagent system for monitoring solar farms with distributed sensors, which was developed in a previous work. To this end, a Bayesian network model and its implementation are proposed. The resulting system meets the requirements of telecontrol systems (reliability, flexibility, and response time), yields a solution for the prediction of lifespan batteries, and provides the multiagent system with autonomous intelligent capabilities and integrated learning.

Measurement, Characterization and Reconstruction of Computing Time and Transporting Time for Real-Time Telecontrol Systems

In this paper we analyze and shown the process of measurement, characterization and reconstruction of times of a real-time telecontrol systemby its segmentation of computing time, transmission time and reception time of information over the Internet. Experimental analysis was made by a workbench's development with a client-server communication scheme to simulate the behavior and control of an electric motor; all measured times were characterized with the first moment and second moment of probability, the mean squared error was used to determine the adequate reconstruction method. For computing time reconstruction, fuzzy digital filtering or instrumental variable method was used. For transmission and reception times over Internet, was used the Kalman filter. Finally, with reconstructions obtained, we concluded that algorithms and methods used are acceptable to determine the dynamics of a time of computing and transmission a real-time telecontrol system.

Effective and convenient water management by tele-metering and controlling check gates in main open canal

Check gates being installed in a main open canal work to maintain water at a constant level in order to ensure water distribution to secondary canals. This type of water distribution is called the constant upstream water level control in Japan, and this type is suitable for supply-oriented water control. Although this type can supply more water compared to the canal structural size, the water supply and distribution schedule must be kept rigidly, and farm turnouts in upstream reaches are apt to withdraw more water than allocated, which leads to unfair water distribution. Recently, tele-meter and tele-control (TM/TC) systems have become more easily applicable to an irrigation system, and in some key points TM/TC devices are actually equipped to check and control water flow. However, their abilities in reality are not fully utilized to respond to the earnest requests of farmers, such as, flexible and labor-saving water use, or fair water distribution between upstream and downstream areas. This study aims to seek useful managing methods to solve the above problems by fully utilizing TM/TC devices to be installed at all check gates. These devices transmit data and commands between a central office and terminals, or they process data independently to control structure at each terminal. Firstly, the A Yousui, the most advanced irrigation system in Japan, is kept in mind, and a new operation system is proposed for demand-oriented water control, which can automatically respond to water demands but also can convey a relatively large flow rate. Secondly, for the T Yousui, a popular irrigation system, another operation system is proposed to solve the unfair distribution problem between upstream and downstream areas. These proposals are led based on numerical experiments using a numerical model, the facilities’ data in place, and water distribution records.

Communication Protocols of an Industrial Internet of Things Environment: A Comparative Study

Most industrial and SCADA-like (supervisory control and data acquisition) systems use proprietary communication protocols, and hence interoperability is not fulfilled. However, the MODBUS TCP is an open de facto standard, and is used for some automation and telecontrol systems. It is based on a polling mechanism and follows the synchronous request–response pattern, as opposed to the asynchronous publish–subscribe pattern. In this study, polling-based and event-based protocols are investigated to realize an open and interoperable Industrial Internet of Things (IIoT) environment. Many Internet of Things (IoT) protocols are introduced and compared, and the message queuing telemetry transport (MQTT) is chosen as the event-based, publish–subscribe protocol. The study shows that MODBUS defines an optimized message structure in the application layer, which is dedicated to industrial applications. In addition, it shows that an event-oriented IoT protocol complements the MODBUS TCP but cannot replace it. Therefore, two scenarios are proposed to build the IIoT environment. The first scenario is to consider the MODBUS TCP as an IoT protocol, and build the environment using the MODBUS TCP on a standalone basis. The second scenario is to use MQTT in conjunction with the MODBUS TCP. The first scenario is efficient and complies with most industrial applications where the request–response pattern is needed only. If the publish–subscribe pattern is needed, the MQTT in the second scenario complements the MODBUS TCP and eliminates the need for a gateway; however, MQTT lacks interoperability. To maintain a homogeneous message structure for the entire environment, industrial data are organized using the structure of MODBUS messages, formatted in the UTF-8, and then transferred in the payload of an MQTT publish message. The open and interoperable environment can be used for Internet SCADA, Internet-based monitoring, and industrial control systems.

Identifying Deep Regression Models for Time Series Prediction of Continuous Data in an Anthropomorphic Robot Telecontrol System

Objectives: To construct regression models in order to predict the behavior of data produced by motion sensors and muscle activity sensors linked to a human arm, with the intention of coordinating the movement of a robot. Methods: We use a LSTM (Long Short-Term Memory) network setup as a transfer learning problem where a sequence vector is generated and then a probability distribution and a set of real values are output and trained with separate cost functions. Findings: Evaluations are based on the precision accuracy of the algorithms applied to the data provided by the Myo Gesture Control Armband (Thalmic Labs) sensor used by different people with equivalent arm movements. These evaluations show a predictable behavior of the movements independently of the user. Novelty: The use of deep learning to solve a difficult problem of predicting time series avoiding overfitting. Keywords: Data Models, Deep Learning, Myoelectric Signal, Predictive Models, Real-Time, Regression Analysis, Time Series

Detection of Anomalies in Water Networks by Functional Data Analysis

A functional data analysis (FDA) based methodology for detecting anomalous flows in urban water networks is introduced. Primary hydraulic variables are recorded in real-time by telecontrol systems, so they are functional data (FD). In the first stage, the data are validated (false data are detected) and reconstructed, since there could be not only false data, but also missing and noisy data. FDA tools are used such as tolerance bands for FD and smoothing for dense and sparse FD. In the second stage, functional outlier detection tools are used in two phases. In Phase I, the data are cleared of anomalies to ensure that data are representative of the in-control system. The objective of Phase II is system monitoring. A new functional outlier detection method is also proposed based on archetypal analysis. The methodology is applied and illustrated with real data. A simulated study is also carried out to assess the performance of the outlier detection techniques, including our proposal. The results are very promising.

Application of bio-inspired control of AmphiHex-I in detection of Oncomelania hupensis, the amphibious snail intermediate host of Schistosoma japonicum

PurposeThis paper aims to construct a central pattern generator (CPG) network that comprises coupled nonlinear oscillators to implement diversified locomotion gaits of robot AmphiHex-I. With the gaits, AmphiHex-I will have a strong locomotion ability in an amphibious environment, which is motivated by a novel public health application to detect the amphibious snail, Oncomelania hupensis, the snail intermediate host of Schistosoma japonicum, as an amphibious robot-based tool for schistosomiasis surveillance and response in the future.Design/methodology/approachFirst, the basis neural network was built by adopting six Hopf nonlinear oscillators which corresponded to six legs. Then, the correlation between the self-excited harmonic output signals generated from CPGs and various gaits was established. In view of requirements on its field application, the authors added a telecontrol system and an on-board battery to support the real-life remote control and a high-definition camera and a global positioning system module to acquire images and position information. Finally, the authors conducted the testing experiments on several tasks, e.g. detecting the distribution of Oncomelania hupensis snails.FindingsThe results demonstrate that the CPG is effective in controlling the robot’s diversified locomotion gaits. In addition, the robot is capable of fulfilling several testing tasks in the experiments.Originality/valueThe research provides a method based on CPG to control a hexapod robot with multiple motion patterns, which can effectively overcome the difficulty of motion control simply by changing certain mathematical parameters of a nonlinear equation, such as frequency, phase difference and offset angle, so as to realize the gait transitions. Also, using such a robot to probe the distribution of snails offers another way to tackle this laborious job, especially in some odious terrains, which will hence broaden the application of AmphiHex-I to vector surveillance in the fields of public health.

Long‐term integration based on two‐stage differential acquisition for weak direct sequence spread spectrum signal

Fast acquisition in space telemetry and telecontrol communication system is challenged significantly by the high dynamic and low signal-to-noise ratio. Increasing the dwell time to obtain better acquisition sensitivity, based on two-dimensional time-frequency search, is impossible because of resource limitation in receiver. To tackle these problems, this study proposes a two-stage differential acquisition (TSDA) algorithm. The differential coherent integration is employed by the first stage of TDSA to extend integration time, during which keystone transform and fast Fourier transform are used to compensate the linear code phase drift and obtain high accumulation gain. The carrier-frequency offset is estimated in terms of the code phase difference between the two parts of received signal divided by the second stage of TSDA in which the two-dimensional searching process is avoided. The proposed TSDA algorithm and the traditional acquisition methods are compared under the same acquisition time and typical parameters of S-band space telemetry and telecontrol communication system. Simulation results demonstrate that the proposed TSDA algorithm attains a higher acquisition probability and better acquisition sensitivity than the traditional acquisition methods.

Impact of cyber-physical system vulnerability, telecontrol system availability and islanding on distribution network reliability

Abstract The addition of telecontrolled and automated sectionalizers along the distribution network has permitted to speed up fault location procedures to reduce the restoration time. Nowadays, some utility are installing circuit breakers (CBs) along the network to reduce the average number of customers’ outages too, but the use of time selectivity strongly limits the number of CBs installed in topological sequence. In Smart Grid perspective, a protection system upgrade towards telecontrolled CBs allowing to overcome this limitation is expected, and, more in general, a transition towards a cyber-physical system (CPS) implementing protection schemes based on telecontrolled switches only. Moreover, Smart Grids should allow to exploit the potential benefit deriving from autonomous microgrids in terms of service continuity. This work presents an analytical formulation to assess the impact of CPS vulnerability and centralized telecontrol system availability on system reliability in networks where islanding is permitted by regulation. The formulation is applied to a realistic case study. The results have shown that islanding effectively reduces the outage duration even when the CPS is very vulnerable. On the other hand, islanding is able to strongly reduce the outage rate too when the CPS security level is high.