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This paper describes field testing of state estimation and navigation for autonomous underwater vehicle (AUV) operation in the presence of water currents. In the presented approach, an extended Kalman filter (EKF) is used to estimate the water currents in the north and east directions in real-time during AUV missions. These water current estimates are then used to compensate the desired AUV heading...
This paper presents a novel approach to water-current compensation for autonomous underwater vehicle (AUV) state estimation and navigation. The approach is twofold: first, an extended Kalman filter estimates both the AUV state and water-currents in the north and east directions; second, these water-current estimates are used in a modified heading controller to calculate a current-compensated desired...
The early detection of incipient faults is desirable in mission-critical applications such as shipboard propulsion drives. This paper presents an online condition-monitoring approach for detecting early stage faults in IGBTs. The proposed algorithm extracts important device features (i.e. on-state resistance, gate charge, etc.) and compares them to healthy values recorded over a range of operating...
This paper describes online techniques for monitoring the health of the two most sensitive components in power electronic systems, namely electrolytic filtering capacitors and controllable semiconductor switches (i.e. MOSFETs and IGBTs). The paper begins with a brief discussion of the primary failure mechanisms for these two types of components. It then presents an online technique designed to measure...
This paper describes a simple system that could form the basis of a load-shaping scheme aimed at relieving distribution congestion in grids with plug-in hybrid electric vehicles (PHEVs). The system identifies the operation of individual loads using transient patterns observed in the voltage waveform measured at an electric service outlet. The system focuses on the detection of all of the large loads...
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