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The future of high renewable energy penetration and the consequent power variability produces the need for fast power-flow computations for the useful management of power. Such management must have least requirement for human intervention, achievable through fast and reliable automations. This paper presents Geographic Information System (GIS) integrated automation of a non-iterative power-flow method...
The study on modern microgrids implicitly comes with the concern of quality of power and its impact on the electrical network. That is the result of the accumulated impact of nonlinear processes, many of which include switching elements. To perform microgrid studies, especially simulations which test smart control techniques and strategies, the ideal of sinusoidal AC waveforms is no more a valid assumption...
This paper presents a bio-inspired robotic fish undulatory swimming behaviour modeling and control using modulated pattern generators (MPG). Carangiform fish locomotion pattern is closely mimicked using a LH body wave (with its parameters: Tail-beat frequency (TBF) and Caudal amplitude (CA)) modulated by rhythmic central pattern generator (CPG) signal. A Matsuoka based non-linear oscillator CPG structure...
In this paper, a spherical underwater robot is proposed that uses six degree of freedom thrust allocator to determine the magnitude and the direction of thrust required for each water-jetted bilge pump thruster to create force and moment equilibrium. However, in order to ensure safe operation of the underwater robot it is equipped with redundant thruster configuration and therefore is over-actuated...
Fish swimming demonstrates impressive speeds and exceptional characteristics in the fluid environment. The objective of this paper is to mimic undulatory swimming behaviour and its control in a body caudal fin (BCF) carangiform fish in a robotic counterpart. Based on fish biology a 2-level behavior based control scheme is proposed. High level control is modeled by robotic fish swimming behavior. It...
A 2-joint, 3-link multibody vehicle model biologically inspired by a Body Caudal Fin (BCF) carangiform fish propulsion mechanism in fluid environment is presented in this paper. Under the Lighthill (LH) mathematical slender body theory different mathematical propulsive waveforms are developed to generate robotic fish locomotion. LH Cubic function is found to be 16.32 % efficient than a non-LH function...
Sir J. Lighthill mathematical slender body swimming model formulates the biological fish propulsion mechanism (undulation) in fluid environment. The present research has focused on the relevance of Lighthill (LH) based biomimetic robotic propulsion. A 2-joint, 3-link multibody vehicle model biologically inspired by a Body Caudal Fin (BCF) carangiform fish propulsion mechanism is designed. Different...
The objective of this paper is to mimic the propulsion mechanism of the BCF mode carangiform swimming style to show the fish behavior navigating efficiently over large distances at impressive speeds and its exceptional characteristics in the fluid environment. The robofish model (kinematics and dynamics) is integrated with the Lighthill(LH) mathematical model framework. Comparative studies are undertaken...
This paper deals with the design of a bio-inspired fish like underwater vehicle. As the applications of underwater robots grow, finding an efficient propulsion technique is of the utmost importance. The current research has focused on the use of biomimetic propulsion, which simulates the undulation of fish tail, i.e. the sinusoidal oscillation. The objective is to mimic the propulsion technique of...
This paper deals with the design of a bio-inspired fish like underwater vehicle. As the applications of underwater robots grow, finding efficient propulsion techniques is of the utmost importance. The current research has focused on the use of biomimetic propulsion, which simulates the undulation of fish tail, i.e. the sinusoidal oscillation. The objective is to mimic the propulsion technique of the...
In this paper, a new type of Lyapunov function based load voltage tracking controller is proposed for series connected PV inverter for grid voltage disturbances compensation. The inverter operates during the day time as an active power compensator as well as load voltage regulator under grid voltage sag, swell or even under normal condition. The compensating voltage provided by the inverter is added...
This paper presents a digital repetitive control (RC) scheme to minimize the even-order harmonics at the dc link voltage and odd-order harmonics in the line-side currents under distorted and unbalanced supply voltage conditions. The proposed current control scheme consists of a conventional PI and a plug-in repetitive controller. On the basis of the mathematical model of the three-phase pulsewidth-modulated...
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