Separation of radio-frequency sources and localization of partial discharges in noisy environments

The detection of partial discharges (PD) can help in early-warning detection systems to protect critical assets in power systems. The radio-frequency emission of these events can be measured with antennas even when the equipment is in service which reduces dramatically the maintenance costs and favours the implementation of condition-based monitoring systems. The drawback of these type of measurements is the difficulty of having a reference signal to study the events in a classical phase-resolved partial discharge pattern (PRPD). Therefore, in open-air substations and overhead lines where interferences from radio and TV broadcasting and mobile communications are important sources of noise and other pulsed interferences from rectifiers or inverters can be present, it is difficult to identify whether there is partial discharges activity or not. This paper proposes a robust method to separate the events captured with the antennas, identify which of them are partial discharges and localize the piece of equipment that is having problems. The separation is done with power ratio (PR) maps based on the spectral characteristics of the signal and the identification of the type of event is done localizing the source with an array of four antennas. Several classical methods to calculate the time differences of arrival (TDOA) of the emission to the antennas have been tested, and the localization is done using particle swarm optimization (PSO) to minimize a distance function.Tests were done in the High-Voltage Research and Test Laboratory (LINEALT) at Universidad Carlos III de Madrid

Planar Localization of Radio-Frequency or Acoustic Sources with Two Receivers

Proceeding of: 4th International Electronic Conference on Sensors and Applications (ECSA-4)Spatial localization of emitting sources is especially interesting in different fields of application. The focus of an earthquake, the determination of cracks in solid structures or the position of bones inside a body are some examples of the use of multilateration techniques applied to acoustic and vibratory signals. Radar, GPS and wireless sensors networks location are based on radiofrequency emissions and the techniques are the same as in the case of acoustic emissions. This paper is focused on the determination of the position of sources of partial discharges inside electrical insulation for maintenance based on the condition of the electrical machine. The use of this phenomenon is a mere example of the capabilities of the proposed method because its emission can be electromagnetic in the UHF range or acoustic when the insulation is immersed in oil. Generally, when a pulse is radiated from a source, the wave will arrive to two receivers at different times. One of the advantages of measuring these time differences of arrival or TDOA is that it is not required a common clock as in other localization techniques based on the time of arrival (TOA) of the pulse to the receiver. With only two sensors, all the possible points in the plane that would give the same TDOA describe a hyperbola. Using an independent third receiver and calculating the intersection of the three hyperbolas will give the position of the source. Therefore, planar localization of emitters using multilateration techniques can be solved at least with three receivers. This paper presents a method to locate sources in a plane with only two receivers, one of them in a fixed position and the other is placed describing a circumference around the first one. The TDOA are measured at different angles completing a total turn and obtaining a function, angle versus TDOA, that has all the geometric information needed to locate the source.The work done in this paper has been funded by the Spanish Government under contract DPI2015-66478-C2-1-R (MINECO/FEDER, UE

Radio-Frequency Localization of Multiple Partial Discharges Sources with Two Receivers

Spatial localization of emitting sources is especially interesting in different fields of application. The focus of an earthquake, the determination of cracks in solid structures, or the position of bones inside a body are some examples of the use of multilateration techniques applied to acoustic and vibratory signals. Radar, GPS and wireless sensors networks location are based on radiofrequency emissions and the techniques are the same as in the case of acoustic emissions. This paper is focused on the determination of the position of sources of partial discharges in electrical insulation for maintenance based on the condition of the electrical equipment. The use of this phenomenon is a mere example of the capabilities of the proposed method but it is very representative because the emission can be electromagnetic in the VHF and UHF ranges or acoustic. This paper presents a method to locate more than one source in space with only two receivers, one of them in a fixed position and the other describing a circumference around the first one. The signals arriving from the different sources to the antennas are first separated using a classification technique based on their spectral components. Then, the individualized time differences of arrival (TDOA) from the sources collected at different angles describe a function, angle versus TDOA, that has all the geometric information needed to locate the source. The paper will show how to derive these functions for any source analytically with the position of the source as unknown parameters. Then, it will be demonstrated that it is possible to fit the curve with experimental measurements of the TDOA to obtain the parameters of the position of each source. Finally, the technique is extended to the localization of the emitter in three dimensions.The work done in this paper has been funded by the Spanish Government (MINECO) and the European Regional Development Fund (ERDF) under contract DPI2015-66478-C2-1-R (MINECO/FEDER, UE)

Ultrasonic bone localization algorithm based on time-series cumulative kurtosis

The design and optimization of protective equipment and devices such as exoskeletons and prosthetics have the potential to be enhanced by the ability of accurately measure the positions of the bones during movement. Existing technologies allow a quite precise measurement of motion mainly by using coordinate video-cameras and skin-mounted markers but fail in directly measuring the bone position. Alternative approaches, as fluoroscopy, are too invasive and not usable during extended lapses of time, either for cost or radiation exposure. An approach to solve the problem is to combine the skin-glued markers with ultrasound technology in order to obtain the bone position by measuring at the same time the marker coordinates in 3D space and the depth of the echo from the bone. Given the complex structure of the bones and the tissues, the echoes from the ultrasound transducer show a quite complex structure as well. To reach a good accuracy in determining the depth of the bones, it is of paramount importance the ability to measure the time-of-flight (TOF) of the pulse with a high level of confidence. In this paper, the performance of several methods for determining the TOF of the ultrasound pulse has been evaluated when they are applied to the problem of measuring the bone depth. Experiments have been made using both simple setups used for calibration purposes and in real human tissues to test the performance of the algorithms. The results show that the method used to process the data to evaluate the time-of-flight of the echo signal can significantly affect the value of the depth measurement, especially in the cases when the verticality of the sensor with respect to the surface causing the main echo cannot be guaranteed. Finally, after testing several methods and processing algorithms for both accuracy and repeatability

The influence of antenna positioning errors on the radio-frequency localization of partial discharges sources

Congreso online, sin sede definida. ABSTRACT: Electrical insulation can have imperfections due to manufacturing or ageing. When the insulation is electrically stressed, partial discharge (PD) pulses, with very fast rise-times and short-time durations, may occur. One of the consequences of charges being accelerated within the discharge is the emission of electromagnetic energy. The measurement of these emissions is widely used to identify defective insulation within high voltage equipment and help in predictive and planned maintenance in order to prevent sudden failure. The location of the source of the radiated PD signals may be determined using multi-lateration techniques using an array of at least four antennas. Depending on the relative position between the antennas and the PD source, the pulsed emissions from the PD source arrive at each antenna at different times. The relative time differences of arrivals (TDOA) together with the antenna positions are variables used to locate the PD source in 3D space. This paper investigates the accuracy of the location determination of the source as a consequence of systematic errors on the positioning of the antennas. These errors are analyzed for three different antenna array configurations and for different vector directions from the arrays. Additionally, the least sensitive layout in relation to antenna positioning errors is proposed to assist in improving the location accuracy of PD sources.Simulations were undertaken at the Universidad Carlos III of Madrid and the University of Strathclyde Glasgow. The work undertaken in this paper has been funded by the Spanish Government under contract DPI2015-66478-C2-1. Jose M. Fresno received an international travel grant from the Universidad Carlos III of Madrid

Survey on the Performance of Source Localization Algorithms

The localization of emitters using an array of sensors or antennas is a prevalent issue approached in several applications. There exist different techniques for source localization, which can be classified into multilateration, received signal strength (RSS) and proximity methods. The performance of multilateration techniques relies on measured time variables: the time of flight (ToF) of the emission from the emitter to the sensor, the time differences of arrival (TDoA) of the emission between sensors and the pseudo-time of flight (pToF) of the emission to the sensors. The multilateration algorithms presented and compared in this paper can be classified as iterative and non-iterative methods. Both standard least squares (SLS) and hyperbolic least squares (HLS) are iterative and based on the Newton&-Raphson technique to solve the non-linear equation system. The metaheuristic technique particle swarm optimization (PSO) used for source localisation is also studied. This optimization technique estimates the source position as the optimum of an objective function based on HLS and is also iterative in nature. Three non-iterative algorithms, namely the hyperbolic positioning algorithms (HPA), the maximum likelihood estimator (MLE) and Bancroft algorithm, are also presented. A non-iterative combined algorithm, MLE-HLS, based on MLE and HLS, is further proposed in this paper. The performance of all algorithms is analysed and compared in terms of accuracy in the localization of the position of the emitter and in terms of computational time. The analysis is also undertaken with three different sensor layouts since the positions of the sensors affect the localization; several source positions are also evaluated to make the comparison more robust. The analysis is carried out using theoretical time differences, as well as including errors due to the effect of digital sampling of the time variables.Simulations were undertaken at the Universidad Carlos III of Madrid and at the University of Strathclyde, Glasgow. The work undertaken in this paper has been funded by the Spanish Government under Contract DPI2015-66478-C2-1(MINECO/FEDER, UE) 2016–2018

Antenna deployment for the localization of partial discharges in open-air substations

Partial discharges are ionization processes inside or on the surface of dielectrics that can unveil insulation problems in electrical equipment. The charge accumulated is released under certain environmental and voltage conditions attacking the insulation both physically and chemically. The final consequence of a continuous occurrence of these events is the breakdown of the dielectric. The electron avalanche provokes a derivative of the electric field with respect to time, creating an electromagnetic impulse that can be detected with antennas. The localization of the source helps in the identification of the piece of equipment that has to be decommissioned. This can be done by deploying antennas and calculating the time difference of arrival (TDOA) of the electromagnetic pulses. However, small errors in this parameter can lead to great displacements of the calculated position of the source. Usually, four antennas are used to find the source but the array geometry has to be correctly deployed to have minimal errors in the localization. This paper demonstrates, by an analysis based on simulation and also experimentally, that the most common layouts are not always the best options and proposes a simple antenna layout to reduce the systematic error in the TDOA calculation due to the positions of the antennas in the array.Tests were done in the High-Voltage Research and Test Laboratory (LINEALT) at Universidad Carlos III de Madrid. This work has been partly funded by the Spanish Government through projects SI-DP (DPI2015-66478-C2-1), MIMOTEX (TEC2014-61776-EXP) and ELISA (TEC2014-59255-C3-3R)

Conserving outside protected areas: edge effects and avian electrocutions on the periphery of Special Protection Areas

Electrocution on power lines is one of the principal problems facing raptors and other mediumand large-sized birds at the global scale. The recent European-based Spanish state legislation on avian electrocutions has focused on Special Protection Areas (SPA). Here we evaluate whether this policy has been successful, using the Community of Valencia, Spain, as a regional model. We compiled a database of 400 electrocution events from information on electrocuted birds taken into Wildlife Recovery Centres and incidents registered by the main local power company during the last decade. A small proportion (c.18%) of electrocution casualties occurred within SPA boundaries but the 5 km wide belt immediately surrounding the SPAs produced more than three times the number of avian electrocutions (c.60% of the total recorded). This was probably caused by higher densities of both power lines and susceptible birds, and higher use of the pylons for perching and roosting in the areas surrounding the SPAs. We therefore conclude that the focus on preventative measures being applied within SPAs is inefficient and that action should be targeted in these peripheral areas. Our results illustrate a classic problem of an edge effect associated with a protected area, where external human influences directly affect the persistence of protected species within reserves. Equally, they support the idea that management strategies within parks cannot be independent of the human activities surrounding them

Técnicas de Machine Learning para conducción

Este trabajo tiene como objetivo principal trabajar con un tema tan de moda como la inteligencia artificial aplicada a la conducción autónoma. Este campo es bastante amplio y existen multitud de problemas que se pueden resolver a través de la inteligencia artificial. En nuestro caso nos hemos centrado concretamente en el problema del cálculo de la profundidad de los elementos existentes en un campo visual. Para resolver dicho problema existen multitud de arquitecturas de redes neuronales convolucionales, todas ellas basadas en el procesamiento de un par de imágenes en estéreo. De este procesamiento se obtiene un mapa de disparidad que se puede traducir en una imagen que representa la distancia existente del coche a cada uno de los píxeles que la representa. Además, hemos tenido como objetivo utilizar OpenVINO, una herramienta que acelera la velocidad con la que se puede realizar inferencia sobre una red neuronal. Esto implica que todos los problemas que requieran de inteligencia artificial puedan tener una respuesta lo más rápida posible, uno de los puntos más críticos en este campo. Por otro lado, utilizar esta tecnología junto a elementos de cómputo vectorial de bajo consumo energético, como puede ser Movidius, puede ser una buena combinación para solventar el problema del consumo de energía por los elementos de cómputo hardware a bordo del vehículo. Teniendo en cuenta estos objetivos, nuestro trabajo primeramente trata sobre el estado del arte en cuanto a inteligencia artificial y sus subramas, conducción autónoma y tecnologías software que se utilizan para afrontar estos temas. Posteriormente presentamos el trabajo previo con redes neuronales de clasificación como primer acercamiento a nuestro objetivo principal. A continuación se expone el trabajo realizado con redes neuronales para cálculo de disparidad, sus resultados y uso con OpenVINO. Finalmente se realiza una conclusión acerca de los resultados obtenidos

Assessment of RGB vegetation indices to estimate chlorophyll content in sugar beet leaves in the final cultivation stage

Estimation of chlorophyll content with portable meters is an easy way to quantify crop nitrogen status in sugar beet leaves. In this work, an alternative for chlorophyll content estimation using RGB-only vegetation indices has been explored. In a first step, pictures of spring-sown ‘Fernanda KWS’ variety sugar beet leaves taken with a commercial camera were used to calculate 25 RGB indices reported in the literature and to obtain 9 new indices through principal component analysis (PCA) and stepwise linear regression (SLR) techniques. The performance of the 34 indices was examined in order to evaluate their ability to estimate chlorophyll content and chlorophyll degradation in the leaves under different natural light conditions along 4 days of the canopy senescence period. Two of the new proposed RGB indices were found to improve the already good performance of the indices reported in the literature, particularly for leaves featuring low chlorophyll contents. The 4 best indices were finally tested in field conditions, using unmanned aerial vehicle (UAV)-taken photographs of a sugar beet plot, finding a reasonably good agreement with chlorophyll-meter data for all indices, in particular for I2 and (R−B)/(R+G+B). Consequently, the suggested RGB indices may hold promise for inexpensive chlorophyll estimation in sugar beet leaves during the harvest time, although a direct relationship with nitrogen status still needs to be validated