Cooperation of Humanoid Robots Using Teleoperation for Transferring an Object

In this paper, a method is proposed for humanoid robots performing object transfering task in a teleoperated cooperative paradigm. The cooperative task is accomplished using simple communication among two humanoid robots and then switch between modes according to the situation. In case of object passing with two humanoid robots, mutual position shifts may occur while they are moving. Therefore, it is necessary to correct the position in a real-time manner. To control the arm and hand of the robot remotely we use master arm and hand while it carries and passes the object, the dynamic stability during the execution of walking is ensured by incorporating the ZMP criterion and the desired spacing between the robots is controlled by Leader follower type control. Object passing cooperation for two humanoid robots is based on computer control, wireless LAN, vision, cooperative handling control and text commands. The method is applied as key software of the system. The effectiveness of the proposed methodology for performing cooperatively real time tasks is discussed

Cooperation of Humanoid Robots using Teleoperation for Transferring an Object

In this paper, a method is proposed for humanoid robots performing object transfering task in a teleoperated cooperative paradigm. The cooperative task is accomplished using simple communication among two humanoid robots and then switch between modes according to the situation. In case of object passing with two humanoid robots, mutual position shifts may occur while they are moving. Therefore, it is necessary to correct the position in a real-time manner.To control the arm and hand of the robot remotely we use master arm and hand while it carries and passes the object, the dynamic stability during the execution of walking is ensured by incorporating the ZMP criterion and the desired spacing between the robots is controlled by Leader follower type control .Object passing cooperation for two humanoid robots is based on computer control, wireless LAN, vision, cooperative handling control and text commands. The method is applied as key software of the system. The effectiveness of the proposed methodology for performing cooperatively real time tasks is discussed

Experimental Implementation of Robust ANFSI-PI based Hybrid Controller for DC Motor Driver System

This paper presents experimental implementation of a robust Adaptive Neuro-Fuzzy Inference System-Proportional Integral (ANFIS-PI) based Hybrid Controller (HC) for dc motor drive system. Conventionally, PI controllers are extensively used for control of dc motor drive system. However, because of inherent working mechanism of PI controllers they suffer from significant overshoot and settling time. Some industrial applications require accurate, fast and stable response of the dc motor drive system. To completely eliminate the overshoot, concurrently, to improve settling time the HC (combination of ANFIS and PI) is presented in this paper. The proposed control scheme is simulated in MATLAB/Simulink. Also, it is experimentally implemented using DS1104 R&D Controller Board from dSPACE. For fair comparison, PI controllers are properly tuned using ControlSystem Designer tool available in MATLAB to get best possible response. Obtained experimental results show that, PI controllers have significant overshoot, i.e., 25.5% and settling time 1.80 sec. Whereas, proposed ANFIS-PI based HC outperforms PI controllers by giving 0% overshoot with 0.08 sec settling time, with identical operating conditions, thus making it suitable for industrial applications

The Frequency Control in the islanded Micro Grid by using STATCOM Controllers

When the distribution system is disconnected from the transmission system, the islanded portion of the network comprising DG (Distributed Generation) units forms a MG (Micro Grid). It is essential either to shut down the DG units or ensure the stable and the controlled operation of the islanded MG. The frequency and the voltage of the islanded MG vary when it is isolated from the main transmission grid. The voltage and the frequency of the islanded MG can be controlled to the permissible limits by providing the required amount of the active and reactive power by the local available sources in the MG. The main focus of this paper is about the control of the network frequency in the islanded MG by employing PI controllers based STATCOM (Static Compensator) and BESS-STATCOM (Battery Energy Storage System Equipped) devices. The study is done by using DIgSILENT power factory software version 15.

Optimal Selection of Reactive Power For Single Tuned Passive Filter Based on Curve Fitting Technique

This research presents the Optimal Reactive Power (Qc) selection for a single-tuned passive filter. DC drives are very popular in the industrial zone due to their high performance, flexibility, easy control, and low cost. DC drives operate by giving supply from an AC utility and AC to DC can be converted using the AC-DC converter. But this conversion introduces harmonics in the input supply current that affect the performance of the DC drive and also cause serious problems for the overall power quality of the system. Many researchers are searching for the appropriate solutions to mitigate this cause. A passive filter is one solution to minimize or avoid harmonics from entering the electrical system. The key aspect of the passive filter design has been a difficult task. The parameters of the passive filter largely depends upon selecting the suitable value of reactive power (Qc). In this paper, the Simulink model of an AC-DC converter based on a separately excited dc motor is used as an industrial load, and a curve fitting technique has been used to select the optimal value of reactive power (Qc) for the passive filter. The simulation results and analysis show that optimal selection of reactive power for single tuned passive filter using the proposed technique is very effective by taking international standards limits for harmonic distortion

Optimal Selection of Reactive Power For Single Tuned Passive Filter Based on Curve Fitting Technique

This research presents the Optimal Reactive Power (Qc) selection for a single-tuned passive filter. DC drives are very popular in the industrial zone due to their high performance, flexibility, easy control, and low cost. DC drives operate by giving supply from an AC utility and AC to DC can be converted using the AC-DC converter. But this conversion introduces harmonics in the input supply current that affect the performance of the DC drive and also cause serious problems for the overall power quality of the system. Many researchers are searching for the appropriate solutions to mitigate this cause. A passive filter is one solution to minimize or avoid harmonics from entering the electrical system. The key aspect of the passive filter design has been a difficult task. The parameters of the passive filter largely depends upon selecting the suitable value of reactive power (Qc). In this paper, the Simulink model of an AC-DC converter based on a separately excited dc motor is used as an industrial load, and a curve fitting technique has been used to select the optimal value of reactive power (Qc) for the passive filter. The simulation results and analysis show that optimal selection of reactive power for single tuned passive filter using the proposed technique is very effective by taking international standards limits for harmonic distortion

A Bi-Level Techno-Economic Optimal Reactive Power Dispatch Considering Wind and Solar Power Integration

With urban and rural infrastructure development, the power system is being forced to operate at or near its full capacity. This paper proposes four new methodologies to find the solution to the optimal reactive power dispatch (ORPD) problem, considering the capabilities of modern DFIG-based WTs and VSI-based solar PV. The proposed formulation considers the techno-economic objective functions, specifically the minimization of the active and reactive power cost and the maximization of reactive power reserve. This leads to an effective solution to the probabilistic multi-objective ORPD (PMO-ORPD) problem, especially in the context of modern wind farms (WFs) and solar PV. The proposed formulations are necessary for effectively managing power systems with renewable energy sources and contribute to developing efficient and sustainable power systems. Additionally, this study employs probabilistic mathematical modeling that incorporates Weibull, lognormal, and normal probability distribution functions (PDFs) to represent uncertainties in the wind, solar, and load demand. Monte-Carlo simulation (MCS) is employed to generate probabilistic scenarios, allowing for a comprehensive analysis of the PMO-ORPD problem. A new two-phase (ToP) multi-objective evolutionary algorithm is proposed, which incorporates the superiority of feasibility constraints to effectively solve the probabilistic multi-objective optimal reactive power dispatch (PMO-ORPD) problem. From the analysis and comparison of simulation results, it has been observed that the proposed algorithm effectively solves the deterministic and PMO-ORPD problems

Simulink Analysis and Mathematical Modeling of Parameters Variation for Thyristor based Speed Controller of Single Phase Induction Motor

The thyristor is a power electronics device that is widely used in various electrical appliances due to its lower on-conduction losses, easyavailability, lower switching loss, greater efficiency and cost-benefit. Mostly a thyristor is used in rectifiers and variable-speed drives. Almost 70% of loads used in the world consists of induction motors in various types and forms. In this work, a thyristor-based controller is used to control the speed of a single phase induction motor by adjusting the firing angle for the gate terminal of the thyristor. Depending upon the firing angle, the output voltage, output current, speed, power factor and the total harmonic distortion are varied which is analyzed through MATLAB/Simulink. Further curve fitting technique is used to formulate the mathematical relationships between varying parameters concerning thyristor’s firing angle. The findings of this work are helpful to achieve the best curve fit model for varying parameters concerningthe thyristor firing angle. Full Tex

Simulink Analysis and Mathematical Modeling of Parameters Variation for Thyristor based Speed Controller of Single Phase Induction Motor

The thyristor is a power electronics device that is widely used in various electrical appliances due to its lower on-conduction losses, easyavailability, lower switching loss, greater efficiency and cost-benefit. Mostly a thyristor is used in rectifiers and variable-speed drives. Almost 70% of loads used in the world consists of induction motors in various types and forms. In this work, a thyristor-based controller is used to control the speed of a single phase induction motor by adjusting the firing angle for the gate terminal of the thyristor. Depending upon the firing angle, the output voltage, output current, speed, power factor and the total harmonic distortion are varied which is analyzed through MATLAB/Simulink. Further curve fitting technique is used to formulate the mathematical relationships between varying parameters concerning thyristor’s firing angle. The findings of this work are helpful to achieve the best curve fit model for varying parameters concerningthe thyristor firing angle. Full Tex