Rule-based modular software and hardware architecture for multi-shaped robots using real-time dynamic behavior identification and selection

2008 ◽  
Vol 21 (4) ◽  
pp. 273-283 ◽  
Author(s):  
Laxmisha Rai ◽  
Soon Ju Kang
2019 ◽  
Vol 59 (7) ◽  
pp. 076016 ◽  
Author(s):  
V. Huber ◽  
A. Huber ◽  
D. Kinna ◽  
G.F. Matthews ◽  
G. Sergienko ◽  
...  

Energies ◽  
2021 ◽  
Vol 14 (16) ◽  
pp. 4999
Author(s):  
Xuejun Zheng ◽  
Shaorong Wang ◽  
Xin Su ◽  
Mengmeng Xiao ◽  
Zia Ullah ◽  
...  

The investigation of real-time dynamic behavior evaluation in the active distribution networks (ADNs) is a challenging task, and it has great importance due to the emerging trend of distributed generations, electric vehicles, and flexible loads integration. The advent of new elements influences the dynamic behavior of the electric distribution networks and increases the assessment complexity. However, the proper implementation of low-cost phasor measurement units (PMUs) together with the development of power system applications offer tremendous benefits. Therefore, this paper proposes a PMU-based multi-dimensional dynamic index approach for real-time dynamic behavior evaluation of ADNs. The proposed evaluation model follows the assessment principles of accuracy, integrity, practicability, and adaptability. Additionally, we introduced low-cost PMUs in the assessment model and implemented them for real-time and high-precision monitoring of dynamic behaviors in the entire distribution network. Finally, a complete model called the real-time dynamic characteristics evaluation system is presented and applied to the ADN. It is pertinent to mention that our proposed evaluation methodology does not rely on the network topology or line parameters of the distribution network since only the phasor measurements of node voltage and line current are involved in the dynamic index system. Thus, the presented methodology is well adaptive to different operation states of ADN despite frequent topology changes. The validation of the proposed approach was verified by conducting simulations on the modified IEEE 123-node distribution network. The obtained results verify the effectiveness and relevance of the proposed model for the real-time dynamic behavior evaluation of ADNs.


CICTP 2020 ◽  
2020 ◽  
Author(s):  
Lina Mao ◽  
Wenquan Li ◽  
Pengsen Hu ◽  
Guiliang Zhou ◽  
Huiting Zhang ◽  
...  

Author(s):  
Parastoo Soleimani ◽  
David W. Capson ◽  
Kin Fun Li

AbstractThe first step in a scale invariant image matching system is scale space generation. Nonlinear scale space generation algorithms such as AKAZE, reduce noise and distortion in different scales while retaining the borders and key-points of the image. An FPGA-based hardware architecture for AKAZE nonlinear scale space generation is proposed to speed up this algorithm for real-time applications. The three contributions of this work are (1) mapping the two passes of the AKAZE algorithm onto a hardware architecture that realizes parallel processing of multiple sections, (2) multi-scale line buffers which can be used for different scales, and (3) a time-sharing mechanism in the memory management unit to process multiple sections of the image in parallel. We propose a time-sharing mechanism for memory management to prevent artifacts as a result of separating the process of image partitioning. We also use approximations in the algorithm to make hardware implementation more efficient while maintaining the repeatability of the detection. A frame rate of 304 frames per second for a $$1280 \times 768$$ 1280 × 768 image resolution is achieved which is favorably faster in comparison with other work.


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