This work investigates the possibility to improve computational efficiency of a set-based method for trajectory planning car-like vehicle through artificial intelligence. Planning is performed on graph that represents operating scenario in which moves, and kinodynamic feasibility trajectories guaranteed series arguments, involve solution semi-definite programming problems. Navigation hybrid A* algorithm whose performance metrics are improved properly trained classificator, can forecast...

Sensor fault detection and isolation (SFDI) is a fundamental topic in unmanned aerial vehicle (UAV) development, where attitude estimation plays key role flight control systems its accuracy crucial for UAV reliability. In commercial drones with low maximum take-off weights, typical redundant architectures, based on triplex, can represent strong limitation payload capabilities. This paper proposes an FDI algorithm low-cost multi-rotor equipped duplex sensor architecture. Here, involves two...

A novel high-efficiency space vector modulation (SVM) strategy is proposed in this paper. It based on the simultaneous and combined use of two strategies. The former consists commutating only one switch each inverter leg within period. In way, there no need to impose dead time. latter performs a step-by-step change frequency order reduce distortion output voltage. system has been implemented carried out programmable logic device (PLD) digital board. For validation, an experiment set up...

Recent developments in the field of supercapacitors make very promising use these equipments a large range applications. In particular, it is useful to introduce all drive applications, which an energy recovery possible. this paper, predictive control supercapacitor storage system proposed and tested automatic warehouse. Experimental results show increased performances systems thanks capability.

In high navigation traffic areas, path planning and collision avoidance is a crucial element of safe navigation, mostly in view possible future applications hybrid scenarios where both manned Autonomous Surface Vehicles (ASV) share the environment.This paper deals with novel procedure to generate optimal paths presence static moving obstacles. The proposed approach an optimization problem based on so-called Essential Visibility Graph (EVG) [1], extension standard (VG) [2], order find minimum...

Sensor fault detection and isolation (SFDI) is a fundamental topic in unmanned underwater vehicles (UUV) development, since control system reliability strongly depends on the accuracy of attitude estimation. In small UUVs, typical redundant architectures, based triplex redundancy, can represent strong limitation terms payload power consumption. This work proposes an FDI algorithm for UUVs equipped with duplex sensor architecture. Here, estimation relies upon usage two 9-DoF inertial...

Abstract A novel modulation technique for optimizing the performances of voltage source inverter feeding induction motor drives is presented. It based on a variable frequency technique, changing step-by-step switching power modules in order to achieve reduction both losses and output distortion. In addition, this combined with “single switch commutation” one, which allows reduce blank time imposition during switches commutations. The proposed strategy has been implemented by means digital...

In this paper a novel and high efficiency conversion system based on Supercapacitor Recover System (SRS) Power Factor Correction circuit (PFC) is proposed tested. It allows to greatly improve the performances of motion systems for residential application, such as elevators, both in terms energy power demand, allowing compliance with recents international standards quality.

In this paper, a new power converter topology for photovoltaic (PV) systems is proposed. This solution, based on dual topology, allows to increase the performance of PV in terms efficiency with respect classical conversion system.

This paper proposes an approach for the motion planning of a constrained skid-steered tracked mobile robot under hypothesis non-negligible skid and slip phenomena. Operating environment is firstly discretized with finite dimensional grid. Then, weighted graph defined whose nodes are above mentioned grid points, arcs denote trajectory segments. A modified shortest path search algorithm then proposed to find trajectory, in terms succession arcs, connecting starting ending nodes. Trajectory...

This paper aims to propose a feasible solution the trajectory planning problem for constrained skid-steering mobile robot whose control system, sensors and actuators are connected through communication network. Operating environment is firstly discretized by finite dimensional grid. Then weighted graph, nodes above mentioned points arcs denote segments connecting defined. Finally an algorithm obtain shortest succession of given starting ending proposed. Trajectory feasibility guaranteed in...

Nowadays, cell balancing circuits are fundamental for maximizing the usable capacity of a battery pack and preventing possible hazard conditions. Despite passive equalizers widely adopted in industrial vehicular applications due to their reliability cost, active becoming more attractive thanks improvements achievable terms efficiency equalization speed. In this paper, model-based design methodology an equalizer based on Multiple Active Bridge (MAB) is illustrated, including harmonic content...

In this paper a novel power factor correction (PFC) dual boost scheme is proposed. It based on an optimized sharing where the active filtering approach used to increase current quality and at same time reduce switching losses. A prototype of PFC controlled by FPGA evaluation board was set up implement proposed control strategy. Both simulation experimental results show that strategy for achieves near unity not negligible losses reduction.

In the paper, a self-commissioning algorithm is presented, which allows determination of parameters an induction motor fed by VSI, without any additional hardware, with respect to one required vectorial control strategy. It based upon comparison between measured and predicted current response adequate feeding voltage waveform. The can be easily implemented as start-up routine software. this way, precise quick evaluation achieved. validity feasibility proposed are proved experimental implementation.

In this paper an high performances serial bus for electrical drive synchronization is proposed and tested. The main targets of the are: switching pattern synchronization; closing currents loops; interfacing digital encoders. Experimental tests confirm feasibility

A novel approach to the parallel connection of VSI, called MSAF (motor side active filter) with predictive control is presented and analysed. It allows reduce both power module switching losses improve quality motor currents. In particular, filtering used in order compensate effects, on a synchronous machine, voltage source inverter operating low frequency. The improvement introduced by proposed solution an optimized sharing VSI connection. This performed allocate most part load current at...

In this paper a novel solution for exploiting the performances of high power synchronous drives is proposed and tested. particular active filtering approach used in order to obtain an optimized sharing between two voltage sources inverters (VSIs). The solution, called motor side filter (MSAF), allow reduce total switching losses same time improve quality currents. Particular attention paid common mode currents, which circulation can mainly influence system performances. Simulated...

A high efficiency conversion system based on super-capacitor energy recover and power factor correction (PFC) is proposed for motion system, such as elevators. It allows to greatly improve the elevator performances in terms of demand, allowing compliance with IEC-1000-3-2 IEEE-519 international standard quality.

In this paper, a high performance modulation technique for dual inverter with separate dc sources feeding open-end winding induction motors is proposed. It based on optimization algorithm, which carries out the suitable pattern in order to minimize power losses. way, it possible optimize performance, especially applications.

In this paper, a novel modulation technique for voltage source inverter feeding induction motor drives is presented. It mainly based on variable frequency technique, whose target to change the switching base of power modules dead time distortion. Besides, combined with "single switch commutation technique", which allows almost completely eliminate blank imposition during operation. The proposed has been implemented by means digital modulator and several tests have performed in order verify validity

A novel application of the active filtering approach is proposed in this paper. It based on combination two voltage source inverter (VSI) feeding an high power induction machine. The used to compensate effects, machine, a VSI operating with low switching frequency. improvements introduced by solution are reduced losses and improved quality motor currents. In paper performances side filter (MSAF) illustrated using simulated experimental results

Nowadays, high performances and reliability are being required from the energy storage system in different fields of application, including hybrid electric vehicles as well grid-tied power converters for integration renewable sources. Therefore, with increasing lithium-ion batteries (LIBs) estimation State Charge (SoC) at both cell pack levels represents a fundamental task to be performed by Battery Management System (BMS) order optimally manage operating conditions, maximize overall while...