Kybernetika a robotika


Recent Submissions

Now showing 1 - 5 of 25
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    Diagnostics of Interturn Short Circuits in PMSMs With Online Fault Indicators Estimation
    (IEEE, 2024-02-27) Zezula, Lukáš; Kozovský, Matúš; Blaha, Petr
    This article presents novel model-based diagnostics of interturn short circuits in permanent magnet synchronous machines that enable estimating fault location and its severity, even during transients. The proposed method utilizes recursive parametric estimation and model comparison approaches cast in a decision-making framework to track motor parameters and fault indicators from a machine's discrete-time model. The discrete-time prototype is derived from an advanced motor model that reflects the stator winding arrangement in a motor's case. The fault detection is then performed by tracking the changes in the estimated probability density function of the electrical parameters, using the Kullback–Leibler divergence. The fault location is subsequently evaluated by performing a recursive comparison of the predefined fault models in the different phases, utilizing a growing-window approach. Ultimately, a parametric estimation algorithm applied to the fault current model allows identifying the fault severity. The diagnostic algorithm has been validated via laboratory experiments, and its capabilities are compared with other approaches enabling severity estimation.
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    Capacity Building in Mathematics and Statistics Learning Support in Norway and the Czech Republic (MSLS Net)
    (sigma network, 2024-01-03) Rebenda, Josef; Pátíková, Zuzana; Chvátal, Martin; Rogovchenko, Svitlana; Bakke, Trris Kolen; Croft, Tony
    This report describes the final meeting of the project "Capacity Building in Mathematics and Statistics Learning Support in Norway and the Czech Republic (MSLS Net)" held at the Tomas Bata University in Zlín, Czech Republic (June 12-14, 2023). Provision of mathematics and statistics learning support (MSLS) is developing rapidly in many parts of the world and activity in Norway and the Czech Republic has been accelerated significantly through this EEA Grants funded project. Representatives of each of the five partner institutions worked on creating a summary of good practices in tutor training, designing learning resources, and in delivering, monitoring and evaluation of mathematics and statistics support. Provision varied considerably across the institutions and the centres represented demonstrated diverse and innovative ways in which mathematics support is evolving. Outputs from the project include a Handbook on good practice and a booklet concerned with mathematics support centre tutor training, including pedagogic training and learning resources for the development of the tutors as described below. Finally, consideration turned to the value of establishing a professional network to continue this important work. The report will be relevant to other international groups interested in working in university level mathematics and statistics support.
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    Robust perception systems for automated, connected, and electrified vehicles: advances from EU project ArchitectECA2030
    (Elsevier, 2023-12-13) Recekenzaun, Jakob; Solmaz, Selim; Goelles, Thomas; Hilbert, Marc; Weimer, Daniel; Mayer, Peter; Chromý, Adam; Hentschel, Uwe; Modler, Niels; Toth, Mate; Hennecke, Marcus
    The perception supply chain (SC1) of the ArchitectECA2030 project investigates failure modes, fault detection, and residual risk in perception systems of electrified, connected, and automated (ECA) vehicles. This accounts for the needs of a reliable understanding of the surrounding environment. The three demonstrators of SC1, described in this paper, address steps of a typical ECA usage cycle: charge - drive - restart charging. The foreign object detection (FOD) demonstrator improves safety within a wireless charging system. The robust physical sensors demonstrator creates a more robust perception by detecting failures within fused and single sensor data. The position enhancement demonstrator improves vehicle localization in areas with reduced GNSS signal coverage. All demonstrators are linked to the challenges that occur during the ECA vehicle usage cycle
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    Recursive Variational Inference for Total Least-Squares
    (IEEE, 2023-06-26) Friml, Dominik; Václavek, Pavel
    This letter analyzes methods for deriving credible intervals to facilitate errors-in-variables identification by expanding on Bayesian total least squares. The credible intervals are approximated employing Laplace and variational approximations of the intractable posterior density function. Three recursive identification algorithms providing an approximation of the credible intervals for inference with the Bingham and the Gaussian priors are proposed. The introduced algorithms are evaluated on numerical experiments, and a practical example of application on battery cell total capacity estimation compared to the state-of-the-art algorithms is presented.
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    Bayesian Inference of Total Least-Squares With Known Precision
    (IEEE, 2022-09-06) Friml, Dominik; Václavek, Pavel
    This paper provides a Bayesian analysis of the total least-squares problem with independent Gaussian noise of known variance. It introduces a derivation of the likelihood density function, conjugate prior probability-density function, and the posterior probability-density function. All in the shape of the Bingham distribution, introducing an unrecognized connection between orthogonal least-squares methods and directional analysis. The resulting Bayesian inference expands on available methods with statistical results. A recursive statistical identification algorithm of errors-in-variables models is laid- out. An application of the introduced inference is presented using a simulation example, emulating part of the identification process of linear permanent magnet synchronous motor drive parameters. The paper represents a crucial step towards enabling Bayesian statistical methods for problems with errors in variables.