Foot-mounted INS for everybody - an open-source embedded implementation

We present an open-source, realtime, embedded implementation of a foot-mounted, zero-velocity-update-aided inertial navigation system. The implementation includes both hardware design and software, uses off-the-shelf components and assembly methods, and features a standard USB interface. The software is written in C and can easily be modified to run user implemented algorithms. The hardware design and the software are released under permissive open-source licenses and production files, source code, documentation, and further resources are available at www.openshoe.org. The reproduction cost for a single unit is below $800, with the inertial measurement unit making up the bulk ($700). The form factor of the implementation is small enough for it to be integrated in the sole of a shoe. A performance evaluation of the system shows a position errors for short trajectories (<;100 [m]) of ± 0.2-1% of the traveled distance, depending on the shape of trajectory.

Linear programming approach for state estimation incorporating phasor measurements

This paper presents methodologies for incorporating phasor measurements into conventional state estimator. The angle measurements obtained from Phasor Measurement Units are handled as angle difference measurements rather than incorporating the angle measurements directly. Handling in such a manner overcomes the problems arising due to the choice of reference bus. Current measurements obtained from Phasor Measurement Units are treated as equivalent pseudo-voltage measurements at the neighboring buses. Two solution approaches namely normal equations approach and linear programming approach are presented to show how the Phasor Measurement Unit measurements can be handled. Comparative evaluation of both the approaches is also presented. Test results on IEEE 14 bus system are presented to validate both the approaches.

Time-Based All-Digital Technique for Analog Built-in Self-Test

A scheme for built-in self-test of analog signals with minimal area overhead for measuring on-chip voltages in an all-digital manner is presented. The method is well suited for a distributed architecture, where the routing of analog signals over long paths is minimized. A clock is routed serially to the sampling heads placed at the nodes of analog test voltages. This sampling head present at each test node, which consists of a pair of delay cells and a pair of flip-flops, locally converts the test voltage to a skew between a pair of subsampled signals, thus giving rise to as many subsampled signal pairs as the number of nodes. To measure a certain analog voltage, the corresponding subsampled signal pair is fed to a delay measurement unit to measure the skew between this pair. The concept is validated by designing a test chip in a UMC 130-nm CMOS process. Sub-millivolt accuracy for static signals is demonstrated for a measurement time of a few seconds, and an effective number of bits of 5.29 is demonstrated for low-bandwidth signals in the absence of sample-and-hold circuitry.

Evaluation of airline exercises prescribed to avoid deep vein thrombosis using fiber Bragg grating sensors

Various leg exercises have been recommended to prevent deep vein thrombosis (DVT), a condition where a blood clot forms in the deep veins, especially during long-haul flights. Accessing the benefit of each of these exercises in avoiding the DVT, which can be fatal, is important in the context of suggesting the correct and the most beneficial exercises. Present work aims at demonstrating the fiber Bragg grating (FBG)-based sensing methodology for measuring surface strains generated on the skin of the calf muscle to evaluate the suggested airline exercises to avoid DVT. As the dataset in the experiment involves multiple subjects performing these exercises, an inertial measurement unit has been used to validate the repetitiveness of each of the exercises. The surface strain on the calf muscle obtained using the FBG sensor, which is a measure of the calf muscle deformation, has been compared against the variation of blood velocity in the femoral vein of the thigh measured using a commercial electronic-phased array color Doppler ultrasound system. Apart from analyzing the effectiveness of suggested exercises, a new exercise which is more effective in terms of strain generated to avoid DVT is proposed and evaluated. (C) 2013 Society of Photo-Optical Instrumentation Engineers (SPIE)

Coprocessador para operações quânticas.

A demanda crescente por poder computacional estimulou a pesquisa e desenvolvimento de processadores digitais cada vez mais densos em termos de transistores e com clock mais rápido, porém não podendo desconsiderar aspectos limitantes como consumo, dissipação de calor, complexidade fabril e valor comercial. Em outra linha de tratamento da informação, está a computação quântica, que tem como repositório elementar de armazenamento a versão quântica do bit, o q-bit ou quantum bit, guardando a superposição de dois estados, diferentemente do bit clássico, o qual registra apenas um dos estados. Simuladores quânticos, executáveis em computadores convencionais, possibilitam a execução de algoritmos quânticos mas, devido ao fato de serem produtos de software, estão sujeitos à redução de desempenho em razão do modelo computacional e limitações de memória. Esta Dissertação trata de uma versão implementável em hardware de um coprocessador para simulação de operações quânticas, utilizando uma arquitetura dedicada à aplicação, com possibilidade de explorar o paralelismo por replicação de componentes e pipeline. A arquitetura inclui uma memória de estado quântico, na qual são armazenados os estados individuais e grupais dos q-bits; uma memória de rascunho, onde serão armazenados os operadores quânticos para dois ou mais q-bits construídos em tempo de execução; uma unidade de cálculo, responsável pela execução de produtos de números complexos, base dos produtos tensoriais e matriciais necessários à execução das operações quânticas; uma unidade de medição, necessária à determinação do estado quântico da máquina; e, uma unidade de controle, que permite controlar a operação correta dos componente da via de dados, utilizando um microprograma e alguns outros componentes auxiliares.

Precision biomechanical motion tracking and throw characterisation in professional darts

In professional sports there are in general three steps required to improve performance namely task definition, training and performance assessment. This process is iteratively repeated and feedback generated from quantitative performance measurement is in turn used for task redefinition. Task definition can be achieved in a number of ways including via video streaming or indeed and as is more common, by listening to coaching staff. However non-subjective performance evaluation is difficult due to the complexity of the movements involved. When considering the subset of sports where precision accuracy and repeatability are a necessity this problem becomes inherently more difficult to solve. Until recently sports such as martial arts, fencing and darts, where the smallest deviation from a prescribed movement goal can result in large outcome error, were deemed too difficult to characterise fully. Advances in technology, as illustrated by this study, now make this type of physiometry possible.

WIMU instrumentation of assassin trainer & skeleton sled

Skeleton is a high‐speed Winter Olympic sport performed on the same twisting, downhill ice tracks used for Bobsleigh & Luge. The single rider sprints and pushes their sled for 20‐30m on a level start section before loading and going through a twisting course of over 1km, at speeds up to 140km/h, experiencing up to 5g. In competition, the top athletes can be within a fraction of a second of each other. The initial short pushing period is believed to be critical to overall performance but it is not well understood. A collaborative project between University of Bath, UK Sport and Tyndall National Institute is instrumenting skeleton athletes, training equipment and test tracks with Tyndall’s Wireless Inertial Measurement Unit technology in order to investigate and improve understanding of this phase of a skeleton run. It is hoped this will lead to improved training regimes and better performance of such elite, Olympic level athletes. This work presents an initial look at the system as implemented and data recorded.

WIMU instrumentation of assassin trainer & skeleton sled – initial data capture

Science Foundation Ireland (CSET - Centre for Science, Engineering and Technology, Grant No. 07/CE/11147)

Validation of fixed speed induction generator models for inertial response using wind farm measurements

This paper outlines the use of phasor measurement unit (PMU) records to validate models of fixed speed induction generator (FSIG)-based wind farms during frequency transients. Wind turbine manufacturers usually create their own proprietary models which they can supply to power system utilities for stability studies, subject to confidentiality agreements. However, it is desirable to confirm the accuracy of supplied models with measurements from the particular installation, in order to assess their validity under real field conditions. This is prudent due to possible changes in control algorithms and design retrofits, not accurately reflected or omitted in the supplied model. One important aspect of such models, especially for smaller power systems with limited inertia, is their accuracy during system frequency transients. This paper, therefore, assesses the accuracy of FSIG models with regard to frequency stability, and hence validates a subset of the model dynamics. Such models can then be used with confidence to assess wider system stability implications. The measured and simulated response of a wind farm using doubly fed induction generator (DFIG) technology is also assessed.

Online Tracking of Thévenin Equivalent Parameters Using PMU Measurements

This paper presents a new method for tracking Thévenin equivalent parameters for a power system at a node using local Phasor Measurement Unit (PMU) measurements. Three consecutive phasor measurements for voltage and current, recorded at one location, are used. The phase drifts caused by the measurement slip frequency are first determined and phase angles of the measured phasors are corrected so that the corrected phasors are synchronized to the same reference. The synchronized phasors are then used to determine the equivalent Thévenin parameters of the system.

The OpenPMU Platform for Open Source Phasor Measurements

OpenPMU is an open platform for the development of phasor measurement unit (PMU) technology. A need has been identified for an open-source alternative to commercial PMU devices tailored to the needs of the university researcher and for enabling the development of new synchrophasor instruments from this foundation. OpenPMU achieves this through open-source hardware design specifications and software source code, allowing duplicates of the OpenPMU to be fabricated under open-source licenses. This paper presents the OpenPMU device based on the Labview development environment. The device is performance tested according to the IEEE C37.118.1 standard. Compatibility with the IEEE C37.118.2 messaging format is achieved through middleware which is readily adaptable to other PMU projects or applications. Improvements have been made to the original design to increase its flexibility. A new modularized architecture for the OpenPMU is presented using an open messaging format which the authors propose is adopted as a platform for PMU research.

Analysis of Two-Speed Wind Farm Operation From Grid-Side Measurements

This paper analyzes data captured by a phasor measurement unit at a wind farm, employing two-speed induction generators, and investigates aspects of the control system's interaction with the power system. Composite superimposed transient events are proposed as a method to improve the quality of the analysis and reduce errors caused by unknowns, such as wind speed variation. A Mathworks SimPowerSystems model validates the inertia contribution of the wind farm, which is an important parameter in power systems with high wind penetration. Transients caused by turbine speed transitions are identified and explained. The analysis also highlights areas where wind farm control should be improved if useful inertia contribution is to be provided.

A statistical process control approach for automatic anti-islanding detection using synchrophasors

Anti-islanding protection is becoming increasingly important due to the rapid installation of distributed generation from renewable resources like wind, tidal and wave, solar PV, bio-fuels, as well as from other resources like diesel. Unintentional islanding presents a potential risk for damaging utility plants and equipment connected from the demand side, as well as to public and personnel in utility plants. This paper investigates automatic islanding detection. This is achieved by deploying a statistical process control approach for fault detection with the real-time data acquired through a wide area measurement system, which is based on Phasor Measurement Unit (PMU) technology. In particular, the principal component analysis (PCA) is used to project the data into principal component subspace and residual space, and two statistics are used to detect the occurrence of fault. Then a fault reconstruction method is used to identify the fault and its development over time. The proposed scheme has been used in a real system and the results have confirmed that the proposed method can correctly identify the fault and islanding site.

Inter-Area Power Oscillation Frequency Mode with Wind Turbine Generator in Irish Power System using PMU Data

Two case studies are presented in this paper to demonstrate the impact of different power system operation conditions on the power oscillation frequency modes in the Irish power system. A simplified 2 area equivalent of the Irish power system has been used in this paper, where area 1 represents the Republic of Ireland power system and area 2 represents the Northern Ireland power system.

The potential power oscillation frequency modes on the interconnector during different operation conditions have been analysed in this paper. The main objective of this paper is to analyse the influence of different operation conditions involving wind turbine generator (WTG) penetration on power oscillation frequency modes using phasor measurement unit (PMU) data.

Fast Fourier transform (FFT) analysis was performed to identify the frequency oscillation mode while correlation coefficient analysis was used to determine the source of the frequency oscillation. The results show that WTG, particularly fixed speed induction generation (FSIG), gives significant contribution to inter-area power oscillation frequency modes during high WTG operation.

Securing the smart grid

The availability of electricity is fundamental to modern society. It is at the top of the list of critical infrastructures and its interruption can have severe consequences. This highly important system is now evolving to become more reliable, efficient, and clean. This evolving infrastructure has become known as the smart grid; and these future smart grid systems will rely heavily on ICT. This infrastructure will require many servers and due to the nature of the grid, many of these systems will be geographically diverse requiring communication links. At the heart of this ICT infrastructure will be security. At each level of the smart grid from smart metering right through to remote sensing and control networks, security will be a key factor for system design consideration. With an increased number of ICT systems in place the security risk also increases. In this paper the authors discuss the changing nature of security in relation to the smart grid by looking at the move from legacy systems to more modern smart grid systems. The potential planes of attack for future smart grid systems are identified, and the general anatomy of a cyber-attack is presented. The authors then introduce the various threat levels of different types of attack and the mitigation techniques that could be put in place for each. Finally, the authors' introduce a Phasor Measurement Unit (PMU) communication system (operated by the authors) that can be used as a test-bed for some of the proposed future security research.