Keywords: Industry 4.0
Abstract: With the convergence of technologies and significant changes in consumers behavior and needs, the digitalization of organizations becomes mandatory for market survival. The new ingredients for organizations success are: Agility, Innovation and Purpose! In this scenario, Manufacturing also needs to reinvent itself in order to achieve not only production in high volumes and scale that market demands, but also customized, low cost and integrated with the entire value chain. This presentation begins with an overview of Industry 4.0 and Digital Transformation, states important Business Challenges and Opportunities, and finishes with elements of the Journey to Industry 4.0.

Keywords: Electrical Vehicle and Energy Storage, Power Electronics
Abstract: This paper presents the influence of distance, resonance frequency and constructive aspects of the coils for Wireless Power Transfer (WPT), showing the best configuration according to the needs of the application, especially for the automotive battery charging, situation factors such as the distance between the emitter and the receiver, the size of the coil used and alignment make implementation difficult. The behavior between the coils includes wire turns, along with other coils of several wire turns, and is simulated computationally and analyzed to verify what is the better performance. The results are presented for resonance frequencies varying between 100kHz and 1MHz, spacing from 1 to 180cm, showing the behavior of the efficiency curve for application in electric vehicles. Five different configurations are addressed by varying, in addition to the number of turns, the diameters of the coil wires. Simulations of yield curves are compared with experimental results to validate the reliability of the calculation.

Keywords: Electrical Vehicle and Energy Storage, Renewable Energy, Smart Grids
Abstract: The management of energy systems in an efficient and sustainable way is one of the most researched subjects by the scientific community and companies in the energy sector. In this scenario, the microgrid concept is a promising approach. A microgrid is composed of renewable sources (eg, wind and solar photovoltaic) non-renewable sources, electric loads, electrical protections and energy storage systems. This paper proposes the modeling of subsystems that compose the pilot-microgrid developed in laboratory of renewable sources of the Federal University of Espírito Santo based on hybrid systems with focus on the energy storage system and the electric loads. This work describes the modeling steps and shows the simulation results using the hybrid models.

Keywords: Electrical Vehicle and Energy Storage, Power Quality, Power Systems
Abstract: Este artigo mostra os impactos da recarga de veículos elétricos (VEs) em uma rede de distribuição de baixa tensão (BT) quando os VEs operam como elementos passivos e ativos. Três cenários são considerados no estudo: 1) operação da rede sem VEs; 2) operação da rede considerando VEs como elementos passivos; e 3) operação da rede considerando VEs como elementos ativos. A análise é realizada via fluxo de potência probabilístico (FPP) ao longo das 24 horas utilizando o método de Monte Carlo. A rede de distribuição de BT consiste de 11 barras, onde o último consumidor está localizado a 500 m do transformador de 75 kVA 13,8/0,22/0,127 kV. As simulações realizadas no trabalho mostram os possíveis investimentos a serem considerados e as mudanças necessárias para que no futuro as redes de distribuição de BT possam interagir com os VEs.

Keywords: Power Electronics, Automation and Process Control, Electrical Vehicle and Energy Storage
Abstract: This paper presents the small-signal modeling and analysis of an isolated bidirectional DC-DC converter. The converter is implement based on two Full-Bridge converters. The system is designed to act as a charge/discharge controller for battery banks. The model for each mode of operation is developed using the average state-space model approach. To verify the models, simulations are performed using PSIM software in addition to experimental results obtained from a 200 W prototype that connects a 60 V battery bank to a 230 V DC link.

Keywords: Electrical Vehicle and Energy Storage, Renewable Energy, Smart Grids
Abstract: This paper presents a mixed integer linear programming (MILP) model to optimize the costs of maintenance and extra hours during the operation of the hybrid electric vehicles (HEVs) technologies aiming at reducing CO2 emissions during navigation on the city map. This target is obtained by an appropriate selection of navigation modes, efficient battery charging, and optimal scheduling of deliveries. The proposed model considers average speed variation, battery state of charge (SOC), and the set of deliveries to be made by each HEV technology. A set of constraints that ensures the performance of the HEVs is considers while the uncertainties of the trip on urban roads are modeled using a set of traffic density values according to the levels of service (LOS). The proposed model is implemented in AMPL and solved using the solver CPLEX. Results considering the data of real-world technologies and show the effectiveness of the proposed hybrid transportation technology.

Keywords: Power Electronics, Electrical Vehicle and Energy Storage
Abstract: This paper describes the use of a hybrid energy storage system composed of battery and supercapacitor as power sources and a multi-input bi-directional interleaved DC/DC converter to provide energy to an electric urban bus. Using a control strategy that divides in different cutoff frequencies for each power source, it is possible to use the supercapacitor for rapid changes on the load demands, while the battery is used for the constant load.

Keywords: Power Systems, Power Electronics, Smart Grids
Abstract: Uma possível solução para suprir o crescente aumento da demanda de energia elétrica é a utilização de vários geradores distribuídos conectados à rede. Entretanto, quando a unidade de geração principal é desconectada, parte do sistema continua energizado graças à presença dessas várias unidades geradoras secundárias, formando uma ilha numa determinada região do SEP, situação não desejável devido aos inúmeros problemas relacionados à qualidade de energia e segurança que podem ocorrer. Sabendo disso, este trabalho apresenta uma técnica de detecção de ilhamento através da estimação de impedância usando injeção de pequenos sinais na saída da Geração Distribuída (GD). Os resultados obtidos através do software de simulação PSIM foram satisfatórios, onde se constatou o ilhamento mesmo quando a potência

Keywords: Power Systems
Abstract: Este artigo apresenta uma análise sobre abordagens alternativas na solução de problemas de planejamento de sistemas hidrotérmicos com mais de um reservatório equivalente de energia utilizando a programação dual dinâmica estocástica (PDDE). Inicialmente é apresentado o problema e as técnicas de solução, e em sequência é feita uma análise sobre a importância de considerar ou não o intercâmbio energético na função de custo futuro dos subsistemas independentes.

Keywords: Power Systems, Automation and Process Control, Smart Grids
Abstract: A escolha do método de extração de características que define a assinatura de potência elétrica de um aparelho é um ponto fundamental para o problema de monitoramento não-intrusivo de carga. Em geral, utilizam-se características de conteúdo harmônico e transitórios de chaveamento para realizar a classificação das diferentes cargas ligadas ou desligadas em uma unidade consumidora. Este trabalho apresenta uma comparação dos métodos mais usuais de extração de características incluindo análise harmônica, análise harmônica exponencialmente amortecida, transformada wavelet e trajetória da forma de onda de tensão e corrente (trajetória V-I), tendo em vista a apresentação das vantagens e desvantagens de cada abordagem. Também são variados diversos parâmetros de cada método, de modo a obter o conjunto mais adequado para a base de dados avaliada. Para cada método, o classificador utilizado foi uma Máquina de Vetor Suporte. Os resultados demonstram que, para uma base pública (COOLL) de chaveamento de carga, os modelos baseados em análise harmônica exponencialmente amortecida e transformada wavelet apresentam desempenho de classificação na ordem de 92%, enquanto os demais modelos têm desempenho médio inferior à 85%.

Keywords: Power Systems
Abstract: Este trabalho aborda o problema de um grande consumidor ao planejar, no horizonte de médio-prazo, a aquisição da energia elétrica que necessita. No seu planejamento, o consumidor precisa decidir quanto de energia será adquirida no mercado de futuros, antes de tomar as decisões de curto-prazo. Visa-se minimizar as despesas com eletricidade, logo, propõe-se um modelo estocástico para minimização dos custos nos diferentes mercados de energia, considerando também o risco associado às decisões. O modelo é aplicado a um cenário ilustrativo e os resultados apresentam como deve ser o envolvimento do consumidor nos diferentes tipos de mercado de energia em função do risco. Notou-se que quanto maior a aversão do consumidor ao risco, maior deve ser o suprimento de energia por meio de contratos a médio-prazo, os quais podem ser utilizados pelo consumidor como uma ferramenta de hedging contra a volatilidade dos preços do mercado de curto-prazo. Apesar de ter sido utilizado um cenário reduzido, o modelo pode ser adaptado a diferentes cenários e horizontes de planejamento.

Keywords: Power Systems, Electrical Machines and Drives, Automation and Process Control
Abstract: Nos estudos de estabilidade transitória, o tempo crítico de abertura para eliminação de faltas pode ser utilizado como forma de elencar as contingências em níveis de severidade. A determinação deste tempo pode se dar através de distintas abordagens, como por métodos energéticos ou por métodos de solução passo a passo no domínio do tempo. Os métodos energéticos trazem a vantagem de serem mais rápidos, contudo, não são precisos como os métodos no domínio do tempo. Mediante isto, este trabalho objetivou a implementação de um algoritmo que se utiliza da rapidez dos métodos energéticos como forma de estimação do tempo crítico, para em seguida classificar contingências previamente filtradas em faixas de severidade pré-determinadas, através de soluções passo a passo no domínio do tempo. Por fim, em uma etapa mais exaustiva de solução (off-line), o tempo crítico é estimado com maior precisão dentro da faixa de severidade obtida na etapa anterior, a fim de ter-se uma referência para comparar com o tempo crítico calculado de maneira rápida através do método energético.

Keywords: Power Systems, Industry Applications, Automation and Process Control
Abstract: Este trabalho apresenta duas propostas alternativas de representação das barras PV’s para o fluxo de potência via equações de injeção de corrente expressas em coordenadas retangulares e polares. Comparações são realizadas entre as formulações propostas de injeção de corrente, a versão clássica de injeção de potência escrita em coordenadas retangulares e polares, e a versão de injeção de corrente em que a potência reativa gerada é levada em conta por meio de ajuste alternado. Os resultados obtidos para o sistema de 300 barras do IEEE e duas configurações do sistema Sul-Sudeste Brasileiro mostram que as propostas alternativas contribuem para a melhora no desempenho do método de solução do fluxo de potência baseado no balanço de injeção de corrente.

Keywords: Smart Grids, Electrical Vehicle and Energy Storage, Power Systems
Abstract: The increasing load increase brings with it the need for the insertion of new technologies and the study of how they behave in the system. In this scenario batteries have been increasingly considered especially along with renewable energy sources, which are usually intermittent. In this paper, we will present a method to optimize the charge and discharge of batteries considering the variation of the load in the system, in order to reduce electrical losses and maintain the voltage between specified limits, using genetic algorithms.

Keywords: Smart Grids, Industry Applications
Abstract: Uma metodologia para alocar estrategicamente a menor quantidade possível de repetidoras de sinal OFDM em uma rede elétrica de média tensão, considerando-se a presença ou ausência de ramificações interferentes, é proposta neste trabalho de investigação. Além disso, sabendo que as redes elétricas em sua operação e/ou manutenção podem alterar seu cenário topológico e com isso prejudicar ou até mesmo interromper a comunicação de dados, o modelo, baseado na metaheurística Algoritmo Genético (AG) aqui proposto, otimizou a alocação de repetidoras de forma a atender o requisito resiliência exigido nas redes inteligentes smartgrid. Além de igualar a quantidade de equipamentos alocados em uma rede real instalada em campo, o AG proposto designou 19 repetidoras para uma rede elétrica de média tensão real de 10 km e com ramificações interferentes.

Keywords: Power Systems, Renewable Energy, Smart Grids
Abstract: The penetration of photovoltaic (PV) generation into transmission and distribution power systems is rapidly increasing in Brazil. As the actual scenario presents a low PV penetration level, the main protection devices, such as the distance/impedance relays (DIR), maintain network reliability without the need to change its parameters. However, the impedance, measured by DIR, may significantly change in a high PV penetration scenario, impacting on faults location. This paper reports the variability of impedance measured by a power substation DIR under a high PV penetration on grid. Computer simulations were conducted on IEEE 13-Node Radial Test Feeder with 56.2% of PV penetration level. The PV generators (PVG) were configured to respond to high-voltage ride-through (HVRT) and low-voltage ride-through (LVRT) conditions, following the regulation of Brazilian National Electrical System Operator (ONS). The simulations were carried out changing the fault type, location and the connected or disconnected status of PVG along the feeder. The results shows that three line-to-ground (3LG) and single line-to-groud (1LG) faults, in this PV scenario, can influence the faults location by 10.8%. Also, the impedance variability for 1LG faults is, in average, almost three times greater than 3LG faults. These results highlight the need for an adaptation of the protection parameters in this new scenario.

Keywords: Smart Grids
Abstract: This paper presents a cluster formation strategy to minimize the computational efforts developed by the Distribution System Operator (DSO) in optimizing a distribution system. The DSO optimizes the distribution system aiming an operation at minimum distribution power losses. The cluster makes the DSO to “see” a reduced number of Buses compared to the real system. As result, the DSO uses a reduced number of data on its optimization algorithm. The Battery Storage System (BSS) creates the cluster by enveloping candidate Buses according to their load power consumption and the power loss in the feeder caused by the loads connected to such Bus. The cluster is a virtual conception. Neither physical changes nor reconfiguration through switch-breakers are required. Details describing the BSS and how the BSS creates the cluster are carefully explained. A case study is conducted in order to show the efficacy of the proposed strategy.

Keywords: Renewable Energy, Smart Grids, Power Quality
Abstract: This paper presents design steps of a distributed generation system with load power compensation. A single-phase full-bridge converter is used to connect the alternative source to the mains. Besides injecting active power, the distributed generation also provides load power compensation capability. In this context, a current reference strategy based on single-phase circuit theory is proposed for grid-connected multi-task converters. The main idea is to synthesize the signal reference for control loop generating orthogonal signals from grid voltage and current load. A Third Order Sinusoidal Integrator is used to extract fundamental component and generate the orthogonal waveforms of grid voltage and load current. Current controller loop for interface converter is developed based on Linear Quadratic Regulator theory. Simulation results are presented to verify the system behavior.

Keywords: Industry 4.0, Smart Grids, Industry Applications
Abstract: This work presents a simulation model for point-to-point transmission of encrypted data using the application layer of OSGP. The simulation aims to verify the integrity of the data transmitted from one point to another using Power Line Communication (PLC). The simulation model was developed in MATLAB and uses RSA, AES, RC-6, and 3-DES cryptographies to encode data. Data transmission uses PLC technique with GMSK modulation. Results demonstrate that it is possible to use the OSGP protocol in the application layer with different criteria, which can be used according to the data size. However, an intense AWGN noise applied to the transmission line can compromise the transmitted data. Also, the experiments demonstrate that RC-6 outperforms the other cryptographic algorithms, presenting the smallest execution time, with low memory requirements.

Keywords: Industrial Lighting
Abstract: This work presents a comparison of analytical and empirical Yield Photon Flux Density (YPFD) ascertainment concerning two LED (light-emitting diode) luminaire models aiming to address the accuracy attained when based on punctual and discrete lamps adopted in plant growth. Moreover, this paper highlights the YPFD efficacy of each luminaire, by reviewing the phytometric concepts in comparison with generic quantic, photometric and typical radiometric systems. The luminaires studied in this paper include a high-flux COB (chip-on-board) cool white LED lamp and a Red and Blue discrete-LED-based luminaire, which is designed and prototyped in laboratory specifically for plant growth.

Keywords: Industrial Lighting, Power Electronics, Industry Applications
Abstract: This paper proposes a two stage LED driver topology with bus voltage regulation and self-oscillating command circuit. The first stage, responsible for the power factor correction, is composed of a SEPIC converter operating in the discontinuous conduction mode of current. The second stage, responsible for supply the LEDs consists of a half-bridge inverter with a LC resonant filter. It is used a voltage regulation circuit to compensate an input voltage variation of 86 to 105% of the nominal value, keeping the bus voltage almost constant. In this way, the switching frequency is kept stable as well as the output current. A laboratory prototype with a rated power of 26 W was built in order to show the feasibility of the idea.

Keywords: Industrial Lighting, Automation and Process Control
Abstract: Este artigo apresenta o controle adaptativo por modelo de referência (MRAC - do inglês, Model Reference Adaptive Control) aplicado ao conversor CC-CC LLC ressonante alimentando uma carga baseada em LEDs. O MRAC é empregado como alternativa aos sistemas de controle clássico, os quais apresentam desempenho limitado na medida que o conversor a ser controlado deve operar de forma estável com bom desempenho dinâmico em uma ampla faixa de operação, como é o caso de circuitos de acionamento de LEDs com controle de intensidade luminosa, rejeição a variações paramétricas e rejeição a distúrbios. Portanto, o MRAC é projetado para manter controlada a corrente média dos LEDs no valor de referência definido, o qual muda em função do controle da intensidade luminosa. Além disso, para evitar uma modulação da corrente de saída proveniente da ondulação da tensão de barramento, a qual é inevitável em sistemas monofásicos conectados a rede elétrica CA, a estrutura tradicional do MRAC é modificada para que o controle atenue a ondulação da corrente de saída. Resultados experimentais mostram o conversor LLC alimentando uma carga baseada em LEDs empregando o controle MRAC, sendo verificado um rastreamento satisfatório da referência nos seus diferentes níveis, bem como, se verifica uma reduzida ondulação de corrente de saída e um bom desempenho dinâmico do conversor em diferentes pontos de operação.

Keywords: Industry 4.0, Industrial Lighting, Industry Applications
Abstract: O objetivo deste artigo é apresentar a tecnologia de comunicação por luz visível, apresentando os possíveis direcionamentos para o desenvolvimento de soluções que englobem a sua utilização. Serão abordados conceitos teóricos quanto a tecnologia e também sua utilização para a geração de dados de posicionamento em ambientes internos. Por fim, se comenta a utilização desta tecnologia direcionada a indústria 4.0.

Keywords: Renewable Energy
Abstract: The use of photovoltaic solar energy has been growing remarkably over the last years due to environmental concerns and a decline in fossil fuel resources, increasing the participation of renewable energies. The electric energy provided by a photovoltaic module depends greatly on the amount of irradiance that reaches its photovoltaic cells. However, the efficiency of these cells can also be affected by external factors such as wind speed, ambient temperature, relative humidity, shading and dust deposition. The deposition of dust on the surface of a photovoltaic module attenuates the incident solar irradiance leading to a decrease in the generated energy. In this context, this paper provides a review of previous and current studies on the impact of dust deposition on the performance of photovoltaic systems. In addition, it investigates whether the economic losses related to this impact are considered in the economic feasibility of deploying such systems.

Keywords: Renewable Energy, Power Systems
Abstract: Brazil has its energy matrix mostly based on renewable energies from hydroelectric plants, however the water potential of Northeastern States is saturated. Thus, there is a need for their diversification by other renewable sources. Regarding this context, the State of Maranhão presents properties that are favorable to the exploration of wind and tidal power, even if at different scales. However, there are barriers such as the insufficient number of studies, a significant number of areas of environmental protection and slight government incentives for the production of renewable energy. Therefore, this study proposes the comparative evaluation of the potential of wind power generation, in relation to the potential of tidal power generation in the State coast. The evaluation was done through a bibliographical research related to the proposed subject. It has been verified that wind generation is more advanced and feasible only on the western coast of the State, where average wind speeds are between 8.0 m/s and 8.5 m/s, with energy density of wind of the order of 350 W/m². Consequently, there are wind farm projects in operation and prospected in the region. As for tidal power production, the State of Maranhão is one of the few sites with the potential for exploitation of tidal power in the world, with at least three bays with great potential for power generation, which are the bays of Turiaçu, Bacanga estuary and Ilha do Medo. Even with the environmental obstacles, studies indicate the possibility of implementation with significant reduction of impacts, giving technical-economic viability to the project. Furthermore, the energy data extracted from the tides of its coast were higher than the data obtained by wind strength, reaching a value of up to 2,260 w/m2.

Keywords: Power Electronics
Abstract: This work proposes a high power factor LED driver operating with input voltage variation from 90 to 264 V and LED dimming. Therefore, as the system's operation point is dynamic, the converter's model changes according to the input voltage and dimming level. To ensure stability and good dynamic response for all operation points, a robust state feedback is used. The feedback gains is obtained using linear matrix inequalities.

Keywords: Power Electronics
Abstract: This work presents the study of the DC-DC LC resonant converter applied to LEDs driving. An accurate mathematical modeling was used to design the elements of the LC filter. This technique is based on the analytical analysis of the converter and the use of numerical algorithms to solve the set of equations that describe the converter behavior. In addition, design abacuses are proposed in order to assist the sizing of the converter elements from the choice of the average output current. The proposed model is an alternative to the first harmonic approximation (FHA), which does not lead to accurate results when the load is an LED. The proposed methodology is compared with the FHA and the differences between both methods are highlighted. Simulation results considering a 650-V DC bus and a 100-W LED lamp were carried out. The results were compared with the conventional approach (FHA), attesting the proposed analytical modeling.

Keywords: Power Electronics, Power Quality, Power Systems
Abstract: This paper presents a balancer circuit to be used in a four wire three phase boost rectifier with split capacitor topology. The goal is to discuss the problems related to the injection of DC current on the grid when the rectifier feeds unbalanced loads. Since the converter uses four wires, it is suitable for use in UPS where the fourth wire is needed to keep fixed the neutral point. This work will analyze the converter´s behavior when unbalanced loads are applied to the DC bus and how they impact on the AC line currents. A balancer circuit will be modeled and a control strategy is applied to overcome the problem.

Keywords: Power Systems, Electrical Vehicle and Energy Storage
Abstract: This paper presents the components design and control strategy implementation of a single-phase/-stage pulsewidth modulated PFC rectifier. The selected rectifier topology is based on the known unidirectional buck/boost-type pulse-width modulated buck+boost converter. This topology with proper modulation scheme presents step-up and step-down features and is suited for on-board battery charger in plug-in electric vehicles applications. A laboratory prototype designed for rated output power of 1kW and operating with a switching frequency of 25 kHz, rms ac mains voltage 220V and output voltage of 162V is constructed and tested experimentally. At full load condition, an efficiency of 96.5% and a high power factor above 0.99 are achieved and IEC 61000–3–2 requirements are complied.

Keywords: Power Electronics, Industry Applications, Power Quality
Abstract: This paper presents an interleaved two-switch Flyback converter operating in discontinuous conduction mode (DCM) for On-line Uninterruptable Power Supply (UPS) applications, capable of providing power factor correction (PFC) to a single-phase rectifier. It has as advantages: high power factor, balanced voltage and current shared through the semiconductors, which provides higher power processing, and a simple voltage control strategy. For the closed-loop control design, all parameters of the proposed converter are referred to the transformer primary side in order to obtain an equivalent non-isolated Buck-Boost converter, whose transfer functions are already consolidated in the technical literature. To verify the operation of the proposed topology, simulation results are provided with the following specifications: mains voltage input 220 V +/- 20% and frequency of 60 Hz, 250 V output voltage and output power rated at 1 kW.

Keywords: Power Electronics, Industry Applications, Renewable Energy
Abstract: A high-gain dc-dc converter, which integrates a quadratic boost flyback converter through coupled inductors is proposed in this paper. The integration generates a converter with high-gain using only one switch. The structure allows using the energy stored in the leakage inductance of the first coupled inductor on the load. Enabling this converter can be used in renewable energy systems, small wind turbines, compressed air systems, among others. The works contributes with a detailed analysis of the topology considering the leakage and the magnetizing of the coupled inductors. To validate the study, the numerical simulations were performed, as well as the tests in an experimental platform. The results, both theoretical and experimental, are in agreement which corroborates the proposed topology and the developed analysis. Thus, the converter shows up with great potential for the industrial sector.

Keywords: Power Systems, Power Quality, Power Electronics
Abstract: The increase of renewable energy generation has caused a significant increase of current harmonics and degradation of the energy quality in distribution systems. This paper presents the study and modeling of a Shunt Active Filter(SAPF) integrated with an Energy Storage System (ESS) applied in energy quality improvement. The distribution system consists of non-linear loads, wind generation and a SAPF integrated to an ESS (batteries bank) through the DC link. The objective is to perform, at the same time, the harmonic currents filtering and the low frequency oscillating power elimination inserted by the loads-generation group. The SAPF power circuit consists of a six-pulse Voltage Source Converter (VSC) and the control implemented from the instantaneous powers measurement of the load-generation group. The batteries bank is connected to the SAPF DC link through a bidirectional DC/DC converter and its control is implemented by the grid active power measuring. In this way, the ESS control has the objective of applying load leveling to the loads and distributed generation set.

Keywords: Power Systems
Abstract: The use of telemetry applied to electric power metering systems has made it possible to analyze the phasor behavior of consumers. This analysis not only allows the detection of irregular behavior such as fraud and metering failures, but also helps to identify unexpected effects on the power supply. The register of reverse active power flow in consumers without any installed generating capacity is one such effect. When a facility presents negative active power without having any mini or micro-generation contract drawn up, it is commonly believed that some irregularity is going on. However, after the analysis of some installations with this phasor behavior, it was observed that negative active power can result from authentic passive three-phase loads, causing undue displacements and commitment of resources for the inspection of false positive occurrences of irregularity. This paper demonstrates by means of mathematical modeling of the electric power supply that, under certain circumstances, passive three-phase loads can cause reverse active power flow in one or two of its phases. The circumstances under which such behavior can be observed are described and it is demonstrated that the total active power of a passive facility must always be positive.

Keywords: Power Systems, Industry Applications
Abstract: The EMTP-ATP is a widely used program for the simulation of electromagnetic transients, however, the complexity associated with manual creation of the input file and the need for an operator intervention to model the network in the auxiliary graphics software makes it difficult to use such large-scale simulations by utilities. In this work, a system of automatic generation of ATP cards from a database containing the elements of the electrical network to be simulated was developed. The software queries a relational and structured database and formats an ".atp" extension entry file according to the fixed format of the ATP Rulebook and FORTRAN77 Standard. The results of the simulations obtained with the proposed system were compared to those obtained with ATPDraw and both are equivalent.

Keywords: Power Systems
Abstract: A transmission line (TL) design involves complex mechanical parameters that require the use of software to process the calculation. Such complexity makes teaching-learning of transmission line projects difficult. In this context, the present work aims to develop a user-friendly computational tool for educational application in the mechanical study of transmission lines. The tool was developed from Matlab software based on mathematical models of the literature. Simulations in different conditions of an uneven span of TL, including the effect of the wind and, subsequently, the wind with temperature in the TL, is presented. As result, the acting forces and graphs obtained in the tool helped to observe the behavior of the mechanical parameters in the different simulated situations. Thus, the mechanical parameters of a TL studied on theory can be obtained for different conditions with the developed tool. For more, the tool demonstrates to be a facilitator for teaching-learning due to its user-friendly interface.

Keywords: Power Systems, Power Quality, Renewable Energy
Abstract: In this work is presented a methodology that uses sensitivity analysis (SA) oriented to the problem of load flow (LF) for studies in electricity distribution systems. Unlike the LF algorithm this technique does not require an iterative process to find new solutions, resulting in a quick methodology with good accuracy of results indicated for studies requiring multiple LF solutions. The methodology starts with a solution obtained by LF, considered as a solution of the base case. From this solution, other solutions can be estimated, with low computational cost, using those when disturbances occur in the system. Tests were carried out with the distribution systems of 34, 70, 126 and 476 buses to evaluate the performance of the methodology and a study to obtain the indexes of technical losses in the system of 126 bus.

Keywords: Power Systems
Abstract: The Economic Dispatch Problem with Valve-Point Loading Effects and AC Network Constraints (EDP-VPE-AC) is defined as a nonsmooth and nonconvex optimization problem. Due to nonsmothness of cost function, the gradient-based approaches can not be used directly for solving it. In this paper, we present an alternative formulation for EDP-VPE-AC that allow us solving it by means of gradient-based approaches . We provide numerical results involving the IEEE power systems with 14 and 30 buses, which are obtained by application of a primal-dual logarithmic modified barrier function type approach.

Keywords: Electrical Machines and Drives, Automation and Process Control, Industry Applications
Abstract: This work presents a method to estimate an induction motor stator temperature using a linear regression and a noninvasive approach. The carcass temperature, motor speed and the phase current were used as inputs to the linear regression with normal equation to predict the stator temperature of the induction machine. This approach allows to predict the stator temperature in several load conditions and it can be used to estimate the stator resistance variation, being possible to estimate the load torque and the induction motor efficiency for condition monitoring purposes, with good accuracy which is close to a real situation. Some experimental results are presented for a 7.5kW squirrel cage induction motor feed by a sinusoidal supply.

Keywords: Electrical Machines and Drives, Industry Applications, Industry 4.0
Abstract: There are several methods for evaluating the loading condition of three phase induction motors (TPIMs). This evaluation allows inferring about the technical feasibility of replacing the motor in use by another one of less power, contributing to the efficient use of electric energy. The work presented in this document consisted of a comparative evaluation of the Linearization (LM) and Characteristic Curves (CCM) methods; as well as those used by the software BD Motor and MarkIV Plus. The results obtained with the application of the methods were compared with reference values, which were acquired through laboratory tests of the TPIM. In the laboratory tests, a computerized bench consisting of a TPIM and a dynamometer was used. Finally, the methods were compared to each other, leading to the conclusion that the method with the best precision is the CCM, followed by the current method used in MarkIV Plus software. However, the latter uses more accessible information than the required by the CCM.

Keywords: Electrical Machines and Drives, Power Electronics, Industry Applications
Abstract: This paper addresses a study of a low frequency modulation technique performance, applied on frequency inverters and electric drive systems of medium to high power induction motors such as in the mining and steel industries. The main goal of using this technique is to minimize maintenance in applications with reliability and accessibility concerns. This paper focuses on modulation techniques with reduced dv/dt, and harmonics mitigation in energy conversion process, mainly those of higher amplitude which give higher losses to the drives, being the 5^th and 7^th harmonics. The dv/dt reduction contributes to minimizing problems on motors windings, damaged insulation and electrostatic currents on the viscous fluid of bearings that cause motors degradation. Another concern is the need to avoid currents asymmetries that can induce pulsating torques in the machine, undesired DC voltages per phase and displacement of neutral voltage on three-phase loads, which in turn can influence common-mode current flows. The PD-PWM, POD-PWM modulation techniques and the selective harmonic elimination, SHE-PWM, are presented and evaluated, then compared through simulations and experimental results.

Keywords: Industry Applications, Electrical Machines and Drives, Automation and Process Control
Abstract: Three-phase induction motors (TIMs) play a key role in the industrial scenario. Due to their robustness and efficacy, coupled with increasingly accessible variable frequency control methods, TIMs have been used to drive many types of loads. At the same time as the increase in the use of TIM occurs, consequently, the importance of detecting fails in its operation increases as well. An analysis tool that demonstrates good results for a noninvasive diagnosis of damages in induction motors is the study of the signals from mechanical vibration in the machine. In this paper, these signals were processed in order to estimate the mechanical load present on the motor shaft and, to make it possible, low-cost piezoelectric sensors were used for transducing the mechanical vibrations into electrical signals. Besides that, for the data processing, study techniques were applied using RMS voltage and cross-correlation. Thus, it was possible to determine pattern changes of the signals in function of the imposed load and, in this way, to estimate it. It was found that, even without structural malfunctions or disturbances in the electrical network, the load attached to the shaft, on its own, changes the vibratory behavior of TIM.

Keywords: Electrical Machines and Drives, Renewable Energy, Power Electronics
Abstract: This article presents a proposal to control a DC microgrid with distributed wind energy conversion system (WECS) based on switched reluctance generator (SRG) operation in the grid connected mode. SRG is recommended to be used in applications with a wide range of speed, such as WECS. On the other hand, DC microgrids are gaining importance as an alternative for AC microgrids because DC grids are more reliable, efficient and simple to control. Since SRG generates direct current, these machines are natural candidates to operate in DC microgrids. In this paper, direct power control is applied to generate the maximum output power from a wind turbine with SRG. Proper distinction between low and high speeds of operation is presented. A bidirectional DC-DC converter is used to connect the wind turbine in the DC microgrid in order to achieve the SRG optimal excitation voltage while the DC bus is kept constant. A voltage source converter is employed to build up the DC bus from the AC grid. Energy storage system and customer loads are included in the simulation. The simulation results have shown that the proposed DC microgrid control with SRG penetration is feasible, reliable and achieve high performance in the grid connected mode, while the DC bus voltage is kept stable with the power flow working properly.

Keywords: Power Systems
Abstract: This paper presents the metaheuristic binary bat algorithm combined with the heuristic of priority list to solve the unit commitment problem and economic dispatch of generation thermoelectric systems. To evaluate the method, this paper presents simulation results with systems widely diffused in the literature and the performance will be compared with the same metaheuristic without use of priority list and with results of other methods found in literature. The results found with the proposed methodology present an improvement in the solution of the problem when compared to the method without the use of heuristics.

Keywords: Automation and Process Control, Industry 4.0, Industry Applications
Abstract: O objetivo do estudo é implementar técnicas evolutivas/iterativas de sintonia de controladores preditivos generalizado (GPC) irrestrito. Serão abordadas três técnicas de sintonia, algoritmo genético, evolução diferencial e algoritmo de enxame de partículas. Será verificado o desempenho de cada algoritmo de sintonia para 7 plantas que representam a maioria dos processos industriais, utilizadas como benchmark no ramo industrial. Será apresentado a performance (tempo de processamento e assertividade) de cada algoritmo de sintonia proposto e veremos que o algoritmo genético obteve a sintonia mais assertiva e com o menor tempo de processamento.

Keywords: Power Systems, Power Quality, Renewable Energy
Abstract: A utilização de fontes de energia próximo aos centros consumidores na forma de geração distribuída (GD) vem ganhando destaque no cenário mundial, impactando nos paradigmas de operação dos sistemas elétricos e na qualidade de energia entregue aos consumidores. Um dos problemas mais estudados e de grande impacto para os consumidores é a sobretensão. Fenômeno que pode, por exemplo, causar mau funcionamento e queima de equipamentos, causando grandes perdas de produção e matéria-prima para indústrias, e consequentemente, grandes perdas econômicas, e até mesmo gerar multas para as concessionárias de distribuição de energia elétrica. Para evitar grandes impactos na qualidade de energia, as concessionárias sempre buscam realizar estudos preliminares a instalação de uma nova GD em sua rede. Surgindo assim, um conceito importante, a capacidade de hospedagem (CH) da GD. O qual tem por objetivo determinar a potência máxima injetada pela GD que não viola os limites do sistema elétrico, e consequentemente, mantem a qualidade de energia fornecida aos consumidores. Dito isto, este trabalho aplica uma técnica metaheurística, baseada em algoritmos genéticos (AG), para a estimação da CH em sistemas de distribuição de energia elétrica, considerando como problemática principal manter os níveis de tensão dentro dos limites de sobretensão. Afim de abranger diferentes fatores presentes nas redes de distribuição que contribuem para o fenômeno de sobretensão, é usado também o método estocástico de Monte Carlo para a geração de cenários que representam os diferentes possíveis estados da rede. Assim, cada cenário é considerado na busca do AG, entregando soluções mais precisas para o dado problema.

Keywords: Power Systems, Automation and Process Control, Electrical Machines and Drives
Abstract: The power transformer is considered an essential element for continuity of the electric power supply through the power transmission and distribution networks. Its unexpected operation exit from power system produces serious consequences like social unease and great economic losses for all involved. Therefore, to keep the good state of power transformer operation is a basic premise for researchers and energy companies to search and develop methods for the incipient fault diagnosis. One mode employed for diagnose of power transformer condition is based on the qualitative and quantitative analysis of dissolved gases concentration in its insulating oil and use of classical fault classification methods that often require the participation of an expert for final verdict. The use of computational intelligence, by machine learning methods, has allowed to explore the expert absence in the power transformer incipient faults diagnosis. In this paper we discuss the classical methods of dissolved gases analysis like Duval, Doernenburg and Rogers, the IEEE C57.104:2008, IEC 60599:2007 and NBR 7274:2012 standards and the Intelligent Systems like Artificial Neural Networks and Extreme Machine Learning (Classical and Regularized) with the purpose of the power transformer fault diagnosis. Comparisons among different methods are made and presented, with highlight for Classical and Regularized Extreme Learning Machine by easy configuration, fast training and good performance.

Keywords: Renewable Energy, Power Electronics, Power Systems
Abstract: The present work aims to support the investment process in photovoltaic systems using of a Fuzzy system. Reduce the ability to make series based on the process of analysis and decision on how to make the Fuzzy the solar generator power payback investment for residential units with low voltage power (380 / 220V) in the range of average monthly consumption from 300 kWh to 1,700 kWh. Analyzing the results, it was verified the accuracy of the answers to the proposed proposal, as well as the feasibility of applying the Fuzzy strategy as a benchmark in the investment decision process in photovoltaic systems in the State of Piauí.

Keywords: Automation and Process Control
Abstract: Este trabalho apresenta uma aplicação de redes neurais artificiais para identificação de um sistema didático de tanques de nível, com característica não linear e multivariável, motivado pelo fato das redes neurais artificiais apresentarem potencialidades de identificação de sistemas deste tipo. A rede neural utilizada neste estudo foi a rede perceptron multicamadas, e a estrutura de identificação neural regressiva foi a NNARX (Neural Network Autoregressive, Exogenous Input). A implementação foi desenvolvida no software MATLAB. Para excitar o sistema utilizou-se o sinal PRBS (Pseudo Random Binary Signal). Com o sistema excitado coletou-se dados de entradas e saída afim de realizar a identificação. Os resultados obtidos foram bastantes satisfatórios, motivando futuras pesquisas em identificação e controle de sistemas baseados em neurocontroladores.

Keywords: Power Electronics, Industry Applications, Power Systems
Abstract: This paper describes step-by-step guidelines concerning the design of a flyback-based offline LED driver intended to constitute a visible light communication system. The focus is on efficiency and simplicity. Some details are presented, in regard to definition of the converter parameters, the main switch snubber design, transformer calculation and implementation, EMI filter definition, dimming technique, flicker levels and modeling. The methodology applied define the main parameters with routines and graphical analysis. A design example is presented leading to a laboratory prototype whose efficiency was around 90% with 0.997 power factor when providing power to an LED module with nominal parameters of 180 V, 63 W. The main applications are in large commercial areas and industrial, for lighting and communication services.

Keywords: Power Electronics, Power Quality, Power Systems
Abstract: The modular multilevel converters (MMCs) have shown great emphasis in academic studies of the last decades, specially applied in renewable energy systems, HVDC systems, energy storage, electrical drives and STATCOMs. In STATCOM applications, in particular, the Double Star (DS) configuration has several operating advantages, mainly related to its ability to compensate negative sequence components and unbalanced currents. Considering the advantage of these topologies in STATCOM application, it is proposed in this work a comparison of two DS topologies: Double Star Chopper-Cell (DSCC) and Double Star Bridge-Cell (DSBC). These topologies are compared in terms of steady-state operation, power losses and costs. In addition, two variations of DSBC topology are approached: DSBC-2L, which employs 2-level modulation and DSBC-3L, which employs 3-level modulation. The three MMC topologies are designed based on a 15 MVA STATCOM connected in a 13.8 kV grid. The simulation results validate the design methodology and also indicates the DSBC-3L topology as a promising solution for medium voltage STATCOMs due to its costs, protection during short circuits and smaller insulation requirements.

Keywords: Power Electronics, Renewable Energy
Abstract: The four-leg inverter is a commonly used solution to feed stand-alone loads since it provides three-phase balanced voltages even under unbalanced conditions. On the other hand, when the system requires input sources with reduced dc voltage, the Split-Source Inverter (SSI) is an interesting option to provide a inversion stage with boost capability. By combining the presented features, this paper presents a Finite Set Model Predictive Control (FS-MPC) for a four-leg SSI. Thus, a cost function composed by the input current and output voltages is minimized. Finally, simulation results are presented to explore the performance of the proposed approach under different operating conditions.

Keywords: Renewable Energy, Power Electronics, Smart Grids
Abstract: Grid-tied inverters are being widely used in distributed generation, as in photovoltaic generation. This paper presents the robust design and analysis of a control structure for three-phase grid-tied inverters based on stationary frame. The synchronization with the grid is carried out using a DMSOGI-FLL structure, which allows to estimate DC offset voltage and it increases the system robustness under grid voltage abnormalities. Furthermore, a current reference generator is detailed considering the DC-link voltage regulation and the control of active and reactive power. A proportional resonant (PR) approach with harmonic compensation (HC) is applied for the output inverter current control. Moreover, the proposed structure also includes an active damping technique with capacitor current estimation to improve the system robustness in weak or strong grids. Results under several operating conditions are presented from a numerical analysis and it demonstrate the performance of proposed control structure.

Keywords: Power Electronics
Abstract: In this paper a three-phase flyback-push-pull ZVS-PWM DC-DC converter is proposed. The converter owns the advantages of three-phase topologies with compact passive devices, low conduction power losses, higher power density and smaller filters. The converter uses a full three-phase bridge and a clamping capacitor in the transformer primary side, allowing the reuse of the energy from leakage inductances and the reduction of the eletromagnetic interference. These characteristics make this converter suitable for many applications, such as telecommunications power supply, battery chargers, and renewable power systems. A detailed analysis of the converter is provided, including theoretical waveforms, a description of the topological stages, a design example and mathematical expression for the voltage gain in continuos conduction mode of region R3. In order to validate the theoretical analysis was presented a design example and the simulation results for an output power of 1000 W with an input voltage of 50 V, an output voltage of 400 V and a switching frequency of 40 kHz.

Keywords: Power Electronics, Power Systems, Power Quality
Abstract: This paper proposes an indirect AC-AC converter with Power Factor Correction (PFC) and high frequency isolation. The proposed topology is based on the Dual Active Bridge (DAB) converter in the three state switching cell. The proposed converter has a high power factor, low Total Harmonic Distortion (THD), fast dynamic response and power flow control between the rectifier and the inverter stage. The power flow control is performed through the phase-shit technique. The design of the controllers used by the converter and experimental results are presented

Keywords: Industry Applications, Electrical Machines and Drives, Power Electronics
Abstract: Este trabalho apresenta um estudo de modernização de uma planta de transporte de minério de ferro na área portuária de uma empresa de mineração. Atualmente o acionamento dos motores das correias transportadoras, responsáveis pelo carregamento dos navios atracados em seu porto, não possuem controle de velocidade e torque. Como resultado, o manejo da carga na área portuária dessa indústria apresenta uma reduzida eficiência e elevado número de atuações de manutenção em suas partes mecânicas. Este artigo tem como proposta efetuar o acionamento dos motores das esteiras transportadoras utilizando conversores multiníveis cascata em ponte completa – Cascaded H-Bridge Converter – CHB, sob estratégia de chaveamento PSPWM – Phase Shift Pulse Width Modulation, com a implementação de controle vetorial para obter controle de velocidade e torque satisfatórios de acordo com o padrão de carregamento vigente. O acionamento por controle vetorial conseguiu reduzir a velocidade da máquina quando a vazio, além de reduzir drasticamente a corrente de partida, limitando-a a 0.12 de pico. O controle vetorial ainda proporcionou de maneira global, em sua operação de trabalho, 9.81% de economia de energia elétrica.

Keywords: Industry Applications, Automation and Process Control
Abstract: The presence of oscillations in control loops results in loss of energy, greater variability of the product and reduction of profitability. The detection of oscillations in industrial processes can quickly mitigate their harmful effects to the process. The detection of oscillation in offshore oil platforms is a challenge due to the presence of high amplitude non-oscillatory perturbations, causing distortions in the spectrum using methods available in the literature. In this work several techniques are introduced to increase the repeatability of the results and quantify the impact of the oscillations. Pre-treatment is done via data segmentation to reduce the distortion in the spectra. Detection is repeated and oscillations with similar period are clustered. The spectral envelope is computed for visual validation of the results. Finally, the impact of the oscillations is measured and allowing priorization for troubleshooting. The methodology is suitable for multiple signals and was implemented in an industrial asset management platform. The application to the data of a stationary unit for oil and gas production, with signals greatly affected by disturbances, illustrates the gains resulting from the proposed methodology.

Keywords: Industry Applications, Robotics and Mechatronics, Automation and Process Control
Abstract: Grinding is a finish manufacturing process for high precision parts. As the part has high value added at this stage, anomalies and defects are unacceptable. Self-excited vibration or just chatter is an undesirable and complex phenomenon that occurs in grinding, as it may impair the performance of ground parts due to the negative effects such as poor surface quality, intolerable inaccuracy, disproportionate tool wear, among others. This work goal is to present a method for chatter detection in surface grinding of SAE 1045 steel with aluminum oxide grinding wheel by using acceleration signals and digital signal processing techniques. Experimental tests were conducted in a surface grinding machine where a data acquisition system allowed for acquiring the acceleration signals at 2 MHz. The surfaces of the workpieces were visually inspected by means of high resolution images. The harmonic content of the signals along the grinding period was investigated by using the short-time Fourier transform with the purpose of relating the chatter occurrence to it. The results show that the frequency magnitudes of the signals change in time and frequency domain with specific patterns in the spectrogram as the chatter takes place, and they are related to the grinding wheel rotation and its harmonics.

Keywords: Industry 4.0, Industry Applications, Automation and Process Control
Abstract: In this paper , a comparative study was made between the techniques proposed by Almeida & Coelho (2002) and Moonyong Lee, Kihong Lee, Changgeun Kim & Jietae Lee (2004) to achieve the multivariable decentralized proportional- integral-derivative (PID) control of a two-input two-output (TITO) system. In adition some aspects of the loop interaction proposed by Pereira, Veronesi, Visoli, Normey-Rico & Torrico (2016) are revived. Both techniques were evaluated at a coupled tank system. A process model has been obtained, the PID controllers have been designed according to the proposed approaches, the control systems were simulated and applied to the coupled tanks system. The results were presented for both cases, a comparison was made between the effectiveness of each technique.

Keywords: Smart Grids, Power Systems, Renewable Energy
Abstract: Reducing losses in distribution systems is one of the main goals of Volt/Var control that have been focused by researchers in decades. Despite the financial benefits, this approach can lead to poor robustness of the system operation if the objective is just achieving minimal losses. In order to ensure power quality supply, even for unforeseen scenario changes, and to reduce power losses, this paper proposes a multi-objective formulation for the Volt/Var control. A robustness index is proposed and considered as one of the objective functions. Trade-off solutions, between loss reduction and robustness gain, are searched by a multi-objective particle swarm optimization (MOPSO) algorithm. Tests, carried out in the IEEE 123-bus feeder, showed that the method enhances the robustness of system operation, upholding power quality for scenario changes — variations in loading and distribution generation — and, nevertheless, preserving near-optimal loss minimization. The results encourage on-line applications in the smart grid context.

Keywords: Industry Applications, Smart Grids
Abstract: New substations are being constructed by using the IEC61850 standard concept. In this environment Ethernet communication requires IEC 61850-based Ethernet switches. These devices became a critical point of the hole system. Provide reliability for the products manufactured is imperative to keep the reliability of the substation protection system. This paper describes the use of an automatic test set to enhance the quality assurance process during the production of IEC 61850 Ethernet switches manufactured in the GE/Reason facilities. This project was developed by IFSC (Federal Institute of Santa Catarina) in a partnership with GE/Reason.

Keywords: Industry Applications, Automation and Process Control
Abstract: Industries have many processes that need to be controlled. Many of these controls are made using conventional controllers, however these are not able to work with uncertain or ambiguous variables. A solution to this type of process is to use fuzzy controllers. This way, this paper presents the development of a generic fuzzy library embedded in the PLC using Automation Studio software. It also shows the use to do the control of a didactic level plant and the response considering the controlled level by the library and power available for pump. Finally, for the validation of the project a fuzzy control system using arduino and Scilab mathematical software is presented and the answers of the both are compared

Keywords: Automation and Process Control
Abstract: This work presents a performance comparison investigation among six versions of the Particle Swarm Optimization algorithm to determine the parameters of the non- linear GAPID (Gaussian Adaptive Proportional, Integral and Derivative) controller, elaborated to control a step-down DC-DC converter. This task comprises eight free coefficients and there is no analytic solution to solve it. Also, the design of the controller is hard to determine due to the existence of several near-optimal solutions with different values for the parameters, which defines this problem as multimodal. In this sense, different optimization strategies can lead to different solutions.

Keywords: Industry Applications, Industry 4.0, Automation and Process Control
Abstract: Industrial communication protocols are a key factor on Industry 4.0. The big amount of data, the ability to prevent failures and deal with them in a friendly interface is priceless. But most of players of a protocol chain are not well prepared for system installation, commissioning and diagnose failures in time. Since the network scenario in industrial application has been stratified (by different technologies and by successive installations), lack of knowledge at lower levels could cause a big impact on the performance of Industry 4.0 services. In this context, this paper aims to present an online survey with 173 people which was carried out to investigate the experience of different industrial market segments dealing (at field level) with PROFIBUS protocol technology in Brazil. The analysis clearly shows the need for training and more information for the whole chain. In this paper, some methods are proposed to turn this easier: such as the partnership between companies and universities through donations or loans of tools, among others.

Keywords: Industry 4.0, Industry Applications
Abstract: Predictive maintenance performs an important role to ensure a continuous working industrial environment. The periodic monitoring of equipment may be done trough a thermographic analysis, who has the features of a non-invasive execution and can be applied over functioning machinery. In this article, the temperature sensor MLX90621 is used along with the microcontroller STM32F401RE and a Bluetooth module HC-06, to assemble the TemperoT platform for thermographic inspection, which also has a cross-platform app developed with the Xamarin.Forms API (Application Programming Interface), integrating the legacy protocol Modbus with the most recent one, MQTT (Message Queuing Telemetry Transport).

Keywords: Power Electronics, Automation and Process Control, Power Quality
Abstract: The major goal of this paper is to present a very simple, intuitive and powerful tool: the D-transform between converters. This new methodology aims to find a control equation of any pre-defined control law from one converter to another power converter. The idea behind is to take maximum advantage of the robustness offered by the originator nonlinear control law. Although there is the possibility of more than one conversion, some candidates show excellent performance in terms of settling time, transient overshoot, rejection of disturbance and steadysate regulation. The stability proof is given individually for each generated equation. The validation of the new D-controllers is done through Hardware In the Loop (HIL) simulations. A very low overshoot under input and load perturbation is obtained for the buck-boot example.

Keywords: Power Systems, Smart Grids, Industry Applications
Abstract: This paper presents the application of Self Healing feature in automatic reconfiguration process of a power system inserted in a real industrial plant. Supporting the automation process, an optimization algorithm, Power Summation Reconfiguration Algorithm (PSRA), is used whose objective function is minimizing the amount of switching during automatic reconfiguration process. The electrical network was modeled in the Real Time Digital Simulator (RTDS) using the PSRA to implement the Self Healing technique. Intelligent Electronic Devices (IEDs) were used to protect and control the system. Two different network communications were used between RTDS and IEDs, one with digital signal and another with GOOSE messages based on the IEC 61850 standard. The time data obtained with the two network communication are compared to show the effectiveness of Self Healing technique in an electrical automation system using communication based on IEC 61850.

Keywords: Renewable Energy, Power Systems, Power Electronics
Abstract: In areas with access to the power distribution system, Photovoltaic Generators introduced to the electrical network appear as the viable economic and socio-environmental option for the generation of electrical energy. In contrast, this new scenario arises bringing impacts and new challenges to the distribution system. For example, violation of voltage levels at the connection points that can occur by the injection of active power. The main objective of this work is to analyze an electrical system with photovoltaic solar generator, and transient states. It is achieved an steady-state through simulations with the Newton-Raphson and Power Summation methods implemented in Matlab, for transient state, circuit simulations in PowerSim. In order to study the effects of the addition of a photovoltaic generator in the energy distribution system, data from a real network was used for better applicability of the results. Part of the IEEE 30-bus system was selected with some adjustments: use of the first 6 buses, generator connection on bus 5, exclusion of interconnection between buses 2 and 4. The results show that addition of photovoltaic generators can be an important part of a solution to the problem of voltage drop at the of the distribution network.

Keywords: Renewable Energy, Power Quality, Power Electronics
Abstract: The main purpose of this paper is to present the combination of the renewable energy generation and power conditioners benefits in microgeneration systems. This is done through a Voltage Source Converter (VSC) used to maximize the efficiency of a photovoltaic (PV) solar array and, at the same time, filtering the harmonic currents of non-linear loads present in consumer units equipped with distributed microgeneration. In this way the VSC is used to implement the Maximum Power Point Tracking (MPPT) algorithm and act as a Shunt Active Filter (SAF), forming a so-called PV-SAF system. The proposed PV-SAF system uses a three-phase single-stage topology and can track the maximum power point (MPP) even in partial shading condition (PSC). The simulation results validate the control strategy that is capable of performing the reactive power compensation, current harmonics filtering and active power management produced by a PV array. The main strategy of the proposed system is to maximize the operating range of the DC bus voltage to perform current harmonic filtering and enable maximum power tracking satisfactorily using the p-v curve over a wide operating range. The PSIM software is used to perform the simulations of the proposed PV-SAF system.

Keywords: Automation and Process Control, Power Systems, Renewable Energy
Abstract: Grid-connected inverters are largely used in power electronics applications. The inverter is connected to the grid using a power filter stage to remove the PWM harmonics of the currents injected into the grid. The most used filter topology is the LCL filter, however it must be used with an appropriate controller to avoid stability problems. One possibility is to use a state feedback, such as the LQR, to control the system. However, this implies that all states of the system must be measured, which increases implementation costs. Another option is to use output feedback, which uses a state observer to estimate the states and then apply the state-feedback. The current approach for the proposed problem is to use an observer and also estimate the first harmonic disturbance. In this work, we propose a Kalman observer with multiple resonants to estimate different harmonic disturbances. The results show that this approach can lead to better results if compared to the current approach of the literature. This comparison is made considering two scenarios, with and without measurement noise, and also considering the case where the disturbance is measured. This conclusion is drawn based on timeplots of the closed-loop system response and from appropriate performance indexes.

Keywords: Power Systems, Power Quality
Abstract: This paper is based on the analysis of the main waveforms of voltage of some disturbances related to electrical energy and found in Piauí, this being done from the use of techniques of digital signal processing such as Wavelet Transform and Analysis of Independent Component with the purpose of detecting some disturbances present in the real distribuition feeder of the state of Piauí, Brazil.

Keywords: Power Systems, Power Quality, Artificial Intelligence
Abstract: Os componentes harmônicos de tensão e corrente surgem na rede principalmente em decorrência da utilização de equipamentos não lineares. Seus efeitos danosos são conhecidos e sua mitigação para níveis aceitáveis contribui para o aumento da confiabilidade da rede elétrica. Nesse contexto, os filtros ativos de potência paralelos (FAPP) apresentam bom desempenho operacional para compensar os harmônicos presentes na rede. Entretanto, a sintonia dos parâmetros dos controladores desses dispositivos ainda é um desafio para os projetistas. Com o surgimento de controladores harmônico-seletivos, essa dificuldade aumentou, devido ao aumento do número de parâmetros. Neste trabalho, um algoritmo Artificial Bee Colony(ABC) é utilizado para a obtenção dos parâmetros ótimos de um controlador P-SSI sintonizado para os harmônicos de 5ª, 7ª, 11ª e 13ª ordem. Os parâmetros ótimos são então utilizados pelo FAPP em uma estratégia de gain scheduling, onde os parâmetros dos controladores são alterados de acordo com o THD da carga. Os resultados mostraram que o FAPP utilizando gain scheduling reduziu os harmônicos das cargas em até 95%, apresentando valores abaixo de 5% para 3 das 4 cargas utilizadas. . Entretanto, a estratégia de prevenção contra sobremodulação não foi efetiva, já que o sinal do modulador PWM apresentou valores superiores ao esperado. Entretanto, mesmo utilizando uma estratégia de prevenção contra sobremodulação, o sinal do modulador PWM apresentou nível de sobremodulação superior à esperada.

Keywords: Power Quality, Power Electronics, Renewable Energy
Abstract: O trabalho proposto neste artigo consiste na implementação de um gerador síncrono virtual (VSG, do inglês Virtual Synchronous Generator) com compensação de correntes harmônicas em um inversor de três pernas. O controlador do VSG determina a corrente de referência na frequência fundamental, que contribui para a estabilidade do sistema, e o circuito de detecção das correntes harmônicas determina a corrente de compensação de referência nas frequências harmônicas. A corrente de referência final é obtida com a soma das correntes de referência do controlador do VSG e do circuito de detecção das correntes harmônicas. Resultados de simulação são apresentados de forma a validar a estratégia de controle proposta.

Keywords: Power Electronics, Renewable Energy
Abstract: Frente aos avanços caracterizados pelo impulsionamento da utilização de sistemas fotovoltaicos como geradores de energia elétrica, novas topologias são propostas de maneira a otimizar a eficiência destes sistemas. Este artigo propõe a utilização de um indutor variável substituindo o projeto magnético usual do indutor de um conversor CC-CC meia-ponte LLC ressonante aplicado como rastreador do ponto de máxima potência de um sistema fotovoltaico. Têm-se por objetivo modificar a variável de controle, que para os casos usuais deste conversor, é obtida através da variação de frequência de comutação. São abordados os aspectos teóricos a respeito do conversor utilizado, bem como suas etapas de projeto. Além disso, é apresentado o projeto do indutor variável, empregado para permitir o controle do conversor através desta variação de indutância, mantendo a frequência de comutação constante. Resultados experimentais demonstram o funcionamento do LLC no estágio de MPPT através do controle da indutância série do filtro. Além disso, o desempenho do conversor empregando o indutor variável é comparado com o desempenho do mesmo utilizando a técnica usual. Conclui-se que para altas irradiâncias a metodologia proposta mostra-se vantajosa com relação ao rendimento do sistema.

Keywords: Power Electronics, Electrical Machines and Drives
Abstract: Esse artigo descreve a construção e a implementação de um conversor forward a duas chaves sem filtro de saída em uma aplicação como fonte de corrente DC em um motor de indução para o desenvolvimento de um freio eletromagnético em um dinamômetro. O presente artigo detalha os passos no desenvolvimento do conversor, do acionamento dos interruptores, do controle, dentre outros componentes. O conversor forward discutido nesse trabalho tem uma potência de saída de 1000 watts e entrega até 20 amperes de saída para a carga indutiva. O conversor possui um um compensador digital implementado na plataforma Arduino para realizar o controle da corrente e evitar ondulações e distúrbios no torque quando a carga indutiva trabalhar como um freio eletromagnético. O conversor apresentado foi idealizado com o objetivo de possuir um baixo custo de construção e implementação através da retirada do filtro de saída do conversor forward tradicional e também através da implementação do controle na plataforma de desenvolvimento Arduino.

Keywords: Power Electronics
Abstract: Este artigo apresenta um estudo sistematizado do conversor D operando no modo de condução contínua, em regime permanente, incluindo análises qualitativa e quantitativa, resultando em uma metodologia de dimensionamento. Apesar de não se tratar de uma nova topologia, recentemente este conversor foi reintroduzido, devido a sua capacidade de aumentar a eficiência energética em sistemas fotovoltaicos. Ensaios realizados em um protótipo de laboratório validaram o presente estudo.

Keywords: Power Electronics
Abstract: This paper presents comparative analysis among digital current controllers for single-phase grid connected photovoltaic inverters with L-filter. The considered controllers are proportional and integral (PI), proportional and integral plus resonant (PI+Res), deadbeat control (DBC) and model predictive control (MPC). The parameters considered for the presented analysis are the grid current total harmonic distortion (THD), phase and amplitude error in steady state and dynamic responses during reference step change. Simulations were prepared through Matlab/Simulink® software to guide novel designs.

Keywords: Renewable Energy, Industry Applications
Abstract: The accumulation of impurities on the surface of photovoltaic (PV) panels reduces the generation of energy and the useful life of PV panels. Therefore, the PV panels must be cleaned periodically. Thus, an automated PV panel cleaning system has been proposed. The system performs cleaning by directing the sprayed water jets vertically and horizontally to the surface of the panel. Due to the mobility of the sprayed water, the system saves water during cleaning in relation to the use of systems with nozzles with fixed jets. As a result, after successive tests, cleaning has improved the power generation of the dirty PV panel by up to 22%.

Keywords: Automation and Process Control, Industry Applications
Abstract: Este trabalho visa a avaliar o desempenho em medição de vazão instantânea e totalizada em tubulações de pequenos diâmetros, em instalação vertical, reta e de trecho curto, realizada por um sensor de roda de água por Efeito Hall. Existem poucas opções tecnológicas para medição nestas condições, sendo, particularmente, o uso desse sensor ainda pouco explorado. Para condições de testes, foi desenvolvida uma planta experimental que executa também a medição de nível em tanque por sensor de pressão hidrostática. Após testes, os resultados do desempenho dos sensores foram apresentados, bem como avaliadas as suas características de linearidade, histerese e faixa de medição. O comportamento identificado por esse sensor permite motivar futuros desenvolvimentos de novos protótipos de análise de consumo de água. Utilizou-se um microcontrolador PIC16F877A para tratar os sinais dos sensores, em substituição a controladores e indicadores industriais tradicionais. O sistema embarcado estabelece a infraestrutura para permitir a montagem de sistemas mais complexos de monitoramento e aquisição de dados e, também, o fechamento de malhas de controle.

Keywords: Industry Applications, Power Systems, Automation and Process Control
Abstract: This work has been done by the need for further studies in excitation systems for synchronous compensators of electrical substations at Vila do Conde and Marabá (North of Brazil). The main objective was to develop an accurate simulator of the dynamic regarding the automatic voltage regulation at such network subsystem as a support tool allowing for engineers perform the study of stability and maintenance of the electricity transmission system. Such a study is of paramount importance to assure safe operation, complying with the current regulatory standards which, in order to assure service continuity, do not allow for long duration machine stops for scheduled maintenance. Thus, this paper presents the development of a simulator of the dynamics of a synchronous compensator and their respective excitation system and associated loop controls. The simulation results shown a good functioning of the simulator, so enabling further study of the system presented in this paper.

Keywords: Electrical Machines and Drives, Industry Applications
Abstract: Induction motors are versatile, affordable and highly efficient machines, which makes them the principal source of electromechanical power in industrial application. However, induction motors eventually undergo failures, mostly due to insulation between turns or coils of stator windings, which are the structure with the highest incidence of electrical faults. In this work, it is presented an asymmetric mathematical model of induction motor that characterizes the electrical behavior of machine under stator winding fault. The model, derived from the symmetric one, was implemented on MATLAB/Simulink® virtual environment and the simulation results are compared to experimental tests, which were carried out on a motor previously modified for non-destructive trials. Additionally, the absolute and RMS values of stator currents from simulation and from experimental tests was analyzed, and results show the proposed model validation.

Keywords: Power Quality, Electrical Machines and Drives, Power Systems
Abstract: Instalações em ambientes hospitalares necessitam de alta qualidade de energia, uma vez que há a presença de várias cargas com perfil não-linear e que requerem uma boa estabilidade de operação. Entretanto, os problemas relacionados a qualidade de energia dependem basicamente das limitações impostas pelo sistema em estudo. Esse trabalho apresenta um estudo de caso de parte de uma instalação hospitalar composta das seguintes cargas: ressonância magnética, tomógrafo e raio-X, visando a análise da qualidade de energia no ponto de acoplamento comum (PAC) entre a instalação e a rede elétrica. Os resultados obtidos mostraram que os principais problemas encontrados estão relacionados com o nível da distorção harmônica (THD) da corrente e da tensão no PAC. Este estudo propõe uma avaliação da utilização de diferentes valores de potência de transformadores, com o objetivo de atender aos procedimentos de distribuição especificados pela ANEEL (Agência Nacional de Energia Elétrica).

Keywords: Electrical Machines and Drives, Industry Applications, Automation and Process Control
Abstract: Este artigo apresenta a implementação de um controle de posição de um Motor de Indução Trifásico (MIT) com o acionamento via inversor de frequência, utilizando para isto do controle vetorial. O controle de posição é realizado na plataforma Arduino, através de um controlador Proporcional-Integral (PI), sendo o valor de posição de referência preestabelecido, comparado com o posicionamento real do eixo do motor através da contagem de pulsos do encoder incremental. A referência de velocidade da saída do Arduino é enviada ao inversor através de pulsos com larguras variáveis (em inglês, - Pulse Width Modulation). O sistema possibilita o controle de posição em ambos os sentidos de rotação do motor, horário e anti-horário. Os resultados experimentais validaram o controle proposto e evidenciaram que o sistema desenvolvido mostrou-se bastante promissor, no sentido de empregar dispositivos e interface simples de funcionamento, como plataforma Arduino e malhas de controle simples, com controladores do tipo PI. Os resultados de controle de posição, foram validados a partir do teste de diferentes referências de posição, analisando-se o período inicial, sobressinal máximo e posição de regime permanente, resultando em uma resposta considerável para a posição do MIT.

Keywords: Renewable Energy
Abstract: In order for PV systems to become competitive it is necessary that they present the greatest possible use of the solar resource, so the main measures to be taken are related to the improvement of the modules and the use of techniques to better position the panels. The present work has the objective of developing a single axis solar tracker for the positioning of photovoltaic panels, in order to analyze the system 's functionality. To achieve this goal, a microcontroller will be used to calculate the solar trajectory and to control a stepper motor for the positioning of the panel structure at the point of maximum solar incidence. The follower is based on the alignment of the panel plane and the solar rays, from the model of calculation of solar positioning by terrestrial geometry.

Keywords: Power Systems, Electrical Machines and Drives, Power Electronics
Abstract: Este artigo trata da capacidade LVRT (low voltage ride through) de sistemas de geração distribuída baseados em microturbinas a gás. A baixa capacidade LVRT é verificada pela avaliação do tempo crítico para a tensão no elo CC atingir um limite de sobretensão durante falta. Como solução para este problema, é proposta uma estratégia de controle visando a ampliação da capacidade LVRT do sistema, a qual atua sobre a malha de controle de velocidade do gerador síncrono durante afundamentos momentâneos de tensão na rede. A solução permite a operação contínua sob condições de afundamento de tensão na rede, sem envolver dissipação de energia no elo CC. Resultados de simulação são apresentados para um sistema de geração de 30kW, mostrando dinâmica adequada e efetividade em proporcionar capacidade LVRT ao sistema em todos os casos testados, evitando a sobretensão no elo CC.

Keywords: Electrical Machines and Drives
Abstract: Este trabalho apresenta uma revisão minuciosa de diferentes metodologias propostas na literatura para a determinação dos parâmetros de máquinas elétricas, especificamente aqueles voltados à sua representação em altas frequências. A partir dos dados de projeto de um motor de indução, tais parâmetros são determinados pelo método dos elementos finitos, acompanhados de uma discussão acerca das aproximações comumente adotadas quando da utilização deste método. Para tal, é realizado um estudo de sensibilidade, onde são avaliados os efeitos de diferentes configurações para a geometria, variações nos parâmetros eletromagnéticos dos materiais e simplificações empregadas nos problemas resolvidos pelo método dos elementos finitos com objetivo de reduzir o tempo de processamento. Por fim, os valores obtidos numericamente são comparados com soluções analíticas e, então, discutidas as vantagens e limitações inerentes ao uso do método dos elementos finitos para a determinação dos parâmetros de máquinas elétricas adotados em estudos que abrangem uma ampla faixa de frequência.

Keywords: Electrical Machines and Drives
Abstract: Este trabalho apresenta uma discussão detalhada sobre a utilização de blindagens eletrostáticas para a redução de correntes de alta frequência nos rolamentos das máquinas de indução. Nesse contexto, duas configurações de blindagens são analisadas: a primeira visa minimizar as correntes de descarga, enquanto a segunda promove uma redução das correntes circulantes. São discutidos os princípios físicos e os mecanismos de ação de cada uma dessas soluções e, além disso, empregando-se simulações baseadas em Análise de Elementos Finitos, é implementado um modelo 3D de um motor de indução para se verificar a eficácia dessas blindagens.

Keywords: Automation and Process Control, Power Systems, Industry Applications
Abstract: Resumo — Este trabalho discute a adoção de redes de comunicação que podem ser adotadas em instituições públicas com múltiplas unidades de consumo e medição centralizada, como requisito básico para melhoria da eficiência energética. Conclui pela adoção de uma rede de comunicação usando rede óptica passiva gigabit - GPON e se estende para uma aplicação dessa forma de comunicação para o campus universitário central da Universidade Federal do Rio Grande do Norte – UFRN, com a disponibilização de um projeto de modernização detalhado da rede e dos equipamentos de medição. Usou-se para isso os conceitos de redes inteligentes (smart grids) e de medição inteligente (smart meters). A implementação de um projeto dessa natureza, permitirá também a implementação de um Centro de Operação Integrada - COI, o caminho a ser seguido para a introdução da tecnologia de internet da coisas (IoT). Apresenta-se o roteiro utilizado para a viabilização do projeto, usando-se o campus mencionado como exemplo, inclusive com um orçamento preliminar dos custos para implantação. Mostra-se quão valiosa pode ser essa ferramenta de gestão, que permitirá o acesso às informações em tempo real, e possibilitará o controle, a gestão, a setorização do consumo de energia elétrica, o rateio de custos, além da análise de demanda e da qualidade de energia por edificação. Assim, facilitar-se-á sobremaneira o processo de implementação de eficiência energética e a consequente redução nas despesas de energia elétrica do campus central.

Keywords: Smart Grids, Power Electronics, Renewable Energy
Abstract: Este artigo explora o problema de regulação de tensão em uma microrrede com controle primário via droop control method convencional. Uma contextualização em torno do estado da arte é realizada, abordando trabalhos que visam a restauração dos níveis de tensão e da frequência após variações de carga e melhoria da distribuição de potência entre as unidades mediante alterações no controle primário ou uso de controle secundário com comunicação. É apresentada uma estratégia de controle secundário totalmente distribuído, de simples implementação e com apenas um parâmetro de sintonia, para a regulação da tensão de uma microrrede em termos de amplitude média. Através de simulação, o comportamento do controle é analisado em diversas situações, como por exemplo: rede de dados com atraso, uso de impedâncias virtuais, linhas com impedâncias distintas e topologia de comunicação completa versus esparsa, retornando as tensões a níveis adequados sem prejuízo na distribuição de potência reativa.

Keywords: Automation and Process Control, Industry Applications
Abstract: A method for auto-tuning of PID controllers for integrating and unstable processes based on closed-loop identification is presented. The parameter estimation of a new model, performed after set-point step changes or step load disturbances, is formulated. A performance assessment is devised and performance indexes are defined. Simulation results with the addition of model uncertainties are presented and the strategy effectiveness is analyzed.

Keywords: Automation and Process Control, Industry Applications, Robotics and Mechatronics
Abstract: Considering hydrodynamic interaction effects on thrust allocation leads to better performance of the Dynamic Positioning (DP) system, both in controllability and in power consumption.

Keywords: Electrical Vehicle and Energy Storage, Renewable Energy
Abstract: In recent years, electric vehicles have been reaching a bigger relevance in the market. One way of recharging these vehicles without human interference and wires is the Inductive Power Transfer (IPT), which uses transformers to transfer power from the primary to the secondary with an air gap between them. One of the biggest technological challenges associated with electric cars is batteries, which present limitations, in small scale, related to the autonomy and the time of charging. Due to that and in attempt of enhance the energy transfer, a method is presented to monitor and maximize loading efficiency, including simulations and analysis of experimental data.

Keywords: Renewable Energy, Power Quality, Power Electronics
Abstract: O artigo propõe o estudo de um sistema de filtragem ativa mais armazenamento de energia conectado no link CC do Filtro Ativo de Potência (FAP), com finalidade de mitigar harmônicos de corrente advindos da crescente utilização de cargas não lineares e minorar as variações de potência sofridas pela rede elétrica decorrentes da intermitência da geração eólica. O filtro ativo corresponde a um Conversor Fonte de Tensão (CFT) comandado através da teoria da potência instantânea e controle dq, o sistema de armazenamento é composto por baterias e controlado por intermédio de um conversor CC/CC boost bidirecional em corrente. Os resultados foram obtidos através do software PSIM®/Matlab e são apresentados nesse trabalho, observa-se que quando a geração eólica inicia a potência da rede que é fornecida a carga é mantida constante e não sofre a ação da característica estocástica do vento, validando a proposta apresentada.

Keywords: Robotics and Mechatronics, Automation and Process Control
Abstract: Este trabalho apresenta a aplicação de controle robusto em dois manipuladores robóticos cooperativos usando a técnica de controle com modos deslizantes. O sistema robótico consiste em dois manipuladores robóticos, com dois graus de liberdade e juntas rotacionais, que transportam uma carga cooperativamente. Em comparação com um manipulador robótico individual, este sistema apresenta vantagens no transporte de cargas maiores e mais pesadas, movimentos mais complexos e apresenta maior variedade de aplicações. O principal objetivo do trabalho é controlar o sistema utilizando uma das técnicas de controle robusto, denominada controle com modos deslizantes. Esta técnica é tipicamente aplicada em sistemas que apresentam incertezas no modelo dinâmico, mudanças nos parâmetros nominais, distúrbios ou ruídos. Para verificar o desempenho e a robustez do sistema, foram obtidos resultados simulados com Matlab. Analisando os resultados simulados, pode-se observar que o sistema segue uma trajetória de referência com bom desempenho dinâmico, erro pequeno e apresenta robustez quando a técnica de controle com modos deslizantes é aplicada.

Keywords: Automation and Process Control, Robotics and Mechatronics
Abstract: In target tracking problems, it is important to know the dynamics of moving objects in the plane or space. These can be defined using differential geometry theory. One of the most important techniques to describe trajectories using differential geometry is the Frenet-Serret formulas, that give information about the kinematic properties of moving objects. However, in practice, the position measurements captured by sensors are commonly noisy. Thus, the objective of this paper is to present a trajectory simulator of a punctual object that generates noisy position measurements based on Frenet-Serret formulas and stochastic models. Some scenarios are presented at the end showing some results provided by the proposed trajectory simulator.

Keywords: Renewable Energy, Robotics and Mechatronics, Electrical Vehicle and Energy Storage
Abstract: In order to optimize the energy provided by a solar panel, methods to track the position of the sun and keep the panel perpendicular to its direction, are used. Two of the possible ways to obtain the position of the sun are using LDRs (Light Depending Resistors) and through earth-sun geometry equations, which require the current position and time. In this paper, a solar panel is attached to a servomotor on a mobile robot, and a LDR matrix and a GPS device are used to obtain the position of the sun. With these data, the robot corrects the position of the panel to obtain the maximum energy possible. A statistical analysis of the data has shown that earth-sun geometry equations are a more exact and precise approach to obtain the position of the sun. However, in applications in the field of mobile robotics, the earth-sun geometry depends on a GPS device, and depending on the status of the sattelites, and other various causes, the GPS may have trouble to get a fix, and although this approach has shown to be more precise, it is subject to proper operation of the GPS system.

Keywords: Power Systems, Smart Grids, Renewable Energy
Abstract: Technical planning methodologies applied to electrical distribution networks generally consider that distribution network operators (DNOs) have no control over the active power dispatched by distributed generation units (DGs), and there is no injection of reactive power into the electrical distribution network from DGs. In this way, a methodology to improve electrical distribution network performance exploring DGs reactive power dispatch capability was presented in a previous work. In such methodology, based on sensitivity matrices, electrical distribution networks are divided in clusters and each cluster receives a DG setpoint, defined without online communications between DGs and DNOs (defined as Pre-Smart Grid Environment). However, some improvements can be implemented in the previous proposed methodology. Therefore, this paper proposes to explore new dimensions of the technical planning process with DGs in a Pre-Smart Grid Environment, previously not addressed in the literature: the determination of an ideal value for reactive power variation, in the sensitivity matrices construction; the influence of the feeder's load in the sensitivity matrices/indexes construction; the adoption of a non-uniform DGs spatial distribution and the adoption of non-constant load profiles. This paper proves that sensitivity matrices are stable even under more severe conditions.

Keywords: Smart Grids, Industry Applications
Abstract: O planejamento de redes óticas passivas PON (Passive Optical Network) em áreas metropolitanas é sempre trabalhosa e dispendiosa. É com o intuito de reduzir tempo e custo da elaboração desses projetos que, propõe-se neste artigo uma metodologia baseada na meta-heurística Algoritmo Genético (AG) para planejar redes PON usando a infraestrutura da rede de distribuição de energia elétrica compartilhada, que considera a localização dos postes de distribuição de energia, a atenuação das fibras ópticas, as atenuações nos divisores ópticos (splitters) e a distância entre o terminal óptico OLT (Optical Line Terminal) e as unidades de rede ONUs (Optical Network Units). O AG modificado aqui proposto otimizou a alocação de splitters de forma a atender 256 clientes em uma região metropolitana com o custo de 388.831,25 unidades monetárias.

Keywords: Power Systems, Renewable Energy
Abstract: In this paper, an application of Cuckoo-GRN is presented. The benefits of Genetic Algorithm are bonded into the Cuckoo Search algorithm by handling the abandoned nests from Cuckoo Search more efficiently by genetically replacing them. Optimization performance is statistically improved by establishing optimal balance between diversification and intensification. Cuckoo-GRN is used for the optimal location, size and power factor operation of distributed generation units in a distribution system. The objective of optimization is loss minimization. The method is tested in the 119-bus distribution system and simulation results show that Cuckoo-GRN can lead to a substantial performance improvement over the original Cuckoo Search algorithm, regarding not only the convergence but also the solution accuracy.

Keywords: Power Quality, Industry Applications, Power Electronics
Abstract: Assegurar a qualidade da energia elétrica é garantir a comodidade e o desenvolvimento econômico de toda a sociedade. Para isso, é necessário evitar que problemas na tensão ou frequência do sistema de alimentação venham a prejudicar a operação adequada dos equipamentos eletrônicos. Assim, apresenta-se neste trabalho uma avaliação de alguns parâmetros relacionados a qualidade da energia no IFSC Câmpus Florianópolis, envolvendo a análise da tensão em regime permanente, flutuações de tensão, variações de tensão de curta duração (VTCDs), variações de frequência, bem como o fator de potência da instalação elétrica. As avaliações serão efetuadas como base em campanhas de medições, realizadas na subestação de energia da instituição, e considerando os indicadores propostos nas recomendações nacionais e internacionais.

Keywords: Automation and Process Control, Robotics and Mechatronics, Electrical Vehicle and Energy Storage
Abstract: The control techniques for traction of electric vehicles and mobile robotics has been extensively studied. This paper presents a comparative study over torque control of a DC motor against classical speed controllers, for use on traction of mobile vehicles. Also is presented an approach to estimate the parameters of a generic motor, equations for discrete model space states of a DC motor. Is also described in this paper the hardware used for implementation of the system. As part of the controlled feedback the electromagnetic torque generated by the motor is not read by a torque sensor, but estimated by a Kalman filter estimator, given the speed read by a Hall effect sensor system connected to the shaft of the motor. The system is all simulated on a hardware-in-the-loop system, where the parameters can be adjusted simultaneously to a running system.

Keywords: Robotics and Mechatronics, Automation and Process Control
Abstract: In the health-related equipment industry, there is the challenge of how to effectively test the devices to be introduced into the human body. One approach is the development of a blood circulatory system simulator for in vitro testing of cardio devices. However, this simulator depends on a proper understanding of the cardiovascular system functioning, not only from the viewpoint of blood flow, but also under the occurrence viewpoint of events that change this system operation mode. This paper thus presents a survey of works that approach different forms to model the blood circulatory system, besides introducing the concept of hybrid systems (discrete event systems combined with systems of continuous variables) to comprehensively model this system.

Keywords: Power Electronics, Industry Applications
Abstract: This paper deals with a small-signal model for analyzing the parallel operation of frequency inverters used in Uninterruptible Power Supplies – UPSs. The UPSs operate without communication with each other and is controlled by the traditional droop method. Initially, small-signal models of a single unit connected to an infinite bus and those referring to several ones connected in parallel are revisited. Then, considering a set of common parameters, comparisons are made between the eigenvalues and the dynamic responses found for two systems: (i) an inverter connected to an infinite bus and (ii) two inverters operating themselves in parallel. Simulations and experimental results have shown the possibility of simplifying the small-signal model to represent the parallelism of frequency inverters operating in several situations, making their analysis and design simpler.

Keywords: Smart Grids, Power Quality, Power Electronics
Abstract: This work discusses the concepts used to implement an interconnection device to serve as an intelligent interface between a conventional low voltage distribution network and an experimental hybrid ac/dc smart microgrid. Details of the proposed interconnection module architecture are presented and its main features such as synchronization, disconnection and reconnection procedures, power quality analysis and electrical protections are described. The module software is embedded onto a ARM processor available in a BeagleBone Black developer platform, which receives sensored signals and acts on a solid state switch depending on the grid interface conditions. The module communicates with a microgrid central controller in a lower priority and to the controller of distributed energy resources in order to enable the re-synchronization procedure. Experimental results showing the implemented module operating during a microgrid disconnection procedure and comparing its measuring performance to a commercially available power quality meter are presented.

Keywords: Power Quality, Power Electronics, Industry Applications
Abstract: This paper presents a discussion and contributions about linear and switched converters associated, including some particularities. Audio amplifiers, calibration systems, inverters applied in motor drivers, where is necessary to mitigate the current over the bearings, magnetic resonance, where harmonics generate distortions in the images, and other applications that need high quality signals are the best options to use these approaches. In these applications the power supplies have to cancel the ripple that are found in switched converters and maintain the high efficiency. Some structures are presented, simulated and built. The results are presented in order to prove the expected characteristics.

Keywords: Industry Applications
Abstract: The infrared thermography is widely used in predictive maintenance of electrical connections, in which an increase of their temperatures is an indicative of failure. However, there are few published studies about the use of this technique in the analysis of failures of screw connections of electric busbars, a device widely used in switchgear. In this context, the purpose of this study is to analyze the technical feasibility of diagnosing connections of electric busbars using infrared thermography. An experimental planning was elaborated and executed by means of which three busbars of different dimensions, connected by screws of different diameters, were analyzed. The aim was to evaluate the relation between temperature rise and the conformity of the connections, represented by the torque applied to the screws. The results obtained show insignificant temperature differences under different quality conditions in the electrical connections. This led to the conclusion that there is no significant correlation between the measurable variable by infrared thermography - temperature rise - and the conformity of the electrical connection - torque in its screws - making it impossible to diagnose failure in electrical busbar connections using thermographic inspection.

Keywords: Renewable Energy
Abstract: This paper presents a methodology used to determine the mininum capacity of a battery for off grid systems of distributed generation. The mininum capacity of a battery for six different cases is presented as an example. The renewable sources used were solar energy and wind energy. The six cases were designed to meet the demand for a residence, the first three the demand are 200 kWh month and the last three are 400 kWh month. The results are shown graphically, the energy balance (kW) and the battery balance (Ah).

Keywords: Power Systems, Smart Grids
Abstract: The modernization of the traditional distribution systems toward the so-called smart grid creates an environment conducive for the applications of distribution system state estimators. In this paper, two distribution system state estimator approaches, namely, Branch Currents Based State Estimator (BCBSE) and Admittance Matrix Based State Estimator (AMBSE), are evaluated under fault conditions. The aim is to verify if the approaches can be used as the main core of a fault location methodology. Both approaches have the particularity of presenting constant Jacobian and Gain matrices, which reduces the associated computational effort. The simulations shown in this paper were performed on the IEEE 13bus test feeder, considering single- and three-phase faults for different fault resistances and fault locations for several available measurement sets. Results indicate that the so-called BCBSE presents a more robust and stable behavior under fault conditions.

Keywords: Renewable Energy, Power Electronics, Industry Applications
Abstract: An active anti-islanding method for three-phase inverters is proposed in this paper. The method is based on the General Electric Frequency Shift and General Electric Voltage Shift. They were slightly modified while focusing on the improvement of performance when implemented alongside each other. Those methods allow the inverter to minimize the Non-Detection Zone by altering the gain accordingly. The proposed solution was tested in a three-level three-phase inverter of 30 kW through simulation. A 10 kW operational lab model was adapted to test the anti-islanding in a single-phase inverter. Simulated and practical results were according to the range described by the national standard ABNT NBR IEC 62116.

Keywords: Power Electronics, Power Quality, Industry Applications
Abstract: AC-DC converters, which operate in discontinuous conduction mode, can be used as power factor correction. Operating with constant duty cycle, the control system presents low complexity, however, for low static voltage gains, the input current is not sinusoidal and has a high low order harmonic content, can going beyond the limits imposed by international norms and standards. As an alternative, an analysis and simulation of the three-phase semi-controlled boost rectifier in quasi-critical conduction mode is presented in this paper. This conduction mode ensures that the input current will follow a sinusoidal form, suppressing the use of sensors or current control meshes, providing greater robustness to converter. In addition, the quasi-critical mode maintains some advantages of the discontinuous operation mode, for example, the zero-current-switching during the turn-on of the switches, the simplicity of control system and the lower cost. In this configuration, the current stress in semiconductors are divided and, a single pulse is necessary for switch conduction. The results presented prove that occurs the power factor correction with harmonic current content reduction in low frequency.

Keywords: Power Electronics, Renewable Energy, Power Quality
Abstract: This work uses a mathematical design methodology that combines high efficiency and reduced volume, by searching for the best solution among a pool of possible component associations. This methodology, already consolidated, is applied by an algorithm that scans for different operating points: switching frequency, inductor current ripple and wire current density. The algorithm evaluates high power and high gain Boost converter that interfaces a Fuel Cell (3kW and 50VDC) to a DC bus (400VDC). Due to its high step-up voltage, this converter is unusual for this type of application. However, with the developed analysis tool, an optimized Boost converter is possible, minimizing losses and increasing efficiency, enableling the use of this converter topology in a high power high step-up application. Results present losses on each component and the overall efficiency of the converter. Component parallelism was used in order to reduce equivalent resistances. At the end, a high step-up and high power Boost converter is designed using the developed tool, at which losses for each component were minimized by reducing the series resistance of each element; the static gain of the converter is shown, demonstrating the usefulness of the Boost converter for high step-up and high power applications.

Keywords: Power Quality, Power Electronics, Renewable Energy
Abstract: O presente trabalho propõe uma nova aplicação à Teoria de Fryze das Potências, utilizando-a como base para desenvolver um procedimento matemático que permite avaliar o processamento parcial de potência em conversores CC-CC conectados como reguladores série. Por meio desta análise, a obtenção dos valores de potência ativa e não-ativa dos dispositivos semicondutores e elementos armazenadores de energia permite definir se o conversor forward na configuração de regulador série processa menos potência do que uma célula de comutação em cascata com a fonte e a carga. Neste estudo, o regulador série é aplicado em um sistema de geração cuja fonte é composta por uma string de módulos fotovoltaicos a qual alimenta um barramento CC conectado a um inversor conectado à rede. Os resultados mostram que a configuração proposta realiza o processamento parcial de potência.

Keywords: Power Electronics, Renewable Energy
Abstract: Conversores CC-CC são usados constantemente em muitas aplicações, dentre elas, as com fontes de energia renovavéis como painéis fotovoltaicos e células a combustíveis. Neste artigo é apresentada uma nova configuração para a topologia CC-CC do conversor boost quadrático. A topologia Boost Quadrático Diferencial é desenvolvida de modo a obter alto ganho de tensão, necessário as aplicações fotovoltaicas e se torna um excelente candidato para o estágio CC-CC de microinversores. Além disso, essa configuração diminui os esforços nos componentes do circuito, como é explicitado nos resultados, garantindo uma melhor performance para o conversor.

Keywords: Power Electronics, Industry Applications, Power Quality
Abstract: Este artigo apresenta um inversor multinível híbrido assimétrico, com capacitores flutuantes e pernas magneticamente acopladas. A operação assimétrica tem como objetivo principal incrementar o número de níveis do conversor através da utilização de diferentes tensões entre os capacitores flutuantes bem como na relação de espiras do indutor acoplado, sem aumentar o número de dispositivos semicondutores. Como desafios da topologia apresentada tem-se a regulação das tensões nos capacitores flutuantes e a corrente circulante entre os pernas magneticamente acopladas em paralelo. Para superar os desafios apresentados acima é proposta uma metodologia baseada na modulação vetorial (space-vector) onde a utilização das redundâncias são empregadas para regulação das tensões sobre os capacitores e redução das correntes circulantes. Para validação da estratégia são apresentados resultados de simulação.

Keywords: Industry Applications
Abstract: This paper describes an open source implementation of one of the most popular algorithms to solve electromagnetic transients circuits. Python was the selected language given its broad adoption into the science and engineering fields. This work reports the project structure and provides ideas for future implementations of an open source electromagnetic transient circuits program.

Keywords: Power Systems, Industry Applications, Power Electronics
Abstract: A problem that is much studied today is the economic emission load dispatch (EELD) that seeks to minimize the total cost of fuel consumption and carbon emission. This problem is different from the economic load dispatch (ELD) that only seeks to minimize costs. In this work is applied a new optimization tool to solve this problem, the ant lion optimizer (ALO). Two functions are being used in this multi-objective metaheuristic algorithm, the cost function and emission function with their respective restrictions. Many materials and methods have been elaborated to fix the economic emission load dispatch, among them are as follows: differential evolution method, gradient method and Newton’s method. The results for this case study, with the two application of ant lion, one with all generators on and another with the less efficient generators turned off, and in both cases the demand being met, were outstanding having a reduction of 9.21% in the total fuel cost, comparing to classical methods that distribute the generation of power among all generators, including the least efficient ones. This method helps the plant operators in the decision making of preventive maintenance of machines that are not working in. Besides solving the problem of the EELD this work also takes into account the shutdown of less efficient generators to meet the demand.

Keywords: Robotics and Mechatronics, Industry Applications, Artificial Intelligence
Abstract: In the field of the operational research, the cutting & packing problems are one of the most significant studied subjects. Among these problems, bi-dimensional irregular packing problems, which admits polygonal shaped items, are computationally challenging due to its geometrical complexity. Several advances were obtained for the irregular strip packing problem; however, it is very lacking for bin packing problems. Therefore, in this work, a strip packing solution is adapted to deal with the single size irregular bin packing problem. The proposed solution employs the obstruction map, which aids the overlap minimization for the dotted board model. Such approach is efficient as it reduces the search space by enforcing a grid placement restriction for items. Furthermore, a map caching acceleration strategy is studied in order to further improve its performance. Two solutions are proposed for the adaptation to the bin packing problem and preliminary tests were performed to check their applicabilities. Results show that the proposed approaches may be feasible, specially if the items are preassigned to objects. Moreover, tests showed that the map caching acceleration improved the performance of the algorithms by a factor of two.

Keywords: Power Systems, Industry Applications
Abstract: This work present a new current injection model (CSM) to represent the FACTS device Generalize Unified Power Flow Controller (GUPFC) in power flow programs. The goal is to validate the proposed model to the controlled of active and reactive power flows in a test system known in the literature as Two-Area Symmetrical system. This work will also analyze the performance of the Novel Bat Algorithm in the coordinated tuning of the parameters of supplementary damping controllers. The goal is to introduce minimal damping rates to low frequency electromechanical oscillation modes as specified by the design. The performance of the Novel Bat Algorithm in the coordinated tuning of controllers was compared with Classic Bat Algorithm. The results of simulations performed showed that the FACTS GUPFC device proposed in this work acted correctly in the control of power flows and in the improvement of the voltage profile for the analyzed test system. In addition, it was concluded that the Novel Bat Algorithm as a promising tool for the analysis of small-signal stability.

Keywords: Industry Applications, Automation and Process Control
Abstract: Mold level control is one of most important control loop in steel continuous process, because level variations higher than 6 - 10 mm may impair the surface quality of the final products. The goal of this paper is to apply the Repetitive Generalized Predictive Controller (R-GPC) to control the mold level, considering bulging disturbances. Through simulations the optimum performance of this controller is shown when the model is affected by the bulging disturbances.

Keywords: Industry Applications, Automation and Process Control
Abstract: There are many sources of faults during the assembly process of induction motors and most of them are related to the stator. In industry, electrical tests are typically performed, but some defects cannot be detected by such tests and the motors still need to be inspected by human operators. This is a potential point for improvement, since the limitations of human operators are widely discussed in literature. Vision systems are an interesting option to surpass those limitations. This paper presents the development of a vision system to inspect defects related to the windings of stators in a motor assembly line, after the rotor is assembled to the motor. In a previous work, the viability of inspecting this type of defect before the rotor insertion has already been shown. In the present work, some modifications in the test rig have been performed to adapt it to the new condition of inspection and a new algorithm has been developed. The tests achieved a success rate of 96.7%. Based on the results, improvements are discussed to enhance its reliability, allowing its implementation in manufacturing lines.

Keywords: Industry Applications, Industry 4.0, Smart Grids
Abstract: This article shows two issues studies about using the IoT paradigm in the public service sector applications. There is one of them, which is in the electric power industry, and another one on smart metering of water consumption. It shows implementation of hardware, software and middleware, the functionality of the systems and performance evaluation. The goal is to demonstrate that it is something technical and economically viable to use ubiquitous wireless communications systems in utilities industry, through current communication protocols. Moreover, the use of the MQTT Protocol for communication between devices, which provides satisfactory performance being applied, has been prove.

Keywords: Power Electronics, Automation and Process Control, Power Systems
Abstract: Resumo— FPGAs são atualmente alternativas viáveis para a implementação de controle de sistemas de potência. Pode-se encontrar vários exemplos de aplicação desses dispositivos na implementação de estratégias de controle de conversores. Contudo é menos abundante o volume de informação que descreve com mais detalhes as técnicas de desenho e síntese dessas aplicações. Este trabalho explora o tema descrevendo e avaliando a implementação de subsistemas básicos como PWM, Controlador PI e PLL em uma FPGA, fazendo uso das ferramentas de síntese e implementação disponibilizados pelo fabricante.

Keywords: Automation and Process Control, Industry Applications
Abstract: The Dynamic Matrix Control (DMC) Algorithm is a control method widely applied to industrial processes, but has a high implementation cost. The goal of this work is to show the use Python, which open source, simulating the application on this control in a temperature plant. A comparison is made between the software propose here with MatLab, which is the most applied today in engineering area.

Keywords: Power Systems, Electrical Machines and Drives, Automation and Process Control
Abstract: Na análise de segurança dinâmica de sistemas de potência se faz necessário o uso de simulações computacionais para verificar a estabilidade dos sistemas. Neste tipo de problema, o sistema elétrico é modelado por um conjunto de equações algébrico-diferenciais, exigindo o emprego de algoritmos e métodos de solução que garantam uma análise confiável, precisa e com esforço computacional adequado. Assim, este trabalho apresenta uma ferramenta computacional de simulação de estabilidade rotórica e de frequência para grandes perturbações, que mantém a rede de transmissão preservada e resolve de maneira particionada/alternada o conjunto de equações que modela o problema. A solução numérica das equações de espaço de estado é feita através de um método implícito, com um previsor-corretor. Tal modelagem permite grande versatilidade para inserção de modelos de geradores síncronos, com ou sem reguladores, propiciando uma ferramenta de análise com precisão adequada e com rápida solução computacional. Ao comparar os resultados de análises de estabilidade rotórica com outros métodos clássicos de simulação, valida-se o algoritmo desenvolvido neste artigo. As respostas de estabilidade de frequência também estão de acordo com o comportamento esperado pelos sistemas de regulação.

Keywords: Industry Applications, Power Quality, Electrical Machines and Drives
Abstract: Nesta investigação, objetivou-se desenvolver um sistema de aquisição de dados de tensões e correntes trifásicas. Para isso, foram utilizados sensores, condicionadores de sinais e a placa de aquisição de dados USB-6351, fabricada pela National Instruments ®, e um programa computacional específico, desenvolvido por meio do software Microsoft Visual C# 2010 Express. A relevância deste artigo fundamenta-se no estudo de redes elétricas, possibilitando a análise aprofundada da tensão e corrente fornecidas para cargas em determinado sistema. Com isso, tornou-se possível o estudo da qualidade de energia e da taxa de distorção harmônica. No programa desenvolvido para a aquisição de dados em linguagem C#, são disponibilizados tensão, corrente, potência ativa e reativa e fator de potência, possibilitando gravar os dados e gerar um arquivo de texto. A calibragem do sistema foi efetuada por meio de instrumentos de aferição. Observaram-se erros máximos de 0,3% na medição da tensão e de 2,9% nas medições de corrente. Foram realizados testes práticos utilizando uma carga composta por um motor trifásico de indução de 1 HP e alimentado por meio de inversor de frequência WEG ® CFW11, nesse ensaio, foi variada a frequência de chaveamento do inversor com posterior análise dos dados. Concluiu-se que este estudo é promissor, pois possibilitará novas pesquisas na área de medição e qualidade de energia, estimação de parâmetros de carga e estratégias de controle, uma vez que o sistema de aquisição de dados foi eficaz, sugerindo que pode ser mais eficiente se for equipado com sensores de corrente e instrumentos de aferição mais precisos.

Keywords: Automation and Process Control, Industry 4.0, Industry Applications
Abstract: Supply chain management is a critical aspect of conducting any business. The use of Lean Supply Chain Management (LSCM) practices can aid companies manage their supply chain efficiently and competitively, helping to minimize variability and waste. Thus, to deal with these increasingly complex and highly uncertain systems, simulation-based optimization (SBO) has been a suitable tool to provide satisfactory results in a feasible time. In this context, this work compares the performance of the (SBO) for the implementation of pull-production system in a lean supply chain, with the current scenario supply chain under study, which uses push-production. The analysis showed that the SBO had significantly better results than the current scenario.

Keywords: Automation and Process Control, Industry Applications, Robotics and Mechatronics
Abstract: In this paper, a fuzzy PID controller was used for to control a ball and beam system. Fuzzy logic is used to tune the parameters of this PID controller in real time. This gain update occurs whenever there is any disturbance in the system. With this configuration it is aimed to improve the performance of the ball and beam system. This controller has been designed in MATLAB-Simulink environment and then downloaded to the Arduino for testing. The closed loop performances and controller efforts are compared with conventional PID tuned by a Differential Evolution Algorithm. Simulation results show that the proposed fuzzy PID controller have responses less oscillating, with a lower overshoot and a lower settling time than PID controller.

Keywords: Robotics and Mechatronics
Abstract: This paper considers the design of a hierarchical integrative sliding mode controller embedded into a practical 3-DOF helicopter, which is a multivariable nonlinear sub-actuated system. Practical results are compared with simulation considering a complete nonlinear model obtained using the Newton-Euler iterative method.

Keywords: Industry Applications, Robotics and Mechatronics
Abstract: Owing to the growth of the use of UAVs, a field study was conducted in relation to the powers of communication signals with UAVs. Through the signal propagation models Walfisch-Ikegami, Stanford University Interim (SUI) and ECC-33, was held the theoretical calculation of powers LTE and WI-FI. It was noticed that the mathematical models were limited to the 10 m signal reception. Finally, 3D heat maps were generated with data obtained by a drone equipped with tools for signal measurement.

Keywords: Industry Applications, Automation and Process Control, Industry 4.0
Abstract: This article discusses the development of a cylindrical object detection system that assists an industrial robotic arm using accessible technologies, for example, the embedded Raspberry Pi system, the PiCamera module and OpenCV, an open source library for development of Computer Vision System and Digital Image Processing. Distortions inherent in the digital camera lens were corrected and the homography between the robot plane and the image plane was established by applying the Direct Linear Transform (DLT) method. Experimental results indicate that a robot manipulator equipped with the proposed detection system has a maximum error in the x coordinate of 2.187 mm and in y of 2.65 mm that allows the automatic capture of the target pieces.

Keywords: Industry 4.0, Robotics and Mechatronics
Abstract: A Great effort has been done to solve the problem of object detection and recognition in computer vision. This paper describes the results of experiments on detection and recognition of objects in images by using the Faster Region Convolutional Neural Networks (Faster R-CNN) technique. The experiments were performed using a calibrated vision system, a set of 150 images containing a total of 4 different objects. The obtained accuracy for the detection and recognition task was satisfactory, varying from 90.13% to 100%. With these results, we can use the proposed method to estimate the joint configuration of a manipulator and allow it to grasp a desired object.

Keywords: Robotics and Mechatronics, Electrical Vehicle and Energy Storage
Abstract: A inclusão de pessoas com necessidades especiais é um assunto sempre pertinente frente ao número de pessoas dentro deste grupo e as dificuldades que estas enfrentam diariamente. A deficiência motora é a segunda mais relatada no Brasil. Cerca de 3,7 milhões de brasileiros relatam ter grandes dificuldades de locomoção. Considerando a evolução dentro das Tecnologias Assistivas nos últimos anos, busca-se cada vez mais alternativas para implementar e facilitar a inclusão social de pessoas com mobilidade reduzida. O presente artigo descreve o processo de desenvolvimento de uma cadeira de rodas com o princípio de funcionamento por auto-equilíbrio, visando possibilitar maior liberdade de movimentos ao deficiente físico, e uma locomoção mais intuitiva. O documento apresenta o projeto mecânico e elétrico de um protótipo em escala real, o modelo dinâmico do sistema e o projeto de 3 controladores lineares, cada controlador com objetivos específicos. Ao final, são apresentados os resultados de simulações computacionais e testes práticos realizados com o protótipo, juntamente com a análise e comparação dos resultados.