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Mechatronics Research Lab Publications
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2014
8.
Dimitris Chatzigeorgiou; You Wu; Kamal Youcef-Toumi; Rached Ben-Mansour
MIT Leak Detector: An in-pipe leak detection robot Proceedings Article
In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 2091-2091, IEEE IEEE, 2014, ISBN: 978-1-4799-3685-4.
Abstract | Links | BibTeX | Tags: Inspection; repair and intelligence for water distribution pipes, Physical Systems Modeling, Robotics & Automation, Simulation, Visualization
@inproceedings{MRL_WDP_Leak_Detecting_Robot,
title = {MIT Leak Detector: An in-pipe leak detection robot},
author = {Dimitris Chatzigeorgiou and You Wu and Kamal Youcef-Toumi and Rached Ben-Mansour},
url = {https://ieeexplore.ieee.org/document/6907144},
doi = {10.1109/ICRA.2014.6907144},
isbn = {978-1-4799-3685-4},
year = {2014},
date = {2014-09-24},
booktitle = {2014 IEEE International Conference on Robotics and Automation (ICRA)},
pages = {2091-2091},
publisher = {IEEE},
organization = {IEEE},
abstract = {In this work we present a new in-pipe leak detection robot, the MIT Leak Detector. The system performs autonomous leak detection in gas pipes in a reliable and robust fashion. Detection in based on the presence of a pressure gradient in the neighborhood of the leak. As the MIT Leak Detector travels through pipes, it picks up the pressure gradient in case of leaks via a carefully designed detector. In this work we demonstrate the performance of the system in a lab setup, which consists of 100mm ID pipes containing pressurized air.},
keywords = {Inspection; repair and intelligence for water distribution pipes, Physical Systems Modeling, Robotics & Automation, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}
In this work we present a new in-pipe leak detection robot, the MIT Leak Detector. The system performs autonomous leak detection in gas pipes in a reliable and robust fashion. Detection in based on the presence of a pressure gradient in the neighborhood of the leak. As the MIT Leak Detector travels through pipes, it picks up the pressure gradient in case of leaks via a carefully designed detector. In this work we demonstrate the performance of the system in a lab setup, which consists of 100mm ID pipes containing pressurized air.
7.
Dimitris Chatzigeorgiou; Kamal Youcef-Toumi; Rached Ben-Mansour
Modeling and analysis of an in-pipe robotic leak detector Proceedings Article
In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 3351-3357, IEEE, 2014, ISBN: 978-1-4799-3685-4.
Abstract | Links | BibTeX | Tags: Inspection; repair and intelligence for water distribution pipes, Physical Systems Modeling, Robotics & Automation, Simulation, Visualization
@inproceedings{MRL_WDP_Analysis_Leak_Detection,
title = {Modeling and analysis of an in-pipe robotic leak detector},
author = {Dimitris Chatzigeorgiou and Kamal Youcef-Toumi and Rached Ben-Mansour},
url = {https://ieeexplore.ieee.org/abstract/document/6907341},
doi = {10.1109/ICRA.2014.6907341},
isbn = {978-1-4799-3685-4},
year = {2014},
date = {2014-09-24},
booktitle = {2014 IEEE International Conference on Robotics and Automation (ICRA)},
pages = {3351-3357},
publisher = {IEEE},
abstract = {Leakage is the most important factor for unaccounted losses in any pipe network around the world. Most state of the art leak detection systems have limited applicability, lack in reliability and depend on user experience for data extraction. This paper is about a novel system for robotic pipe integrity inspection. Unlike existing systems, detection in based on the presence of a pressure gradient in the neighborhood of a leak. This phenomenon is translated into force measurements via a specially designed and instrumented mechanical embodiment (detector). In this paper an analytic dynamic model of the robotic detector is derived and studied. A prototype is built and the main concepts are validated via experiments.},
keywords = {Inspection; repair and intelligence for water distribution pipes, Physical Systems Modeling, Robotics & Automation, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}
Leakage is the most important factor for unaccounted losses in any pipe network around the world. Most state of the art leak detection systems have limited applicability, lack in reliability and depend on user experience for data extraction. This paper is about a novel system for robotic pipe integrity inspection. Unlike existing systems, detection in based on the presence of a pressure gradient in the neighborhood of a leak. This phenomenon is translated into force measurements via a specially designed and instrumented mechanical embodiment (detector). In this paper an analytic dynamic model of the robotic detector is derived and studied. A prototype is built and the main concepts are validated via experiments.
6.
Aramazd Muzhikyan; A M Farid; Kamal Youcef-Toumi
An enhanced method for the determination of load following reserves Proceedings Article
In: 2014 American Control Conference, pp. 926-933, IEEE IEEE, 2014, ISBN: 978-1-4799-3274-0.
Abstract | Links | BibTeX | Tags: intelligent systems, Modeling; sizing and control of smart grids, Physical Systems Modeling, Simulation
@inproceedings{MRL_SG_Reserve_Quantification,
title = {An enhanced method for the determination of load following reserves},
author = {Aramazd Muzhikyan and A M Farid and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6859254&isnumber=6858556},
doi = {10.1109/ACC.2014.6859254},
isbn = {978-1-4799-3274-0},
year = {2014},
date = {2014-07-21},
booktitle = {2014 American Control Conference},
pages = {926-933},
publisher = {IEEE},
organization = {IEEE},
abstract = {Power generation reserves play a central role for maintaining the balance of generation and consumption. Reserves, scheduled in advance, compensate for forecast error, variability and transmission losses. However, as reserves are a costly commodity, their amount should be carefully assessed to prevent unnecessary expense. Currently, the quantity of required reserves are determined based upon a posteriori methods that use operator's experience and established assumptions. This paper instead presents a method founded upon non-dimensional numbers and digitial signal processing to determine the quantity of load following reserves a priori.},
keywords = {intelligent systems, Modeling; sizing and control of smart grids, Physical Systems Modeling, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}
Power generation reserves play a central role for maintaining the balance of generation and consumption. Reserves, scheduled in advance, compensate for forecast error, variability and transmission losses. However, as reserves are a costly commodity, their amount should be carefully assessed to prevent unnecessary expense. Currently, the quantity of required reserves are determined based upon a posteriori methods that use operator's experience and established assumptions. This paper instead presents a method founded upon non-dimensional numbers and digitial signal processing to determine the quantity of load following reserves a priori.
2013
5.
Reshma Francy; Amro M Farid; Kamal Youcef-Toumi
An event triggered tracking state estimator for power systems with integrated wind generation Proceedings Article
In: 2013 IEEE Grenoble Conference, pp. 1-6, IEEE IEEE, 2013, ISBN: 978-1-4673-5669-5.
Abstract | Links | BibTeX | Tags: intelligent systems, Modelling; sizing and control of smart grids, Physical Systems Modeling, Simulation
@inproceedings{MRL_SG_Wind_Energy_Integration,
title = {An event triggered tracking state estimator for power systems with integrated wind generation},
author = {Reshma Francy and Amro M Farid and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/6617292},
doi = {10.1109/PTC.2013.6652180},
isbn = {978-1-4673-5669-5},
year = {2013},
date = {2013-11-04},
booktitle = {2013 IEEE Grenoble Conference},
pages = {1-6},
publisher = {IEEE},
organization = {IEEE},
abstract = {For many decades, state estimation has been a critical technology in the energy management systems utilized by transmission system operators. Over time, it has become a mature technology that provides an accurate representation of system state under fairly stable and well understood system operation. The integration of variable energy resources such as wind and solar generation, however, introduce new dynamics and uncertainties into the system. Along with increase in variability which needs real time monitoring, state estimation will be extended to the distribution networks which increase the size of the problem. Conventional solutions to this problem result in large problem sets being solved at a faster rate thereby becoming computationally intensive. This work builds upon the recent contribution of event-triggering where the state estimator is only called in the case of considerable “novelty” in the evolution of the system state. Specifically, the concept of tracking saves significant computational effort at minimal expense of error by allowing for the update of system state between two consecutive triggered instances. The new event-triggered tracking state estimator (ETTSE) is demonstrated on the standard IEEE 14-bus system, and the results are observed for a specific bus.},
keywords = {intelligent systems, Modelling; sizing and control of smart grids, Physical Systems Modeling, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}
For many decades, state estimation has been a critical technology in the energy management systems utilized by transmission system operators. Over time, it has become a mature technology that provides an accurate representation of system state under fairly stable and well understood system operation. The integration of variable energy resources such as wind and solar generation, however, introduce new dynamics and uncertainties into the system. Along with increase in variability which needs real time monitoring, state estimation will be extended to the distribution networks which increase the size of the problem. Conventional solutions to this problem result in large problem sets being solved at a faster rate thereby becoming computationally intensive. This work builds upon the recent contribution of event-triggering where the state estimator is only called in the case of considerable “novelty” in the evolution of the system state. Specifically, the concept of tracking saves significant computational effort at minimal expense of error by allowing for the update of system state between two consecutive triggered instances. The new event-triggered tracking state estimator (ETTSE) is demonstrated on the standard IEEE 14-bus system, and the results are observed for a specific bus.
4.
A Santhosh; Amro M Farid; Kamal Youcef-Toumi
The impact of storage facilities on the simultaneous economic dispatch of power and water networks limited by ramping constraints Proceedings Article
In: 2013 IEEE International Conference on Industrial Technology (ICIT), pp. 922-927, IEEE IEEE, 2013, ISBN: 978-1-4673-4569-9.
Abstract | Links | BibTeX | Tags: intelligent systems, Modelling; sizing and control of smart grids, Physical Systems Modeling, Simulation
@inproceedings{MRL_SG_Water_Networks_Storage,
title = {The impact of storage facilities on the simultaneous economic dispatch of power and water networks limited by ramping constraints},
author = {A Santhosh and Amro M Farid and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/6505794},
doi = {10.1109/ICIT.2013.6505794},
isbn = {978-1-4673-4569-9},
year = {2013},
date = {2013-04-23},
booktitle = {2013 IEEE International Conference on Industrial Technology (ICIT)},
pages = {922-927},
publisher = {IEEE},
organization = {IEEE},
abstract = {Recently, the production and consumption of energy and water resources and their potential coupling in what is often called the energy-water nexus has gained attention as an issue of global concern[1, 2]. Ultimately, a significant amount of water is required to produce energy and vice versa [2, 3]; motivating the need for co-optimization based approaches for the two resources. Recently, one such simultaneous co-optimization method has been contributed for the economic dispatch of networks that include water, power and co-production facilities [4]. That study showed that capacity and process constraints often limit total production cost. This paper seeks to add plant ramping behavior as potentially binding constraints and investigate the impact of water and storage facilities as a technology that can help alleviate binding constraints and lead to more levelized production and cost levels. The paper builds upon the optimization program provided in previous work [4] to develop two optimization programs with and without storage facilities and compares their respective results. Storage facilities are shown to reduce total operating costs and lead to more levelized daily production suggesting that they have an important role to play in the optimization of the energy-water nexus.},
keywords = {intelligent systems, Modelling; sizing and control of smart grids, Physical Systems Modeling, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}
Recently, the production and consumption of energy and water resources and their potential coupling in what is often called the energy-water nexus has gained attention as an issue of global concern[1, 2]. Ultimately, a significant amount of water is required to produce energy and vice versa [2, 3]; motivating the need for co-optimization based approaches for the two resources. Recently, one such simultaneous co-optimization method has been contributed for the economic dispatch of networks that include water, power and co-production facilities [4]. That study showed that capacity and process constraints often limit total production cost. This paper seeks to add plant ramping behavior as potentially binding constraints and investigate the impact of water and storage facilities as a technology that can help alleviate binding constraints and lead to more levelized production and cost levels. The paper builds upon the optimization program provided in previous work [4] to develop two optimization programs with and without storage facilities and compares their respective results. Storage facilities are shown to reduce total operating costs and lead to more levelized daily production suggesting that they have an important role to play in the optimization of the energy-water nexus.
3.
Dimitris Chatzigeorgiou; You Wu; Kamal Youcef-Toumi; Rached Ben-Mansour
Reliable Sensing of Leaks in Pipelines Proceedings Article
In: AWWA Annual Conference and Exposition, 2014, ASME ASME, 2013, ISBN: 978-0-7918-5613-0.
Abstract | Links | BibTeX | Tags: Inspection; repair and intelligence for water distribution pipes, Physical Systems Modeling, Robotics & Automation, Simulation, Visualization
@inproceedings{MRL_WDP_Reliable_Leak_Sensing,
title = {Reliable Sensing of Leaks in Pipelines},
author = {Dimitris Chatzigeorgiou and You Wu and Kamal Youcef-Toumi and Rached Ben-Mansour},
url = {https://www.academia.edu/8791279/Chatzigeorgiou_D._Wu_Y._Youcef-Toumi_K._and_Ben-Mansour_R._Reliable_Sensing_of_Leaks_in_Pipelines_ASME_Dynamic_Systems_and_Control_Conference_2013},
isbn = {978-0-7918-5613-0},
year = {2013},
date = {2013-01-01},
booktitle = {AWWA Annual Conference and Exposition, 2014},
publisher = {ASME},
organization = {ASME},
abstract = {Leakage is the major factor for unaccounted losses in every pipe network around the world (oil, gas or water). In most cases the deleterious effects associated with the occurrence of leaks may present serious economical and health problems. Therefore, leaks must be quickly detected, located and repaired. Unfortunately, most state of the art leak detection systems have limited applicability, are neither reliable nor robust, while others depend on user experience. In this work we present a new in-pipe leak detection system, PipeGuard. PipeGuard performs autonomous leak detection in pipes and, thus, eliminates the need for user experience. This paper focuses on the detection module and its main characteristics. Detection in based on the presence of a pressure gradient in the neighborhood of the leak. Moreover, the proposed detector can sense leaks at any angle around the circumference of the pipe with only two sensors. We have validated the concepts by building a prototype and evaluated its performance under real conditions in an experimental laboratory setup.},
keywords = {Inspection; repair and intelligence for water distribution pipes, Physical Systems Modeling, Robotics & Automation, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}
Leakage is the major factor for unaccounted losses in every pipe network around the world (oil, gas or water). In most cases the deleterious effects associated with the occurrence of leaks may present serious economical and health problems. Therefore, leaks must be quickly detected, located and repaired. Unfortunately, most state of the art leak detection systems have limited applicability, are neither reliable nor robust, while others depend on user experience. In this work we present a new in-pipe leak detection system, PipeGuard. PipeGuard performs autonomous leak detection in pipes and, thus, eliminates the need for user experience. This paper focuses on the detection module and its main characteristics. Detection in based on the presence of a pressure gradient in the neighborhood of the leak. Moreover, the proposed detector can sense leaks at any angle around the circumference of the pipe with only two sensors. We have validated the concepts by building a prototype and evaluated its performance under real conditions in an experimental laboratory setup.
2.
Sergio Rivera; Amro Farid; Kamal Youcef-Toumi
Coordination and Control of Multiple Microgrids Using Multi-Agent Systems Proceedings Article
In: Energypath 2013: Our Global Sustainable Energy Future, 2013, ISBN: 978-1-4673-5669-5.
Abstract | Links | BibTeX | Tags: intelligent systems, Modelling; sizing and control of smart grids, Physical Systems Modeling, Simulation
@inproceedings{MRL_SG_Multi_Microgrid_Coordination,
title = {Coordination and Control of Multiple Microgrids Using Multi-Agent Systems},
author = {Sergio Rivera and Amro Farid and Kamal Youcef-Toumi},
url = {https://www.researchgate.net/publication/265042254_Coordination_and_Control_of_Multiple_Microgrids_Using_Multi-Agent_Systems},
doi = {10.1109/PTC.2013.6652180},
isbn = {978-1-4673-5669-5},
year = {2013},
date = {2013-01-01},
booktitle = {Energypath 2013: Our Global Sustainable Energy Future},
abstract = {As distributed renewable generation sources continue to be integrated into the power grid, the concept of Microgrids has gained traction. Here, the integration challenge is not just in the control of an individual Microgrid but also in their coordination. This short communication presents a novel approach to inter-Microgrid coordination and control based upon Multi-Agent systems. An architecture based upon physical agents is presented and is implemented on a dual platform of JADE (environment for developing agents) and Matlab-Matpower (power system analysis tool). The implementation is demonstrated for a reconfiguration scenario involving the preservation of vital loads. The work presents many opportunities for future developments in the domain of resilient self-healing power grids.},
keywords = {intelligent systems, Modelling; sizing and control of smart grids, Physical Systems Modeling, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}
As distributed renewable generation sources continue to be integrated into the power grid, the concept of Microgrids has gained traction. Here, the integration challenge is not just in the control of an individual Microgrid but also in their coordination. This short communication presents a novel approach to inter-Microgrid coordination and control based upon Multi-Agent systems. An architecture based upon physical agents is presented and is implemented on a dual platform of JADE (environment for developing agents) and Matlab-Matpower (power system analysis tool). The implementation is demonstrated for a reconfiguration scenario involving the preservation of vital loads. The work presents many opportunities for future developments in the domain of resilient self-healing power grids.
1.
Hussein M Abdelhalim; Amro M Farid; Ambrose A Adegbege; Kamal Youcef-Toumi
Transient Stability of Power Systems with Different Configurations for Wind Power Integration Proceedings Article
In: Innovative Smart Grid Technologies (ISGT), 2013 IEEE PES, 2013.
Abstract | Links | BibTeX | Tags: intelligent systems, Modelling; sizing and control of smart grids, Physical Systems Modeling, Simulation
@inproceedings{MRL_SG_Wind_Integration_Stability,
title = {Transient Stability of Power Systems with Different Configurations for Wind Power Integration},
author = {Hussein M Abdelhalim and Amro M Farid and Ambrose A Adegbege and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6497903&isnumber=6497783&tag=1},
doi = {10.1109/ISGT.2013.6497903},
year = {2013},
date = {2013-01-01},
booktitle = {Innovative Smart Grid Technologies (ISGT), 2013 IEEE PES},
abstract = {Previous transient stability studies investigating the effects of wind power integration into a conventional power system assume the insertion point of the wind-generating units to be at the same bus and interconnection voltage as the synchronous generators they are substituting or complementing. While these assumptions offer some insights into the effects of the wind on the existing system, important points about the physical distance and interconnection voltage of wind farms with respect to the conventional power system are neglected. This paper analyzes the effects of integrating doubly-fed induction wind turbine generators through different transmission line configurations and at different buses. The IEEE 14-bus test system is used in order to compare results with previous works. Results show that connecting wind generators through transmission lines and to different buses introducesdelays in the speed dynamic responses of existing synchronous generators. These delays in turn affect the bus voltage oscillations. Results also show that there is no significant effect on the base cases when using different interconnection voltages to connect the wind. The results of this study can be used by power system operators when deciding how to connect wind farms to an existing power network when optimizing for stability response to a large fault. Overall, wind farms should be connected through additional transmission lines to buses near where synchronous generators are located and further away from loads and higher risk fault areas.},
keywords = {intelligent systems, Modelling; sizing and control of smart grids, Physical Systems Modeling, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}
Previous transient stability studies investigating the effects of wind power integration into a conventional power system assume the insertion point of the wind-generating units to be at the same bus and interconnection voltage as the synchronous generators they are substituting or complementing. While these assumptions offer some insights into the effects of the wind on the existing system, important points about the physical distance and interconnection voltage of wind farms with respect to the conventional power system are neglected. This paper analyzes the effects of integrating doubly-fed induction wind turbine generators through different transmission line configurations and at different buses. The IEEE 14-bus test system is used in order to compare results with previous works. Results show that connecting wind generators through transmission lines and to different buses introducesdelays in the speed dynamic responses of existing synchronous generators. These delays in turn affect the bus voltage oscillations. Results also show that there is no significant effect on the base cases when using different interconnection voltages to connect the wind. The results of this study can be used by power system operators when deciding how to connect wind farms to an existing power network when optimizing for stability response to a large fault. Overall, wind farms should be connected through additional transmission lines to buses near where synchronous generators are located and further away from loads and higher risk fault areas.