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Planetary rovers may traverse terrains with complex geometries and variable physical properties, but their mobility behaviors are complicated and difficult to simulate precisely. This article focuses on high-fidelity dynamic modeling and simulation for a type of rovers that incorporate single-input-multi-output joints to enhance terrain adaptability, which has been used on China's Tianwen-1 Mars rover. A novel multibody dynamic model and its solutions are derived first with consideration of single-input-multi-output joints. Then, a unified terramechanics model is proposed, considering variable terrain surfaces and covering rover's motion states of skidding, slipping, and steering, solved the problem of simulation instability caused by model switching between soft and hard terrains. As the contact areas of wheels with various terrains and resultant sinkage are dominant factors to ensure fidelity but difficult to determine, a new terrain modeling method for calculating contact area and wheel sinkage is developed using digital elevation map with physical properties. A simulation system is developed, integrating all the above models, and verified with physical experiments and commercial software. The relative simulation errors that have been achieved are less than 5.9% for bogie angles, 6.1% for drawbar pull, and 3.4% for slip ratios, demonstrating high fidelity simulation results. [ABSTRACT FROM AUTHOR]

When the transformer is energized, the three-phase inrush current with the zero-mode component named zero-mode inrush current (ZMIC) will be generated due to the inconsistent saturation of the three-phase iron core. From the on-site waveform record, the ZMIC attenuates very slowly and leads to the zero-sequence zone Ⅲ backup protection malfunction of the upstream transmission line of the transformer. The malfunction expands outages and has an adverse effect on the equipment safety and system stability. To solve this problem, an ZMIC analytical model under the sympathetic interaction considering residual flux, closing angles, transformer types, and other factors is constructed to analyze the characteristics of the ZMIC. Subsequently, a protection countermeasure based on the third harmonic component of the ZMIC to prevent the zero-sequence protection malfunction under the sympathetic interaction is proposed. The countermeasure is simple in principle and only uses the information of its own substation. However, it can deal with various energization and complex failure situations even the situation that the transformer is energized to the minor internal fault effectively. Besides, it is less affected by transition resistance and CT saturation. The effectiveness of countermeasure has been verified by the digital simulations, dynamic physical simulation tests and field wave recording tests. [ABSTRACT FROM AUTHOR]

This paper investigates the dynamic voltage support (DVS) from inverter-based resources (IBRs) under voltage sags to enhance the low-voltage ride-through performance. The DVS problem is formulated as a nonconvex optimization program that maximizes the positive-sequence voltage magnitude at the point of common coupling (PCC) subject to the current, active power, and synchronization stability constraints. Then, we perform the optimality analysis to explore the global optimum analytically. It is found that the unique global optimum has three scenarios/stages (S1–S3), which depends on the specific relationship among grid voltage, grid strength, and physical limits of IBRs. The explicit closed-form solutions in S1 and S3 are derived, and the optimality conditions (an implicit solution) of S2 are provided, which guarantees the global optimality and enables the compatibility with fast real-time control. Finally, we implement the optimum with a grid-connected single-stage photovoltaic (PV) power plant by integrating a DVS controller. Dynamic simulations are carried out under different scenarios to test our proposal. The robustness against model errors is also discussed. [ABSTRACT FROM AUTHOR]

We propose a Koopman operator-based surrogate model for propagating parameter uncertainties in power system nonlinear dynamic simulations. First, we augment a priori known state-space model by reformulating parameters deemed uncertain as pseudo-state variables. Then, we apply the Koopman operator theory to the resulting state-space model and obtain a linear dynamical system model. This transformation allows us to analyze the evolution of the system dynamics through its Koopman eigenfunctions, eigenvalues, and modes. Of particular importance for this letter, the obtained linear dynamical system is a surrogate that enables the evaluation of parameter uncertainties by simply perturbing the initial conditions of the Koopman eigenfunctions associated with the pseudo-state variables. Simulations carried out on the New England test system reveal the excellent performance of the proposed method in terms of accuracy and computational efficiency. [ABSTRACT FROM AUTHOR]

This paper presents a methodology for the design of over-frequency containment schemes in low inertia, high renewable systems. This methodology is demonstrated through the comprehensive redesign of the containment scheme for significant over-frequency events (e.g., the loss of an exporting HVDC interconnector) in the Ireland and Northern Ireland power system (All-Island System). The new scheme allows an existing synchronous generator runback system integrity protection scheme to be replaced with fixed wind tripping and dynamic response from wind. This exploits the capabilities of renewable generation to create effective protection and control resources. The methodology provides the steps required to determine the key parameters of the scheme (e.g., maximum allowable frequency, required volume of tripping, lowest trip frequency). A key consideration of the methodology is the volume of dynamic response from wind that can be deployed before frequency limits are violated (e.g., inertia and wind penetration). Dynamic simulations are performed in DSE Tools for the All-Island system considering a 2020 operational scenario. These simulations support the application of the methodology and demonstrate the effectiveness of the scheme designed for the All-Island system. [ABSTRACT FROM AUTHOR]

With the increasing penetration of renewable energy, frequency response and its security are of significant concerns for reliable power system operations. Frequency-constrained unit commitment (FCUC) is proposed to address this challenge. Despite existing efforts in modeling frequency characteristics in unit commitment (UC), current strategies can only handle oversimplified low-order frequency response models and do not consider wide-range operating conditions. This paper presents a generic data-driven framework for FCUC under high renewable penetration. Deep neural networks (DNNs) are trained to predict the frequency response using real data or high-fidelity simulation data. Next, the DNN is reformulated as a set of mixed-integer linear constraints to be incorporated into the ordinary UC formulation. In the data generation phase, all possible power injections are considered, and a region-of-interest active sampling is proposed to include power injection samples with frequency nadirs closer to the UFLC threshold, which enhances the accuracy of frequency constraints in FCUC. The proposed FCUC is investigated on the IEEE 39-bus system. Then, a full-order dynamic model simulation using PSS/E verifies the effectiveness of FCUC in frequency-secure generator commitments. [ABSTRACT FROM AUTHOR]

This work investigates the dynamic characteristics of vacuum arc in the initial expansion process of a direct current (dc) circuit breaker. Based on the commercial cup-type axial magnetic field (AMF) contact, a 3-D transient magnetohydrodynamic (MHD) model is established. In the model, transient equations are used to study the transient characteristics of the vacuum arc. The effect of magnetic field hysteresis is also considered in the method. The dynamic mesh technique is adopted to simulate the electrode separation, which can make the simulation results more accurate. The simulation results show that, during the initial expansion process, with the increase in the current, the arc gradually expands in the electrode gap. The ion pressure, ion number density, axial current density, and energy flux density to the anode gradually decrease. Ion rotation can be observed under the influence of the magnetic field, and the rotation speed will increase with the increase in the current. Two different arc ignition positions are also compared. The result shows that igniting the arc at the contact center is more helpful to the success of the interruption of the dc circuit breaker. The appearance of the arc predicted by the model is consistent with the experimental results. [ABSTRACT FROM AUTHOR]

This article describes a soft robot based onboundary constrained modular subunits. The loop-shaped robot consists of a granule-filled elastic toroidal membrane with a series of modular subunit robots attached to its exterior. The robot can operate both as a soft robot to conform to external objects or navigate through narrow corridors and as a rigid robot by jamming its internal granules using a vacuum. The jammed state is useful for exerting forces on the environment in object manipulation or locomotion tasks. This article describes the robot’s design, object handling capabilities, locomotion, shape formation, and ability to navigate narrow corridors. We also present computationally efficient control methodologies used for self-reconfiguration and target tracking, which enable scaling the number of subunits to create larger systems. The robot’s scalability and the control methodologies are verified through simulation with ProjectChrono, a multibody dynamic simulation platform. All other results are obtained experimentally. [ABSTRACT FROM AUTHOR]

The multiplying factor (MF) is critical for the correct design, sizing, and selection of protection devices in a power system. This factor depends on the X/R ratio at the point of failure. The standards establish an equivalent MF for the X/R ratios for both three-phase and single-phase fault accordingly for engineering practices. However, X/R ratios for single-phase faults ignore how much from the total X/R ratio comes from the positive-sequence or zero-sequence X/R ratio. This research demonstrates that the total X/R ratio at the point of failure is not the only variable that affects how the multiplying factor changes. The results demonstrate with dynamic short-circuit simulations using EMTP-ATPDraw, which it is also necessary to establish the MF considering the differences of the X/R ratios of each sequence, respectively. To support the engineering designer in the correct selection of the protection device, this article proposes a methodology complementary to the standards, which allows establishing the multiplying factor using the X/R ratios of positive and zero sequence separately. The results show that both oversized and undersized design situations can occur when ignoring the zero sequence in particular scenarios. [ABSTRACT FROM AUTHOR]

Objective: During dynamic simulations, residuals are nonphysical generalized forces/moments that dynamically balance external and inertial forces/moments, accounting for data processing and modelling errors. Hicks et al. (2015) made the original residual threshold recommendations for an acceptable simulation, but these thresholds are not based on the dynamic, physics-based movement characteristics. In this study, we present three new, physics-based guidelines for accepting dynamic simulations of movement using zero moment point computations and thresholds for forces, center of pressure, and free moment. Methods: We formulate new guidelines and evaluate them alongside the original 2015 recommendations using two movements: single-leg jump-landing (SLJL) and walking gait. We also present a MATLAB function for users to test if their simulations meet these guidelines. Results: We found that on average, only 4.3% (SLJL) and 8.2% (walking gait) of the original 2015 residuals volume met all the new physics-based guidelines. The free-moment guideline was the most restrictive for reasonable simulations, especially for high-velocity movements at times with lower vertical ground reaction forces. Additionally, some of the new recommended residuals volume fell outside of the original 2015 recommendations. Moreover, accepting reasonable simulations using different thresholds leads to different joint torques as high as 24 Nm (SLJL) and 8.2 Nm (walking gait). Conclusion: The physics-based guidelines are overall more restrictive than the original 2015 recommendations and elicit different simulation kinetics. Significance: Using different guidelines may lead to different conclusions and clinical interpretations. We advocate for the physics-based guidelines as they are built upon the dynamic, physics-based characteristics of the movement. [ABSTRACT FROM AUTHOR]

Phase sequence exchange (PSE) is a recently developed emergency control technology. PSE uses power electronic devices to switch the three-phase sequence, which reduces the power angle of the generator by 120° and prevents the system from losing stability. In this work, the structure of the PSE device is improved. Based on the original nine solid-state circuit breakers (SSCBs), three mechanical circuit breakers (MCBs) are added. Normally, the current flows through the MCBs, which greatly reduces the conduction loss of the PSE device. Once the generator is identified as being out-of-step, the MCBs quickly open to transfer the current to the SSCBs. When the power angle threshold of the PSE is reached, the SSCBs are switched to complete PSE. In this article, the transient characteristics of the current transfer and PSE processes are analyzed. Based on the real time digital simulation system (RTDS) platform, dynamic simulation tests of the improved PSE prototype are carried out under different conditions. Experiments and calculations demonstrate that the improved PSE device can meet the technical requirements of PSE, and that the conduction power loss is reduced by 96% on average. [ABSTRACT FROM AUTHOR]

This article presents a massive multiple-input multiple-output (MMIMO) outdoor measurement campaign with bidirectional angular discrimination. Two dynamic user arrays of eight elements each are measured simultaneously. Multiuser consistency and spatial consistency are important for proper modeling and simulation of dynamic users in MMIMO channels. This article will investigate the common scatterers between two moving users by considering the power contribution from physical objects to each user. Interuser distance and user alignment in the direction of dominant scatterers are also considered. Paths are estimated from wideband dual-directional beam-scanning. A method is developed to group the paths based on delay and angular development along the measured tracks. The estimated delay and angle of each path, along with ray tracing simulations, are used to map the interactions of each path to surrounding walls or objects. The power contributions from objects are compared to determine common scatterers between users, which can cause larger correlation and a reduced MIMO capacity. [ABSTRACT FROM AUTHOR]

This paper presents a novel approach to dynamic phasor-based transient stability simulation. The proposed method is based on the modified nodal analysis (MNA) approach to circuit simulation, which is used to construct continuous differential-algebraic equations (DAEs). The proposed method makes use of the stamp technique, which makes it possible to construct a general purpose MNA-based simulator. Stamp-based models for common power system components are derived in this work. A new MNA-based synchronous machine model is presented, which represents machines as nonlinear inductances instead of subtransient equivalents. The resultant continuous DAEs are numerically solved using the general purpose variable step and variable order library IDA. Simulation results from the IEEE 68 bus test system, a real 400 bus power system, and the IEEE 39 bus test system with an embedded HVdc transmission system demonstrate that the proposed method is suitable for large ac networks with power electronic devices. The results demonstrate good agreement between the proposed method and electromagnetic transient (EMT) simulation. The results also demonstrate that the proposed method is fast and scalable with CPU times that are up to 200 times faster than EMT simulation. [ABSTRACT FROM AUTHOR]

This article presents a SPICE circuit that is able to predict dynamic core losses in ferrite inductors with nonuniform magnetic field. The circuit is supplied by a current generator and provides the core power loss as output. The article moves from models available in literature, which has been modified by the introduction of two main improvements allowing to extend the fields of applications. The first one is the design of a circuit that is able to ensure accurate power losses estimation even in the presence of signals affected by noise. The second improvement extends the usability of the model also to those cases where the magnetic material saturates because of high current or temperature effect. Extensive experimental tests to assess the accuracy of the estimations and simulations have been carried out. [ABSTRACT FROM AUTHOR]

With the decrease in system inertia, frequency security becomes an issue for power systems around the world. Energy storage systems (ESS), due to their excellent ramping capabilities, are considered as a natural choice for the improvement of the frequency response following major contingencies. In this paper, we propose a new strategy for energy storage – frequency shaping control – that allows to completely eliminate the frequency Nadir, one of the main issues in frequency security, and at the same time tune the rate of change of frequency (RoCoF) to a desired value. With Nadir eliminated, the frequency security assessment can be performed via simple algebraic calculations, as opposed to dynamic simulations for conventional control strategies. Moreover, our proposed control is also very efficient in terms of the requirements on storage peak power, requiring less (up to 40% in one of the cases) power than conventional virtual inertia approach for the same performance. [ABSTRACT FROM AUTHOR]

In this article, a new torque sharing function (TSF) method is proposed for torque ripple reduction in switched reluctance machines (SRMs). The proposed TSF achieves lower current tracking error by establishing a new current reference generation strategy. The phase current reference is first derived from the torque command using offline calculations and also from the phase current response that is obtained from the dynamic model of the SRM. Then, an optimization problem is formulated to shape the current reference for the objective of minimizing the torque ripple and copper losses, while maintaining the required average output torque at the given operating speed. The dynamic simulation of the SRM model is also utilized in the optimization problem. Compared to the existing conventional and optimization-based TSFs, the proposed TSF exhibits lower current tracking error due to the consideration of the current dynamics. Better torque–speed performance with improved average torque and reduced torque ripple is also obtained, especially during commutation. Simulations and experiments under different operating conditions are carried out to verify the proposed TSF method. [ABSTRACT FROM AUTHOR]

Measuring and quantifying the electromagnetic characteristics of switched reluctance motors (SRMs) are indispensable for advanced motor control and performance enhancement. This article reports on a novel method in obtaining the flux-linkage characteristics of an SRM without rotor clamping devices and position sensors. This approach combines measurement with data reconstruction. For the measuring step, flux-linkage samples at four torque-balanced positions were measured indirectly. Considering the magnetic coupling among phases, two different excitation forms were adopted to further increase accuracy. Then, for the reconstructing step, a fuzzy logic-based approach was applied to reconstruct the complete flux-linkage characteristics with measurement results. The construction results were compared to measurements results from the traditional rotor clamping method, and good agreements can be found, demonstrating the effectiveness of the proposed method. Furthermore, based on reconstructed electromagnetic characteristics, dynamic simulation of an SRM prototype under different control modes was carried out and analyzed in MATLAB. Comparison with dynamic experiments further verifies the accuracy and effectiveness of the proposed method. [ABSTRACT FROM AUTHOR]

This paper presents a nonlinear dynamic simulation model of an ultracapacitor (UC) bank and the associated control system. The control system at hand consists of two levels: the lower level controls the inverter of the UC bank, while the upper control level is responsible for providing charging/discharging active power set points to be followed by the lower control level. This paper focuses on the development of the upper control level for frequency control. Specifically, two simulation case studies are developed so as to assess the performance of the proposed control framework. In the first case study the upper control level is developed using a classical Proportional-Integral-Derivative (PID) controller. In the second case study the upper control level is devised using a Model Predictive Control (MPC) algorithm based on internal linear prediction model of a nonlinear UC bank. In both cases, a nonlinear UC bank simulation model is used. The simulation case studies are modelled and tested in Matlab/Simulink. The response of the MPC-controlled UC bank is compared to the 3 existing PID-control algorithms for frequency control. The simulation results show that the MPC algorithm outperforms the conventional PID controllers. [ABSTRACT FROM AUTHOR]

The increasingly complex AC/DC network as a result of the massive integration of wind farms manifests the significance of a comprehensive transient study. In this work, the wind turbine (WT) and the DC grid are modeled in detail for the electromagnetic transient (EMT) simulation to maximize its fidelity, whilst the AC grid transient stability is analyzed by dynamic simulation (DS). An interactive EMT-DS interface is thus introduced to enable their concurrency and subsequently form a co-simulation. The CPU which is dominant in system study faces a tremendous challenge in handling a great number of components albeit they exhibit homogeneity. The many-core graphics processing unit (GPU) featuring massive parallelism is therefore exploited and following the definition of an adaptive computing boundary, a flexible heterogeneous sequential-parallel processing architecture is proposed for efficient analysis of the wind-farm-integrated AC/DC grid. Topological reconfiguration of WTs is specifically carried out to reduce the numerical order whilst enhancing system homogeneity that enables the GPU to thoroughly utilize its peculiar property of single-instruction multiple-thread (SIMT) compute paradigm. Consequently, significant speedups can be attained by the proposed computing framework over pure CPU computation, while its accuracy is validated by the commercial EMT and dynamic security analysis tools PSCAD/EMTDC and DSATools, respectively. [ABSTRACT FROM AUTHOR]

The conventional Under Frequency Load Shedding (UFLS) scheme could result in unacceptably low frequency nadirs or overshedding in power systems with volatile inertia. This paper proposes a novel UFLS scheme for modern power systems whose inertia may vary in a wide range due to high penetration of renewable energy sources (RESs). The proposed scheme estimates the rate of change of frequency (RoCoF) of the center of inertia (CoI), and consequently, the loss of generation (LoG) size, using local frequency measurements only. An innovative inflection point detector technique is presented to remove the effect of local frequency oscillations. This enables fast and accurate LoG size calculation, thereby more effective load shedding. The proposed UFLS scheme also accounts for the effect of the inertia change resulting from LoG events. The performance of the proposed scheme is validated by conducting extensive dynamic simulations on the IEEE 39-bus test system using Real Time Digital Simulator (RTDS). Simulation results confirm that the proposed UFLS scheme outperforms the conventional UFLS scheme in terms of both arresting frequency deviations and the amount of load shed. [ABSTRACT FROM AUTHOR]

The replacement of directly connected synchronous generators with power electronics interfaced generation has led to a decrease in system's inertia posing a significant challenge on frequency dynamics. In isolated systems with reduced inertia predefined limits for renewable penetration and primary reserves are frequently set for dynamic security purposes. This approach might not ensure dynamic security or can prove conservative in certain conditions. Furthermore, these approaches rarely consider the capabilities of inverter based renewable generation to provide frequency services. In this paper, a data driven approach, based on optimal classification trees is proposed to extract, from a detailed dynamic model of the system, the constraints for a frequency dynamic unit commitment formulation. Hence, both dynamic security and optimal exploitation of renewable and conventional units for power production and frequency support can be achieved. The advantages of the proposed method compared to conventional and state of the art approaches in frequency security are validated through dynamic simulations on a realistic model of Rhodes island and IEEE 118. Uncertainties in load demand and renewable generation are dealt by a robust optimization method. Its economic performance, computational overhead and modelling complexity is compared to a stochastic approach. [ABSTRACT FROM AUTHOR]

This paper presents the modeling of some protective relays commonly used in generation and transmission systems, and their integration in three-phase RMS dynamic simulation tool. The three-phase models of the network and the power apparatuses, utilizing phase frame representation, enlarges the possibility to better represent the protection systems, since the relays involving ground and neutral circuitry can be modeled. The network can be modeled with a node-breaker topology representation, facilitating the integration of protecting relays and the switchgear. The relay modeling framework can also be used in positive-sequence RMS dynamic simulation tools with few adjustments in the measured quantities. Simulation results in realistic small and large-scale systems showing the performance of the proposed relay modeling framework and a comparison with an EMT tool are presented. [ABSTRACT FROM AUTHOR]

This article presents an algorithm termed as multiobjective dynamic rapidly exploring random (MOD-RRT*), which is suitable for robot navigation in unknown dynamic environment. The algorithm is composed of a path generation procedure and a path replanning one. First, a modified RRT* is utilized to obtain an initial path, as well as generate a state tree structure as prior knowledge. Then, a shortcuting method is given to optimize the initial path. On this basis, another method is designed to replan the path if the current path is infeasible. The suggested approach can choose the best node among several candidates within a short time, where both path length and path smoothness are considered. Comparing with other static planning algorithms, the MOD-RRT* can generate a higher quality initial path. Simulations on the dynamic environment are conducted to clarify the efficient performance of our algorithm in avoiding unknown obstacles. Furthermore, real applicative experiment further proves the effectiveness of our approach in practical applications. [ABSTRACT FROM AUTHOR]

Historically, distribution system planning studies mainly focused on steady state and quasi-steady state analysis, with limited attention paid to dynamic analysis. This paper develops three-phase, electromechanical models for both grid-forming and grid-following inverters, and integrates them into an open source, three-phase distribution network solver, thereby enabling dynamic simulation of large-scale, three-phase unbalanced distribution systems with high penetration of inverter-based DERs. The proposed inverter models are validated against electromagnetic simulation and field test data from the CERTS/AEP microgrid testbed, and simulated in an islanded 5252 node distribution system in the GridLAB-D simulation environment. Simulation verifies the effectiveness of the proposed inverter models for large-scale distribution system analysis. Study results show that compared to traditional grid-following inverters, the high penetration of grid-forming inverters can improve the voltage and frequency stability of islanded distribution systems. [ABSTRACT FROM AUTHOR]

Numerical simulation is the key technique for large-scale power system analysis. Redistribution of global renewable power via international interconnections requires new simulation tools to study the interconnected systems with different nominal frequencies as a whole. This paper introduces an open-source simulation toolkit for electrical power systems (STEPS) hosted at Github. Its kernel is coded in C++ with major functions of power flow and electro-mechanical dynamic simulation. Flexible options are provided and configurable to improve power flow solution and dynamic simulation. Common devices and models are supported in STEPS for AC/DC hybrid system studies. The study of interconnected systems with different nominal frequencies is supported in STEPS for research of international interconnection. Application program interfaces are provided and wrapped with Python to enable high-level interfaces for general applications. STEPS is thread-safe, and parallel computation is supported in both kernel-level and task-level parallelization to accelerate simulation. It is portable and works on Windows and GNU/Linux platforms. Cases from small to large-scale systems are thoroughly tested to validate the toolkit with commercial packages as benchmarks. [ABSTRACT FROM AUTHOR]

A numerical model has been developed to investigate the dynamic characteristics of the Superconducting electrodynamic suspension (EDS) system. Modeling of the guideway with the surface irregularity and the Maglev vehicle are described. Numerical simulations were performed in Simulink to solve the coupled problem. A 3-D model of the electromagnetic system of the superconducting EDS train is established, and the computed real electromagnetic forces are coupled with the maglev train. The EDS train was simulated by using the SIMPACK multi-body dynamic program. The simulation was carried out by using two body models of rigid and flexible bodies. In order to use the modal information to construct the flexible car body, the finite element method and the ABAQUS software were used to construct it together with equivalent elements. The final framework is constructed in MATLAB/Simulink to simulate dynamics and electromagnetic forces together with the constructed simulation framework. In order to consider the interference caused by irregularities, randomness and power spectral density (PSD) are used to analyze vibration interactions. We compared random signal inputs with PSD, greatly enhancing accuracy, and analyzed the vibrational interaction between car body and ride quality. [ABSTRACT FROM AUTHOR]

Dynamic electromagnetic characteristics is significant for the design and operation of superconducting (SC) electrodynamic suspension (EDS) train. This paper established a three-dimensional transient numerical model in COMSOL. The current density excitation comes from the homogenized model of the superconducting magnet. In order to decrease the computing time, periodic boundary is introduced taking the place of finitely long route. Mapping operator is adopted to ensure the continuity of physical quantities in the case of geometric discontinuity in the process of motion. Induced current and magnetic force at different operation velocity and different structure are simulated. In general, this model could be applied to simulate long term operation. It is also suited for the simulation of propulsion systems for EDS systems. In addition, this model provides electromagnetic environment intuitively that would be helpful for the stability analysis and design of onboard SC magnets during long term operation. [ABSTRACT FROM AUTHOR]

With the advantages of high-speed, low-noise and environment-friendly, magnetic levitation (maglev) train has the potential to become a high-speed transportation mode. High-temperature superconducting (HTS) maglev, which can remain stable levitation without any control system, is a competitive type of maglev rail transit. As a kind of high-speed transit, the vibration of the HTS maglev system is inevitable. Hence, studies about its dynamics are necessary and significant. The developments and researches for the HTS maglev vehicle dynamics in Applied Superconductivity Laboratory (ASCLab) are elaborated in detail in this paper. Based on the improved HTS maglev ring test line “Super-Maglev”, a series of research works have been carried out. First, the mathematical model of the pinning force was proposed. Second, motion stability and nonlinear vibration characteristics were studied. Then, the dynamic simulation of vehicle-bridge coupled system of the HTS maglev train was performed. Finally, certain vibration reduction optimizations were added. These dynamics researches give a strong verification for the future application prospect and feasibility of HTS maglev transportation, and the results can provide reference for the engineering application. [ABSTRACT FROM AUTHOR]

In the present paper, an attempt has been made to introduce a new Stability Index (SI) for induction motors (IMs) three-phase fault recovery in industrial networks. The proposed SI is based on the steady-state model of induction machine as well as the usage of concepts related to stable and unstable equilibrium points. This index is evaluated by estimating the post-fault slip and is a function of the maximum slip and slips related to the induction motor operating point in pre-fault and post-fault torque-slip characteristics. Moreover, this index quantifies the amount of stability in addition to the stability state determination. The method is validated through comparison between the analytical and dynamic simulation results. Sensitivity analysis has also been used to describe the proposed index completely. This paper also presents a novel objective function by which the fault recovery process can be done optimally. The proposed method presented in this paper has also been applied to two industrial networks, one of which is the modified IEEE 9-bus system. [ABSTRACT FROM AUTHOR]

The goal of this article is the experimental validation of a gray-box equivalent modeling approach applied to microgrids. The main objective of the equivalent modeling is to represent the dynamic response of a microgrid with a simplified model. The main contribution of this work is the experimental validation of a two-step process, composed by the definition of a nonlinear equivalent model with operational constraints, adapted to the microgrid environment, and the identification procedure used to define the model parameters. Once the parameters are identified, the simplified model is ready to reproduce the microgrid behavior to voltage and frequency variations, in terms of active and reactive power exchanges at the point of common coupling. To validate the proposed approach, a set of experimental tests have been carried out on a real low voltage (LV) microgrid considering different configurations, including both grid-connected and islanded operating conditions. Results show the effectiveness of the proposed technique and the applicability of the model to perform dynamic simulations. [ABSTRACT FROM AUTHOR]

This paper presents a three-dimensional (3-D) path planning method that combines the gliding with dolphin-like motions for the gliding robotic dolphin. A specific task that the robot uses the gliding motion for long-distance cruise and the dolphin-like motion for maneuverable obstacle avoidance is employed. The results of simulations and aquatic experiments validate the full-state dynamic model and the specific task, further offer some theoretical supports for 3-D path planning. Further, the 3-D path planning method is composed of three main components: 1) gliding path generation; 2) improved Astar (A*) algorithm; and 3) segmented Bezier curve smoothing. First, the gliding path is generated autonomously with the kinematic constraints that are obtained via the simulations of dynamic model. Furthermore, when the obstacles are detected by the sonar, an improved A* algorithm is employed to avoid the obstacles. Afterward, considering the path planned by A* is unsmoothed, a segmented Bezier curve method is presented. Simulation results demonstrate the effectiveness of the method, offering valuable insight into the utilization of hybrid underwater robots in the context of real-time task execution. [ABSTRACT FROM AUTHOR]

This letter proposes an analytical expression on transient overvoltage peak value caused by DC blocking (DCB) and commutation failure (CF). The proposed method can obtain the transient overvoltage risk without modeling the complex AC/DC hybrid system. The method only requires the equivalent parameters of the AC system and the operation parameters of the DC system to effectively calculate the overvoltage without using the dynamic simulation software. The simulation results verify the effectiveness and correctness of the proposed method. [ABSTRACT FROM AUTHOR]

Dynamic simulation of the integrated AC/DC grids plays a crucial role in the energy control center. In this work, a faster than supervisory control and data acquisition (FT-SCADA) emulation based on flexible time-stepping (FTS) algorithm is proposed for the energy control center to predict and mitigate the impacts after serious disturbances using field-programmable gate arrays (FPGAs). To gain a high acceleration over SCADA/real-time, the FTS-based dynamic emulation is applied to the AC grid, which is the IEEE 118-bus system where a $9^{th}$ -order synchronous machine model is adopted. Meanwhile, the electromagnetic transient (EMT) emulation revealing the exact performance of the DC grid provides an insight into the impact on its AC counterpart. A power-voltage interface is inserted between the AC and DC grids since distinct emulation strategies are utilized, and the EMT-dynamic co-emulation is able to run concurrently on FPGA boards due to their massive parallelism. Three case studies are emulated to demonstrate the efficacy of the proposed algorithm, and a minimum of 101 times faster-than-SCADA/real-time can be achieved. Hence, following the occurrence of a disturbance, the FT-SCADA/RT emulator will generate an optimal solution in advance to maintain the stability of the hybrid AC/DC grid. The results of the FTS-based FT-SCADA/RT emulation are validated by the off-line transient stability simulation tool TSAT of the DSATools suite. [ABSTRACT FROM AUTHOR]

The concept of segmented AC power systems interconnected by means of HVDC is becoming more and more significant for many cases worldwide. Such systems already exist and will become more complex with the increasing emergence of HVDC links and grids. The concept of a grid composed of multiple subgrids motivates the need to define the governing roles of Interconnecting Power Converters (IPC) which connect the different subgrids. Such IPC can have various operation modes which are presented and analyzed in this paper. In addition, the principles of operation needed for each individual subgrid and for the overall system are introduced and discussed. The resulting fundamental equations are outlined and combined in a power flow formulation of the overall system. A simple case study is presented to illustrate the power flow formulation in a grid of multiple subgrids, also introducing example dynamic simulations of transitions between different operating points. [ABSTRACT FROM AUTHOR]

Objective: Musculoskeletal models play an important role in surgical planning and clinical assessment of gait and movement. Faster and more accurate simulation of muscle paths in such models can result in better predictions of forces and facilitate real-time clinical applications, such as rehabilitation with real-time feedback. We propose a novel and efficient method for computing wrapping paths across arbitrary surfaces, such as those defined by bone geometry. Methods: A muscle path is modeled as a massless, frictionless elastic strand that uses artificial forces, applied independently of the dynamic simulation, to wrap tightly around intervening obstacles. Contact with arbitrary surfaces is computed quickly using a distance grid, which is interpolated quadratically to provide smoother results. Results: Evaluation of the method demonstrates good accuracy, with mean relative errors of 0.002 or better when compared against simple cases with exact solutions. The method is also fast, with strand update times of around 0.5 msec for a variety of bone shaped obstacles. Conclusion: Our method has been implemented in the open source simulation system ArtiSynth (www.artisynth.org) and helps solve the problem of muscle wrapping around bones and other structures. Significance: Muscle wrapping on arbitrary surfaces opens up new possibilities for patient-specific musculoskeletal models where muscle paths can directly conform to shapes extracted from medical image data. [ABSTRACT FROM AUTHOR]

The aim of this study is to propose a new three-degree-of-freedom linear-rotational resonant actuator and its controller. To realize all of the resonant motion, four-phase coils and three sets of the permanent magnet are arranged symmetrically. In addition, in order to control the proposed actuator, inverter topology with six-switches is presented. Parameter characteristics obtained through finite-element analysis support the validity of the proposed actuator. Finally, dynamic simulation is performed to verify the effectiveness of the proposed actuator. [ABSTRACT FROM AUTHOR]

The emerging voltage source converters (VSCs) such as hybrid cascaded multilevel converters (HCMCs) are promising converter technologies which enable higher converter efficiency, compactness, and DC fault resilience for high voltage direct current (HVDC) transmission. However, the large number of switching events due to the converters’ submodules introduces a heavy computational burden for electromagnetic transient (EMT) simulations. Efficient and accurate EMT-type converter models play a vital role in the control and design of HVDC converters. Several computationally efficient models for the HCMCs are proposed in this paper, including the detailed equivalent model (DEM) and several average value models (AVMs) of varying accuracy. Additionally, a combined model is proposed which allows the users to switch among the DEM and AVMs during dynamic simulations. The proposed models are validated against the DEM for dynamic transients. The simulation results demonstrate good modeling accuracy of the proposed models. The AVMs are also shown to significantly improve simulation efficiency compared to the DEM, which is very desirable especially for HCMCs with a large number of submodules. [ABSTRACT FROM AUTHOR]

To date, many gait generation strategies have been designed for robots with leg configurations that model those of natural creatures. However, their leg configurations are limited to the $2\times N$ type, such as hexapod or myriapod; hence, simultaneously, the potential ability of legged robots is implicitly limited. We consider single-legged modular robots that can be arranged to form a cluster with arbitrary 2-D leg configurations. By choosing configurations appropriately, these robots have the potential to perform several types of tasks, as is the case for reconfigurable modular robots. However, to use appropriate configurations for a given task, a unified gait generation system for various configurations of a cluster is required. In this article, we propose an autonomous distributed control system for each single-legged modular robot to collectively achieve static walking of the cluster with various leg configurations on planar ground. Moreover, our system is an autonomous distributed system with scalability and fault tolerance, in which each module determines the moving pattern of its foot through local communication without global information, such as the entire leg configuration of the cluster. We verified that several types of clusters achieved static walking using our system not only in dynamic simulations, but also in real robot experiments. [ABSTRACT FROM AUTHOR]

Due to the geographic features and fruitful water resources, the distributed generation of Small Hydropower Generator Stack (SHGS) are vigorously developed in southwest China. As the more concerns about security and stability of power grids with the large amount of SHGS feed into the grid, the accurate models are critical to analyze those potential impacts. With the development of online monitoring technologies in smart grid, PMU based dynamic equivalent modeling for SHGS drawn many attentions. However, field applications reveal that traditional SHGS equivalent model may not be robustness enough to adapt the different disturbances. To overcome this deficiency, method to improve the robustness of SHGS dynamic equivalent modeling is proposed. In the paper, a coherency identification based multi-machine modeling method is introduced to enhance the accuracy of equivalent model. Sensitivity and correlation analysis based key parameters selection scheme is implemented to select the critical parameters, meanwhile avoiding the multiple solutions problem. Moreover, multi-objective optimization algorithm is designed for key parameters identification of the equivalent model. Additionally, hybrid dynamic simulation has adopted into the equivalent process to improve the computational efficiency. The effectiveness of the proposed method has been validated with an actual case from China Southwest grids. [ABSTRACT FROM AUTHOR]

This paper describes the two test systems for voltage stability studies set up by the IEEE PES Task Force on “Test Systems for Voltage Stability Analysis and Security Assessment” under the auspices of the Power System Stability Subcommittee of the Power System Dynamic Performance Committee. These systems are based on previous test systems, making them more representative of voltage stability constraints. A set of representative results are provided for both systems, with emphasis on dynamic simulation. They illustrate various aspects such as long-term dynamics, voltage security assessment, real-time detection, and corrective control of instabilities. The value for educators, researchers and practitioners are emphasized. [ABSTRACT FROM AUTHOR]

The multi infeed interaction factor (MIIF) index was introduced by CIGRE as a measure of inter-inverter interactions in multi-infeed HVDC systems, which include only line-commutated converter based HVDC (LCC–HVDC) links. The MIIF is although valid among LCCs in hybrid multi-infeed HVDC systems, but not among voltage-source converters (VSCs) as well as between LCC and VSC when the VSC operates under the constant ac voltage control mode. In this paper, a multi-infeed voltage interaction factor (MVIF) index is firstly proposed as the quantitative measure of inter-inverter interactions in hybrid multi-infeed HVDC systems. Compared to the MIIF, the MVIF is unified since it is applicable regardless of inverter types and control modes. Moreover, the quasi-steady-state power-flow model of hybrid multi-infeed HVDC systems is utilized as the mathematical framework to develop the analytical calculation method of the MVIF. This lends a theoretical basis for the efficient evaluation of inter-inverter interactions. Furthermore, the parametric dependence of the MVIF is analyzed to provide an exhaustive perspective of inter-inverter interactions. This offers a useful tool to aid planning and operation of hybrid multi-infeed HVDC systems. Finally, dynamic simulations conducted on the PSCAD/EMTDC program validate the MVIF and its analytical calculation method. [ABSTRACT FROM AUTHOR]

In this paper, a comparative study including measurement and modeling of partial discharge for various void geometries (cylinder, block, and prisms) at very low frequency (VLF) and power frequency (PF) voltage is presented. Results from experiments and simulations are presented with phase-resolved discharge patterns and integrated parameters (maximum/average discharge magnitudes, and repetition rates). Dynamic simulation, achieved using a combination of finite element analysis and Matlab, matches the experimental results. Differences of discharge characteristics between VLF and PF may be attributed to the physical mechanisms in the modeling including cavity surface conductivity and space charge decay rate. Compared with discharge activities at PF, the VLF excitation in general exhibits relatively lower discharge magnitude and repetition rate. Also, the inception voltage is found to be lower at VLF. [ABSTRACT FROM AUTHOR]

In meshed high voltage direct current grids, the current of each line cannot be controlled independently, since it depends on the resistances between nodes. Additional devices, such as current flow controllers (CFCs), may be needed to avoid bottlenecks or line overloads. This work presents a multiport dc–dc-based CFC topology to be connected to $n$ lines with unidirectional current flows. The device is able to control the dc lines’ currents to the desired value by inserting variable voltage sources in series. First, the modeling of the generic $n$ -port topology is presented and then, its modulation and control strategy are described. In the first case study, the concept is validated considering a 5-port CFC by means of dynamic simulations using different control methods. Finally, in the second case study, a 3-port CFC prototype is built and tested in an experimental platform in the laboratory considering different control modes. [ABSTRACT FROM AUTHOR]

Many researchers rely on simulations to analyze and validate their researched methods on Cloud infrastructures. However, determining relevant simulation parameters and correctly instantiating them to match the real Cloud performance is a difficult and costly operation, as minor configuration changes can easily generate an unreliable inaccurate simulation result. Using legacy values experimentally determined by other researchers can reduce the configuration costs, but is still inaccurate as the underlying public Clouds and the number of active tenants are highly different and dynamic in time. To overcome these deficiencies, we propose a novel model that simulates the dynamic Cloud performance by introducing noise in the computation and communication tasks, determined by a small set of runtime execution data. Although the estimating method is apparently costly, a comprehensive sensitivity analysis shows that the configuration parameters determined for a certain simulation setup can be used for other simulations too, thereby reducing the tuning cost by up to 82.46 percent, while declining the simulation accuracy by only 1.98 percent on average. Extensive evaluation also shows that our novel model outperforms other state-of-the-art dynamic Cloud simulation models, leading up to 22 percent lower makespan inaccuracy. [ABSTRACT FROM AUTHOR]

Detailed nonlinear transient modeling of the photovoltaic (PV) system enables an accurate study of the host integrated AC/DC grid. In this article, the parallel architecture of the graphics processing unit (GPU) catering to a massive number of PV modules is utilized in conjunction with CPU for efficient transient simulation. To reflect the exact operation status of the solar power system subjected to various temperatures and nonuniform solar irradiance in the electromagnetic transient (EMT) simulation, all necessary panels are modeled individually, and therefore, a scalable PV array model with a flexible level of aggregation is proposed in addition to its fully detailed discrete counterpart so as to improve the computational efficiency. The single-instruction multiple-thread implementation mode of the GPU enables up to 10 million PV panels, regardless of the size or type, to be computed concurrently, and noticing that the hybrid AC/DC grid has a significant irregularity, the CPU is also adopted to tackle systems with inadequate parallelism. Meanwhile, since the AC grid dynamic interaction has a distinct tolerance on the time-step to that of the remaining part, a multi-rate scheme is employed to expedite the heterogeneous CPU-GPU computation for dynamic-EMT co-simulation, whose results are validated by the commercial off-line tools MATLAB/Simulink and DSATools/TSAT. [ABSTRACT FROM AUTHOR]

Capturability analysis of the linear inverted pendulum (LIP) model enabled walking with constrained height based on the capture point. In this paper, we generalize this analysis to the variable-height inverted pendulum (VHIP) and show how it enables 3-D walking over uneven terrains based on capture inputs. Thanks to a tailored optimization scheme, we can compute these inputs fast enough for real-time model predictive control. We implement this approach as open-source software and demonstrate it in dynamic simulations. [ABSTRACT FROM AUTHOR]

This paper presents the design and testing of a full-scale 330-kV, 210-MVA transformer tank designed to withstand the pressure effects of a 20 MJ, three-cycle low-impedance fault in oil, and fail at its cover in a safe and controlled manner above that amount of energy. The transformer tank, equipped with a mockup active part, was designed for arc resistance using nonlinear static finite-element analysis and a specific rupture criterion. It was then tested using an experimental methodology based on injecting pressurized air into the water-filled tank. To adequately reproduce the effects of an arc in oil, the test parameters were determined using explicit dynamic simulations. The transformer tank performed as predicted by the finite-element and explicit dynamic simulations. The energy levels used in the tests here are, to our knowledge, the largest ever reported. This study demonstrates that it is feasible to design a power transformer to safely withstand high-energy low-impedance faults of short duration. [ABSTRACT FROM AUTHOR]

Due to the maturity of wide area measurement technology, phasor measurement unit (PMU)-based dynamic equivalent modeling method (PDM) has been wildly used in large-scale power system modeling. However, traditional “event-based” PDM equivalent model may face serious robustness issues, such as although derived equivalent models show the good ability on reproduction of the system behaviors under recorded events where they derived from, they may not work well for other possible disturbances. In this article, to improve the robustness of equivalent model, a novel method on dynamic equivalent modeling of power system is proposed. Based on the result of coherency identification, generators inside the equivalent system can be aggregated into different coherent subgroups and represented by multimachine equivalent model. Key parameter selection, which can shrink the scale of identified parameters, is designed to avoid multiple solutions of the equivalent model. Moreover, a multiobjective parameter identification algorithm is developed to fully consider the PMU measurements in different system events. In addition, hybrid dynamic simulation is performed so that each equivalent submodel can be identified separately. Finally, the effectiveness of the proposed method is verified in an actual power grids in China. [ABSTRACT FROM AUTHOR]

The large amount of power electronic submodules and semiconductor switching events in the Modular Multilevel Converter (MMC) introduces several challenges for efficient and accurate Electro-Magnetic Transient (EMT) simulation. Research efforts have focused on developing Average Value Models (AVMs) of MMC that enable fast and accurate dynamic simulation of the converter. This paper proposes a universal blocking-module-based AVM, which can simulate the MMC of different submodule types and provide accurate results for the MMC operating in both blocking and de-blocking modes. An analytical approach is included in the model to calculate the semiconductor losses of different submodule types in the MMC. The proposed model is validated against a detailed switching-based model and the state-of-the-art AVMs in a 41-level two-terminal MMC-HVDC system. [ABSTRACT FROM AUTHOR]

Modeling and simulation play a vital role in the design and testing of modular multilevel converter (MMC) high voltage direct current (HVDC) systems. Detailed equivalent model (DEM) and switching-function-based average value model (SFB-AVM) are two major types of accurate and efficient models to represent the dynamic response of the MMCs. However, the DEM and the SFB-AVM possess unique benefits depending on the purpose of the simulation studies. The DEM provides a detailed representation of submodule (SM) switching events and individual capacitor ripples. The SFB-AVM provides faster simulation speed by using arm equivalent capacitance. Combining both models in a universal arm equivalent circuit gives the users the choice of selecting the most appropriate modeling method during dynamic simulation. This paper proposes a universal modeling framework combining the DEM with the SFB-AVM which allows the DEM and the SFB-AVM smoothly switch from one to the other during dynamic simulation. The proposed SFB-AVM can accurately represent the MMCs with different SM types. The proposed models are validated in offline and real-time simulation studies which demonstrate the improved simulation speeds of the proposed SFB-AVM over the DEM especially for large numbers of SMs. [ABSTRACT FROM AUTHOR]