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This paper presents an investigation into the virtualization of substation protection IED functions using a sophisticated co-simulation environment that integrates virtual intelligent electronic devices (vIEDs) with a real-time power grid simulation. Anchored by the IEC 61850 protocol, this study constructs a virtualized IED framework, emphasizing the encapsulation of protection schemes using the example of different types of overcurrent protection within a containerized vIED. Using open-source software, this study aims to replicate the communication and functional aspects of physical IEDs. This study uses a co-simulation environment that couples virtualized network components with a real-time power grid simulation to validate the vIEDs against real substation hardware. Simulation results from induced short-circuit events confirm the operational congruence of the vIEDs with their physical counterparts, demonstrating their potential to serve as cost-effective and adaptable testbeds for substation automation. This paper concludes that virtualized IEDs represent a cost-effective, flexible alternative for substation automation testing, with future research directed towards increasing the functional complexity and real-world applicability of these virtual systems. [ABSTRACT FROM AUTHOR]

With advancements in communication systems and measurement technologies, smart grids have become more observable and controllable, evolving into cyberphysical-power systems (CPPS). The impact of network security and secondary equipment on power system stability has become more evident. To support the existing grid toward a smart grid scenario, smart metering plays a vital role at the customer end side. Cyber-Physical systems are vulnerable to cyber-attacks and various techniques have been evolved to detect a cyber attack in the smart grid. Weighted trust-based models are suggested as one of the most effective security mechanisms. A hardware-in-loop CPPS co-simulation platform is established to facilitate the theoretical study of CPPS and the formulation of grid operation strategies. This paper examines current co-simulation platform schemes and highlights the necessity for a real-time hard-ware-in-the-loop platform to accurately simulate cyber-attack processes. This consideration takes into account the fundamental differences in modeling between power and communication systems. The architecture of the co-simulation platform based on RT-LAB and OPNET is described, including detailed modeling of the power system, communication system, and security and stability control devices. Additionally, an analysis of the latency of the co-simulation is provided. The paper focuses on modeling and implementing methods for addressing DDOS attacks and man-in-the-middle at-tacks in the communication network. The results from simulating a 7-bus system show the effectiveness and rationality of the co-simulation platform that has been designed. [ABSTRACT FROM AUTHOR]

Millimeter-wave radar has the advantages of strong penetration, high-precision speed detection and low power consumption. It can be used to conduct robust object detection in abnormal lighting and severe weather conditions. The emerging 4D millimeter-wave radar has improved the quality and quantity of generated point clouds. Adding radar–camera fusion enhances the tracking reliability of transportation system operation. However, it is challenging due to the absence of standardized testing methods. Hence, this paper proposes a radar–camera fusion algorithm testing framework in a highway roadside scenario using SUMO and CARLA simulators. First, we propose a 4D millimeter-wave radar simulation method. A roadside multi-sensor perception dataset is generated in a 3D environment through co-simulation. Then, deep-learning object detection models are trained under different weather and lighting conditions. Finally, we propose a baseline fusion method for the algorithm testing framework. This framework provides a realistic virtual environment for device selection, algorithm testing and parameter tuning for millimeter-wave radar–camera fusion algorithms. Solutions show that the method proposed in this paper can provide a realistic virtual environment for radar–camera fusion algorithm testing for roadside traffic perception. Compared to the camera-only tracking method, the radar–vision fusion method proposed significantly improves tracking performance in rainy night scenarios. The trajectory RMSE is improved by 68.61% in expressway scenarios and 67.45% in urban scenarios. This method can also be applied to improve the detection of stop-and-go waves on congested expressways. [ABSTRACT FROM AUTHOR]

The reliability of high-voltage circuit breakers (HVCBs) depends critically on the dynamic characteristics of their hydraulic operating mechanisms (OMs). However, previous analyses have been limited to discrete components due to the lack of models capturing multi-physics couplings. This paper proposes a novel co-simulation approach for hydraulic OMs that enables system-level analysis. Specifically, the hydraulic system is modelled using the lumped parameter method, and the transmission mechanism is modelled via finite element analysis. The subsystem models exchange inputs and outputs through shared memory, realizing coupling without compromising simulation performance. Experiments on a 550 kV HVCB validate that the model accurately captures OM transient responses. The co-simulation framework has diverse capabilities, including predicting dynamics under varied operating parameters and quantifying stress distributions and response evolution patterns. Overall, this paper proposes an advanced multi-physics analysis capability for hydraulic OMs to support reliabilityoriented design and optimization. [ABSTRACT FROM AUTHOR]

Liquid sloshing in the tank can seriously affect the stability of hazardous chemical tanker trucks during operation. To this end, this paper proposes a solution based on an electromagnetic semi-active suspension system to prevent chemical spills and ensure safe driving of hazardous chemical tank vehicles. A comprehensive investigation was conducted across four domains: theoretical research, simulation model establishment, co-simulation platform construction, and simulation data analysis. Three fuzzy controllers were used to suppress the vibration of the tank vehicles, and a simulation study of the stability control of the tank vehicles under electromagnetic semi-active suspension was carried out. The results show that the electromagnetic semi-active suspension can significantly reduce the vertical, pitch, and roll vibrations of the tank vehicles by 17.60%, 25.78%, and 27.86%, respectively. The research results of this paper are of great significance for improving the safety and stability of hazardous chemical tanker trucks. [ABSTRACT FROM AUTHOR]

Ever-increasing penetration of distributed energy resources (DERs) in the power grids, alongside their numerous benefits, brings new challenges that call for enhanced solutions in the field of control and management of power grids. The majority of the available research have considered either distribution or transmission grids in their studies. In this paper, a comprehensive review of the effects of DERs on the distribution and transmission grids is performed. The focus of this paper is on hierarchical management methods in order to categorize different approaches and highlight the gaps. Moreover, a review is conducted in the field of the newly introduced distributed energy resources management system (DERMS) concept. A DERMS can facilitate the hierarchical energy management procedure due to its functionalities and broad capabilities. Hence, its implementation in energy management and its impact on the power grid will be assessed with the aid of a co-simulation platform that considers both transmission and distribution grids. [ABSTRACT FROM AUTHOR]

Assessing construction process optimization and efficiency is crucial for the industry, yet quantitative methods for comparison are lacking. We propose the process matching degree (PMD) to quantitatively assess construction processes, enhancing efficiency and sustainability. Five primary indicators—regulations, environment, equipment, components, and organization—were identified, each of which were initially weighted equally using the weighted criteria approach (WCA). To refine the assessment, we conducted a questionnaire survey to adjust these weights based on expert feedback. Three sub-indicators were introduced for each primary indicator to increase granularity. The PMD's operability was verified through two cases study involving BIM-simulated and real construction processes. The light-steel-structure building's PMD values were 68 and 58 points, and the concrete structure's PMD was 88.25, respectively, and the reasons for these differences were analyzed. This paper introduces PMD, its evaluation indicators, and calculation method, and verifies its feasibility through cases studies and expert questionnaire surveys, providing a comprehensive PMD research methodology. [ABSTRACT FROM AUTHOR]

With the facilitated development of highly automated driving functions and automated vehicles, the need for advanced testing techniques also arose. With a near-infinite number of potential traffic scenarios, vehicles have to drive an increased number of test kilometers during development, which would be very difficult to achieve with currently utilized conventional testing methods. State-of-the-Art testing technologies such as Vehicle-in-the-Loop (ViL) or Scenario-in-the-Loop (SciL) can provide a long-term solution; however, validation of these complex systems should also be addressed. ViL and SciL technologies provide real-time control and measurement with multiple participants; however, they require enormous computational capacity and low-latency communication to provide comparable results with real-world testing. 5G (fifth-generation wireless) communication and Edge computing can aid in fulfilling these needs, although appropriate implementation should also be tested. In the current paper, a realized control model based on the SciL architecture was presented that was developed with real-world testing data and validated utilizing co-simulation and digital twin techniques. The model was established in Simcenter Prescan© connected to MATLAB Simulink® and validated using IPG CarMaker®, which was used to feed the simulation with the necessary input data to replace the real-world testing data. The aim of the current paper was to introduce steps of the development process, to present the results of the validation procedure, and to provide an outlook of potential future implementations into the state of the art in proving ground ecosystems. [ABSTRACT FROM AUTHOR]

Aiming at the problem of low control accuracy caused by nonlinear disturbances in the operation of the PLS-160 wheel–rail adhesion test rig, a linear active disturbance rejection controller (LADRC) suitable for the wheel–rail adhesion test rig was designed. The influence of nonlinear disturbances during the operation of the test rig on the control accuracy was analyzed based on SIMPACK. The SIMAT co-simulation platform was established to verify the control performance of the LADRC designed in this paper. The simulation results show that the speed and creepage errors of the test rig under the control of the LADRC met the adhesion test technical indicators under four different conditions. Compared with the traditional PID controller, the creepage overshoot and response time with the LADRC were reduced by 1.27% and 60%, respectively, under the constant creepage condition, and the stability recovery time was shorter under the condition of a sudden decrease in the adhesion coefficient. The LADRC designed in this paper shows better dynamic and anti-interference performance; therefore, it is more suitable for a follow-up study of the PLS-160 wheel–rail adhesion test rig. [ABSTRACT FROM AUTHOR]

The increasing integration of distributed energy resources such as photovoltaic (PV) systems into distribution networks introduces intermittent and variable power, leading to high voltage fluctuations. High PV integration can also result in increased terminal voltage of the network during periods of high PV generation and low load consumption. These problems can be solved by optimal utilization of the reactive power capability of a smart inverter. However, solving the optimization problem using a detailed mathematical model of the distribution network may be time-consuming. Due to this, the optimization process may not be fast enough to incorporate this rapid fluctuation when implemented in real-time optimization. To address these issues, this paper proposes a co-simulation-based optimization approach for optimal reactive power control in smart inverters. By utilizing co-simulation, the need for detailed mathematical modeling of the power flow equation of the distribution network in the optimization model is eliminated, thereby enabling faster optimization. This paper compares three optimization algorithms (improved harmony search, simplicial homology global optimization, and differential evolution) using models developed in OpenDSS and DigSilent PowerFactory. The results demonstrate the suitability of the proposed co-simulation-based optimization for obtaining optimal setpoints for reactive power control, minimizing total power loss in distribution networks with high PV integration. This research paper contributes to efficient and practical solutions for modeling optimal control problems in future distribution networks. [ABSTRACT FROM AUTHOR]

Modeling and simulation of complex systems frequently requires capturing probabilistic dynamics across multiple scales and/or multiple domains. Cyber–physical, cyber–social, socio–technical, and cyber–physical–social systems are common examples. Modeling and simulating such systems via a single, all-encompassing model is often infeasible, and thus composable modeling techniques are sought. Co-simulation and closure modeling are two prevalent composable modeling techniques that divide a multi-scale/multi-domain system into sub-systems, use smaller component models to capture each sub-system, and coordinate data transfer between component models. While the two techniques have similar goals, differences in their methods lead to differences in the complexity and computational efficiency of a simulation model built using one technique or the other. This paper presents a probabilistic analysis of the complexity and computational efficiency of these two composable modeling techniques for multi-scale/multi-domain complex system modeling and simulation applications. The aim is twofold: to promote awareness of these two composable modeling approaches and to facilitate complex system model design by identifying circumstances that are amenable to either approach. [ABSTRACT FROM AUTHOR]

The integration of communication infrastructures into traditional power systems, transforming them into cyber-physical power systems (CPPS), accentuates the significance of communication in influencing system performance and sustainability. This paper presents a versatile, innovative cyber-physical co-simulation framework that integrates the physical power system and communication networks, uniting OPAL-RT, a network simulator (ns3), and Docker containers into a sophisticated platform, facilitating intensive studies into CPPS dynamics. The proposed experimental study provides an innovative way to assess the frequency control response of a cyber-physical inverter-based microgrid (MG), addressing the MG sustainability challenges. We consider diverse real-world scenarios, focusing on communication delays and distributed denial of service (DDoS) attacks within the communication channels. We propose a precise ns3-based communication model that bridges the MG's primary and secondary control layers, an aspect often overlooked in previous studies; this is a noteworthy contribution to elucidating the adverse impacts of communication latency on MG frequency performance. The experimental results demonstrate the effectiveness of the centralized secondary controller in eliminating the frequency deviations. Furthermore, the findings offer insights into stable and unstable regions, revealing how the communication delay value affects the frequency stability under different operating conditions. In addition, the developed real-time DDoS attacks model within the proposed communication surface unveils crucial insights into the MG's resilience to cyber threats. This work's revelations offer a foundational awareness of MG vulnerabilities, paving the way for designing robust and resilient communication networks and control strategies within the cyber-physical inverter-based microgrids. [ABSTRACT FROM AUTHOR]

Spawn is DOE's next-generation tool chain for whole building energy control simulation. Spawn couples traditional imperative load-based envelope modelling with new equation-based modelling of HVAC and controls. Spawn uses EnergyPlus for the former and the Modelica Buildings Library for the latter. Because it leverages the Modelica Buildings Library, Spawn can evaluate advanced energy systems at the building and district scale, including new architectures and controls for heat pump systems with storage, and the coupling of such systems to electrical distribution networks. Spawn's Modelica integration likewise enables it to simulate realistic control sequences and therefore to bridge energy simulation and control implementation workflows. From EnergyPlus, Spawn inherits efficient envelope simulation and the ability to use existing envelope model authoring tools. This paper describes the architecture and implementation of Spawn, which automatically couples Modelica and EnergyPlus for run-time data exchange. This paper closes with examples that illustrate Spawn's modelling and simulation processes.

When cleaning the surface of a glass greenhouse, the washing machine often encounters slippery tracks or strong winds, in which case the washing machine is very likely to deviate from the axis of the greenhouse. In order to improve the stability and reliability of the glass greenhouse cleaner under different working conditions, this paper studies the controller of the glass greenhouse cleaner and puts forward a fuzzy PID control scheme optimized by the PSO algorithm. Using Adams and Matlab to jointly simulate the machine model, the results show that the particle swarm fuzzy PID controller has the best control effect and can make the cleaner adaptable to a variety of working conditions. The system overshoot was reduced by up to 35.5%, the response time by up to 3 s, and the difference between left and right wheel speeds by up to 0.086 deg/s. [ABSTRACT FROM AUTHOR]

This paper presents the development of a wind energy conversion system co-simulation based on the Functional Mock-up Interface standard aiming at contributing to the development of co-simulation of large electrical power systems by means of open-source and standardized computational tools. Co-simulation enables the computational burden of a monolithic simulation to be shared among several processing units, significantly reducing processing time. Through the Functional Mock-up Interface standard, developed models are encapsulated into Functional Mock-up Unit, providing an extra means for the protection of intellectual property, a very appealing feature for end users, both in industry and academia. To achieve the decoupling of the subsystems, the Bergeron ideal transmission line model will be used, with travel time equal to the simulation time-step. The computational performance and effectiveness of the proposed co-simulation technique was evaluated with a wind power plant with 50 wind turbines. The system digital models were developed into Modelica language, while co-simulation was implemented in Python. [ABSTRACT FROM AUTHOR]

Concerns about the cybersecurity and resilience of power systems have heightened in electric utilities and regulatory agencies over the past decade mainly because of the unpredictable target, location and scale of cyberattacks and the potential severity of consequences. The cybersecurity of pilot protection is paramount in bulk power systems considering their prevalence and the crucial role they play in protecting critical assets and preventing large system disturbances and major blackouts. This paper investigates the resilience of pilot protection using a co-simulation platform based on OPAL-RT simulator and Riverbed Modeler. It is demonstrated that software-defined networking for operational technology (OT SDN) significantly improves the resilience of pilot protection to false data injection (FDI) attacks compared to traditional networks. Moreover, the resilience of OT SDN based pilot protection to denial of service (DoS) attack against the SDN controller is investigated both in the proactive and reactive modes of operation. The simulation results verified the resilience of OT SDN controller in OT SDN based pilot protection to DoS attacks in the proactive mode of operation. [ABSTRACT FROM AUTHOR]

This paper presents an alternative approach for offline parameter estimation of a 3-phase, 500 W, 2.5 m/s, 4-pole tubular linear induction motor (TLIM) prototype. The TLIM prototype discussed here has been completely designed, developed, analysed and tested in the laboratory. Linear induction motors (LIMs) inherently have large air-gaps, resulting in a large leakage inductance. Also, presence of end-effects and edge-effects, affect the parameters of the machine. Thus, exact parameter estimation is a challenge in itself. Moreover, finite secondary length (unlike, rotary machines) mechanically limits the experimental steady state observation duration. Thus, parameter estimation of linear motors using conventional methods, originally developed for rotary induction machines, are inconvenient and often not feasible to be applied here. Hence, a novel approach is proposed here involving a combination of experimental results, its analysis and also FEM co-simulation of the motor. The proposed approach is compared with the analytical hand-calculations, conventional method based experiments (like No-Load and Blocked Rotor tests) and earlier proposed methods. There is a significant improvement of accuracy using the proposed method compared to that of the earlier methods. Mechanical parameters are also determined. These can be claimed as significant contributions of the present work. [ABSTRACT FROM AUTHOR]

In this paper, we propose a Virtual Prototype (VP) driven verification methodology for Hardware (HW) peripherals. In particular, we combine two approaches that complement each other and use the VP as a readily available reference model: We use (A) Coverage-Guided Fuzzing (CGF) which enables comprehensive verification at the unit-level of the Register-Transfer Level (RTL) HW peripheral with a Transaction Level Modeling (TLM) reference, and (B) an application-driven co-simulation-based approach that enables verification of the HW peripheral at the system-level. As a case-study, we utilize a RISC-V Platform Level Interrupt Controller (PLIC) as HW peripheral and use an abstract TLM PLIC implementation from the open source RISC-V VP as the reference model. In our experiments we find three behavioral mismatches and discuss the observation of these, as well as non-functional timing behavior mismatches, that were found through the proposed synergistic approach. Furthermore, we provide a discussion and considerations on the RTL/TLM Transactors, as they embody one keystone in cross-level methods. As the different approaches uncover different mismatches in our case-study (e.g., behavioral mismatches and timing mismatches), we conclude a synergy between the methods to aid in verification efforts. [ABSTRACT FROM AUTHOR]

The concept of cellular energy systems of the German Association for Electrical, Electronic & Information Technologies (VDE) proposes sector coupled energy networks for energy transition based on cellular structures. Its decentralized control approach radically differs from that of existing networks. Deeply integrated information and communications technologies (ICT) open opportunities for increased resilience and optimizations. The exploration of this concept requires a comprehensive simulation tool. In this paper, we investigate simulation techniques for cellular energy systems and present a concept based on co-simulation. We combine simulation tools developed for different domains. A classical tool for studying physical aspects of energy systems (Modelica, TransiEnt library) is fused with a state-of-the-art communication networks simulator (OMNeT++) via the standardized functional mock-up interface (FMI). New components, such as cell managers, aggregators, and markets, are integrated via remote procedure calls. A special feature of our concept is that the communication simulator coordinates the co-simulation as a master and integrates other components via a proxy concept. Model consistency across different domains is achieved by a common description of the energy system. Evaluation proves the feasibility of the concept and shows simulation speeds about 20 times faster than real time for a cell with 111 households. [ABSTRACT FROM AUTHOR]

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This paper presents an investigation into the virtualization of substation protection IED functions using a sophisticated co-simulation environment that integrates virtual intelligent electronic devices (vIEDs) with a real-time power grid simulation. Anchored by the IEC 61850 protocol, this study constructs a virtualized IED framework, emphasizing the encapsulation of protection schemes using the example of different types of overcurrent protection within a containerized vIED. Using open-source software, this study aims to replicate the communication and functional aspects of physical IEDs. This study uses a co-simulation environment that couples virtualized network components with a real-time power grid simulation to validate the vIEDs against real substation hardware. Simulation results from induced short-circuit events confirm the operational congruence of the vIEDs with their physical counterparts, demonstrating their potential to serve as cost-effective and adaptable testbeds for substation automation. This paper concludes that virtualized IEDs represent a cost-effective, flexible alternative for substation automation testing, with future research directed towards increasing the functional complexity and real-world applicability of these virtual systems.

When a railway pantograph interacts with a catenary during the movement of a rail vehicle, several physical phenomena, both mechanical and electrical, occur in the system. These phenomena affect the quality of power supply of a train from traction devices. The unfavourable arcing occurring when there are disturbances of contact between the pantograph’s slider and the catenary contact wire. In turn, it results in energy loss and increased wear of the components of the system. When designing new solutions, computational models are helpful to predict the quality of interaction between the components of the pantograph-contact line system already at the virtual prototyping stage. In this paper, the authors comprehensively present a multi-domain (multiphysics) model, which takes into account necessary conditions for interaction between pantograph elements and a catenary. Finally, the impact of the individual physical domains are analysed and the o [ABSTRACT FROM AUTHOR]

The analysis of complex systems tends to be approached through a separation and a simplification of the main macro phenomena and, thus, addressed through dedicated techniques, tools, and algorithms. A smart and interesting possibility, instead, is represented by the so-called model-based design analysis, which allows one to interface phenomena coming from interactions of different physical natures. This paper aims to propose a multi-physics Matlab/Simulink®-based architecture that allows one to integrate general and strongly non-linear coupling phenomena, taking efforts from two novel implemented bi-directional co-simulation routines based on Spice® and ESRF Radia® engines. Emphasis is dedicated to the discussion and description of the co-simulation algorithms and processes characteristic of these routines, which allow the analog electronic and the magneto dynamic domain's integration under a single simulation environment. To highlight the reliability of the multi-domain architecture and to validate the reported co-simulation results, a comparison with the experimental measures obtained on an innovative MEMS electromagnetic actuator are proposed. [ABSTRACT FROM AUTHOR]

Limitations regarding process design, optimization, and control often occur when using particular process simulators. With the implementation of connection methodologies, integrated tools could be made by coupling popular process simulation software with each other or with programming environments. In the current paper, we summarized and categorized the existing research regarding the application of multi-software engineering in the chemical industry, with an emphasis on software connections. CAPE-OPEN, COM, OPC, and native integration were discussed in detail, with the intention to serve as a guide for choosing the most suitable software combination and connection. These hybrid systems can handle complex user-defined problems and can be used for decision support, performing custom unit operations, operator training, process optimization, building control systems, and developing digital twins. In this work, we proposed the use of process simulator Aspen HYSYS linked together with the numeric computing platform MATLAB to solve a reaction kinetic parameter identification problem regarding the production of  γ -valerolactone. [ABSTRACT FROM AUTHOR]

This paper presents a servo control method for the multiple launch rocket system (MLRS) launcher during marching fire operations. The MLRS, being a complex nonlinear system, presents challenges in designing its servo controller. To address this, we introduce the fuzzy adaptive sliding mode control (FASMC) approach. The permanent magnet synchronous motor (PMSM) and controller of the MLRS were simulated in the MATLAB/Simulink environment. The dynamic model of the MLRS during marching fire was established using multi-body system theory, vehicle mechanics, and launch dynamics. The dynamic model was then integrated with the FASMC-based controller using the Adams/View module. Numerical calculations were performed to demonstrate the control performance and the effectiveness and applicability of the proposed approach were validated through a comparison experiment between FASMC and other common control methods. [ABSTRACT FROM AUTHOR]

This paper introduces multi-use applications to unlock behind-the-meter flexibility by integrating grid-serving capabilities with user-oriented control strategies. We deploy a hierarchical flexibility coordination process in a co-simulation research environment and propose a control strategy prioritizing self-consumption optimization with a secondary focus on grid-serving applications. This approach enhances the viability of behind-the-meter technologies, particularly benefiting battery energy storage systems with high investment costs. It also facilitates active grid operation amid the growing presence of distributed energy resources. The research’s key contribution lies in designing an information architecture to efficiently utilize behind-the-meter flexibility for grid-serving processes. The paper demonstrates the feasibility of a multi-use operation, combining user-oriented optimization and grid-serving flexibility provision for local grid congestion management. The implemented control algorithm in a home energy management system achieves grid-serving objectives while maintaining behind-the-meter asset performance. Co-simulation results show that in less than 2.5% of simulated time steps, transformer utilization exceeds operational limits in both scenarios, indicating the viability of multi-use operation for leveraging new value streams and managing grid congestion simultaneously.

This paper presents "Sumonity," an interface that bridges SUMO (Simulation of Urban MObility) and Unity, combining SUMO's robust traffic modeling capabilities with Unity's advanced graphical and physical engine, enhancing realism in traffic simulations. The study explores Sumonity's development and implementation, showcasing its capabilities. The interface offers a significant improvement in simulation fidelity by adopting a pure pursuit control approach within Unity for simulating each traffic agent. This methodological shift allows for more granular control over individual vehicle behaviors, aligning with autonomous and common vehicle dynamics. The paper also discusses the broader implications of Sumonity for future research in this field.

Wireless power transfer (WPT) devices represent one of the most efficient and increasingly used technologies for the transfer of data and power in the near-field range. This work analyzes and describes a new type of device: a ferrite-cored, variable gap, high-frequency power and data transfer system. The classic theoretical models existing in the literature for near-field communication (NFC) and WPT devices have foreseen a lumped-parameters characterization based on the representation of an equivalent circuit model (ECM). The strict interdependence between the different physical domains has clearly increased the difficulty in predicting the behavior of the device, due to the unwanted continuous and chaotic variation of the parameters. The proposed paper aims to provide a general and reliable multi-physics model based on the co-simulation of a Spice®-based ECM analysis and the ESRF Radia®-based 3D finite volume methodology (3DFVM), placing particular emphasis on the intrinsic sensitivity with respect to variables that cannot be directly controlled, such as the variation of the air gap between the coupled coils interfaces. Furthermore, this work outlines a detailed and effective experimental methodology for the estimation of static and dynamic electro-magnetic parameters and the validation of the numerical models in both the time and frequency domain, through the analysis of a real coupled WPT device. [ABSTRACT FROM AUTHOR]

As both the generation resources and load types have changed and grown over the past few decades, there is a growing need for analysis that spans traditional simulation boundaries; for example, evaluating the impact of distribution-level assets (e.g. rooftop solar, EV chargers) on bulk-power system operation. Co-simulation is a technique that allows simulators to trade information during run-time, effectively creating larger and more complex models. HELICS is a co-simulation platform that has been developed to enable these kinds of power system analysis, incorporating tools from a variety of domains including the electrical power grid, natural gas, transportation, and communications. This paper summarizes the technical design of HELICS, describes how tools can be integrated into the platform, and reviews a number of analyses that have been performed using HELICS. A short video summary of this paper can be found at https://youtu.be/BIUiR_K87Wc.

This paper reports on the use of co-simulation techniques to build prototypes of co-operative autonomous robotic cyber-physical systems. Designing such systems involves a mission-specific planner algorithm, a control algorithm to drive an agent performing its task; and the plant model to simulate the agent dynamics. An application aimed at positioning a swarm of unmanned aerial vehicles (drones) in a bounded area, exploiting a Voronoi tessellation algorithm developed in this work, is taken as a case study. The paper shows how co-simulation allows testing the complex system at the design phase using models created with different languages and tools. The paper then reports on how the adopted co-simulation platform enables control parameters calibration, by exploiting design space exploration technology. The INTO-CPS co-simulation platform, compliant with the Functional Mock-up Interface standard to exchange dynamic simulation models using various languages, was used in this work. The different software modules were written in Modelica, C, and Python. In particular, the latter was used to implement an original variant of the Voronoi algorithm to tesselate a convex polygonal region, by means of dummy points added at appropriate positions outside the bounding polygon. A key contribution of this case study is that it demonstrates how an accurate simulation of a cooperative drone swarm requires modeling the physical plant together with the high-level coordination algorithm. The coupling of co-simulation and design space exploration has been demonstrated to support control parameter calibration to optimize energy consumption and convergence time to the target positions of the drone swarm. From a practical point of view, this makes it possible to test the ability of the swarm to self-deploy in space in order to achieve optimal detection coverage and allow unmanned aerial vehicles in a swarm to coordinate with each other.

The hydrostatic actuation system based on linear actuators improves the complex piston force and long transmission path of the traditional electro-hydrostatic actuator (EHA). However, new nonlinear factors in the linear actuator and direct-driven piston are introduced into the system, which present challenges to system modeling and control. To improve the accuracy of system performance prediction, this paper analyzed the working characteristics of an electromagnetic direct-drive hydrostatic actuation system (EDHAS). A dynamic model of the electromagnetic linear actuator including the LuGre friction model was established. The high-pressure internal leakage of the direct-drive pump was described by an inclined eccentric leakage model. The Karnopp friction model was applied to solve the problem of switching between viscous and sliding friction in a cylinder. The hydraulic components model was established based on AMESim, and the electromagnetic linear actuator model and the system controller model were established in Matlab/Simulink, to establish a refined electromechanical–hydraulic co-simulation model of the EDHAS with electromagnetic, mechanical, hydraulic, and control coupling. A system performance test platform was built. The simulation results of the direct-drive piston displacement, the system pressure, the system flow rate, and the cylinder displacement match well with experimental results, which verifies the validity and accuracy of the refined modeling method. [ABSTRACT FROM AUTHOR]

In view of the increasingly stringent emission regulations, the automotive sector needs considerable support from the development of robust and reliable engine and aftertreatment models. Accurate reproduction of engine-out and tailpipe pollutants plays a crucial role in complying with these legislations. Given the difficulty in characterizing some critical phenomena, frequently caused by strong dynamics and related to experimental uncertainties, communication between several calibrated and reliable models is mandatory. This is certainly valid for powertrains that will be powered with alternative gas fuels such as natural gas, bio-methane and hydrogen in the future. This paper describes a methodology to co-simulate a 1D CNG HD 6-cyl engine model and a 1D quasi-steady Three-Way Catalyst model in a global framework for high-fidelity virtual prototyping of the vehicle system. Through the implementation of a dedicated control logic in MATLAB/Simulink, the modeling architecture allows for the reproduction of the engine performance parameters together with the evaluation of the TWC pollutants' conversion efficiency. An extensive database of experimental tests was used to assess the model response. The latter was validated in multiple steady-state operating conditions of the engine workplan. Using a semi-predictive combustion model, the validation was carried out over a wide range of different air-to-fuel ratios and during fast rich/lean transitions to evaluate the formation and conversion phenomena of the main chemical species, both engine-out and tailpipe. Subsequently, the complete model was validated in dynamic conditions throughout a WHTC, accurately reproducing the cut-off phases and their sudden accelerations. The numerical–experimental agreement on pollutant reproduction is generally good and globally below 3%. Larger deviations occur in extremely rich conditions and in CH4 emission evaluation due to the lack of information related to the combustion process and chemical mechanisms involving the Pd surface. [ABSTRACT FROM AUTHOR]

This paper introduces multi-use applications to unlock behind-the-meter flexibility by integrating grid-serving capabilities with user-oriented control strategies. We deploy a hierarchical flexibility coordination process in a co-simulation research environment and propose a control strategy prioritizing self-consumption optimization with a secondary focus on grid-serving applications. This approach enhances the viability of behind-the-meter technologies, particularly benefiting battery energy storage systems with high investment costs. It also facilitates active grid operation amid the growing presence of distributed energy resources. The research's key contribution lies in designing an information architecture to efficiently utilize behind-the-meter flexibility for grid-serving processes. The paper demonstrates the feasibility of a multi-use operation, combining user-oriented optimization and grid-serving flexibility provision for local grid congestion management. The implemented control algorithm in a home energy management system achieves grid-serving objectives while maintaining behind-the-meter asset performance. Co-simulation results show that in less than 2.5 % of simulated time steps, transformer utilization exceeds operational limits in both scenarios, indicating the viability of multi-use operation for leveraging new value streams and managing grid congestion simultaneously. • Multi-use applications can unlock flexibility potentials hidden behind-the-meter. • Behind-the-meter flexibility can serve for local grid congestion management. • Stacking grid-serving applications obtains good results regarding utilization. • Multi-use applications can add new value streams to behind-the-meter flexibility. [ABSTRACT FROM AUTHOR]

Literature that deals with optimal voltage regulation in the power distribution grid often neglects the impact of communication on their control strategies or makes hard assumptions about the communication network. This paper extends a nearly optimal reactive power allocation mechanisms for distributed renewable energy sources with communication considerations and proposes a max-consensus-based communication schema to determine the regulated node in a distributed manner. The proposed consensus mechanisms is validated by co-simulation of a multi-agent system, the IEEE 906 low voltage test feeder and a simple communication simulator to evaluate the impact of message delay and communication network topology. [ABSTRACT FROM AUTHOR]

Flight testing in a realistic three-dimensional virtual environment is increasingly being considered a safe and cost-effective way of evaluating aircraft models and their control systems. The paper starts by reviewing and comparing the most popular personal computer-based flight simulators that have been successfully interfaced to date with the MathWorks software. This co-simulation approach allows combining the strengths of Matlab toolboxes for functions including navigation, control, and sensor modeling with the advanced simulation and scene rendering capabilities of dedicated flight simulation software. This approach can then be used to validate aircraft models, control algorithms, flight handling chatacteristics, or perform model identification from flight data. There is, however, a lack of sufficiently detailed step-by-step flight co-simulation tutorials, and there have also been few attempts to evaluate more than one flight co-simulation approach at a time. We, therefore, demonstrate our own step-by-step co-simulation implementations using Simulink with three different flight simulators: Xplane, FlightGear, and Alphalink's virtual flight test environment (VFTE). All three co-simulations employ a real-time user datagram protocol (UDP) for data communication, and each approach has advantages depending on the aircraft type. In the case of a Cessna-172 general aviation aircraft, a Simulink co-simulation with Xplane demonstrates successful virtual flight tests with accurate simultaneous tracking of altitude and speed reference changes while maintaining roll stability under arbitrary wind conditions that present challenges in the single propeller Cessna. For a medium endurance Rascal-110 unmanned aerial vehicle (UAV), Simulink is interfaced with FlightGear and with QGroundControl using the MAVlink protocol, which allows to accurately follow the lateral UAV path on a map, and this setup is used to evaluate the validity of Matlab-based six degrees of freedom UAV models. For a smaller ZOHD Nano Talon miniature aerial vehicle (MAV), Simulink is interfaced with the VFTE, which was specifically designed for this MAV, and with QGroundControl for the testing of advanced H-infinity observer-based autopilots using a software-in-the-loop (SIL) simulation to achieve robust low altitude flight under windy conditions. This is then finally extended to hardware-in-the-loop (HIL) implementation on the Nano Talon MAV using a controller area network (CAN) databus and a Pixhawk-4 mini autopilot with simulated sensor models. [ABSTRACT FROM AUTHOR]

In this paper, the thermal stability of GaAs heterojunction bipolar transistor (HBT) power amplifier (PA) in a sub-6G band has been improved by a multi-source co-simulation method. To reduce the parameter errors caused by the variations of thermal resistances, a co-simulation method for the multiple heat sources of fully-integrated PA is proposed. Specifically, an adjustable bias circuit is applied on the PA for temperature compensation using a zero-to-absolute-temperature (ZTAT) current. To verify the proposed method, a sub-6G PA is realized in the GaAs HBT process. The experimental results show that the variations in power added efficiency and output power is stabilized due to the 3.5% error ZTAT current. The errors between simulation and measurement are reduced from 6% to 1%. According to the thermal factor defined in co-simulation, the working temperature decreases 10 °C, while the area only increases 27%. The above results prove that that thermal stability and the simulation reliability can be co-designed with the minimal area cost. [ABSTRACT FROM AUTHOR]

Waveguide-like transmission line (WLTL) structures, including rectangular waveguides, circular waveguides, and coaxial lines, have been widely used in microwave engineering. Determining how to efficiently model WLTLs has become vital for the design of various WLTL-based devices. In this paper, a circuit-based wave port boundary condition (CWPBC) is developed and applied in the discontinuous Galerkin time-domain (DGTD) method to accurately simulate these structures for the first time. In the CWPBC, modal voltages and currents of a WLTL are defined, and circuits based on modal voltages and currents are introduced. By co-simulating the modal circuit and the WLTL modeled using the DGTD method, various modal fields can be excited in the WLTL, and at the same time, the WLTL can be terminated without reflections. No extra costs or approximations are used in the proposed CWPBC, and there is no requirement of either the extension of the computational domains widely used in perfectly matched layer (PML) termination or the longitudinal field continuity used in the reported DGTD method. The proposed method can easily obtain the postprocessing parameters, including S-parameters and port power. Numerical results, including rectangular waveguide filters, circular waveguide horns, and coaxial-fed electromagnetic bandgaps (EBG), are given to validate the effectiveness of the proposed CWPBC. [ABSTRACT FROM AUTHOR]

To solve the problem of the low recovery rate of braking energy and the short driving range of electric vehicles, a novel mechanical-electric-hydraulic dynamic coupling drive system (MEH-DCDS) is proposed in this article. MEH-DCDS is a new power integration device that allows electric, mechanical, and hydraulic energy to be converted mutually. It comprises a swash plate plunger pump/motor and a permanent magnet synchronous motor. This article explains the structure and working principles of MEH-DCDS. We describe the dynamic characteristics of MEH-DCDS and analyze the pump and hydraulic motor in the MEH-DCDS hydraulic module. The simulation results show that the flow variation of the MEH-DCDS hydraulic module accords with the design concept of MEH-DCDS, and the pressure variation of high and low pressure accumulators also accords with the theoretical situation. The energy flow of Mechanical-Electric-Hydraulic Power Coupling Electric Vehicle (MEHPC-EV) under different working modes is expounded, and the mathematical model of its key components is established. Based on AMESim and Simulink, the article establishes a vehicle simulation dynamic model. The dynamic performance of MEHPC-EV in UDDS is analyzed by co-simulation. The simulation results show that the application of MEH-DCDS in electric vehicles is feasible. MEHPC-EV reduced battery energy consumption by 26.18% compared to EV. The research in this paper verifies the accuracy and superiority of the system, which has a significant reference value for the development and study of electric vehicles in the future. [ABSTRACT FROM AUTHOR]

This paper takes a multi-stage Electro-mechanical Actuator (EMA) as the research object, analyzes the lateral force of the multi-stage EMA in the vertical state, and the overall mathematical model of the multi-stage EMA system. Firstly, a permanent magnet synchronous motor module is built in JMAG according to the engineering requirements. Then, the electrical control part and mechanical transmission part of the multi-stage EMA are established in AMESim, and the ideal motor module in AMESim is replaced with the motor model designed by JMAG to construct the overall model of the multi-stage EMA. The dynamic simulation model of lateral force is established in ADAMS to accurately simulate the impact of wind load on EMA in the actual environment, and this model is introduced into AMESim instead of the lead screw and nut module in AMESim. The improved active disturbance rejection control (ADRC) is used to replace the speed loop and positional loop in the traditional three closed-loop control, and the whole system stability servo control of multi-stage EMA is co-simulated. Finally, the experiment of the designed control method is carried out by LabVIEW. The result of the experiment shows that the multi-stage EMA system can effectively suppress the lateral force under the active disturbance rejection control and ensure the stable operation of the multi-stage EMA system. In addition, the system built by the co-simulation method is closer to real working conditions than the traditional mathematical model. The control parameters in the simulation can be effectively transplanted to the actual system with only minor adjustment to meet the engineering requirements. [ABSTRACT FROM AUTHOR]

Purpose: The purpose of this paper is to design a prosthetic limb that is close to the motion characteristics of the normal human ankle joint.Methods: In this study, combined with gait experiments, based on a dynamic ankle joint prosthesis, an active-passive hybrid-driven prosthesis was designed. On this basis, a real-time control algorithm based on the feedforward compensation angle outer loop is proposed. To test the effectiveness of the control method, a multi-body dynamic model and a controller model of the prosthesis were established, and a co-simulation study was carried out.Results: A real-time control algorithm based on the feedforward compensation angle outer loop can effectively realize the gait angle curve measured in the gait test, and the error is less than the threshold. The co-simulation result and the test result have a high close rate, which reflects the real-time nature of the control algorithm. The use of parallel springs can improve the energy efficiency of the prosthetic system.Conclusions: Based on the motion characteristics of human ankle joint prostheses, this research has completed an effective and feasible design of active and passive ankle joint prostheses. The use of control algorithms improves the controllability of the active and passive ankle joint prostheses. [ABSTRACT FROM AUTHOR]

Construction renovation projects increase the risk of structural fire, mostly due to the accumulation of combustible construction materials and waste. In particular, when the building remains operational during such projects, the redistribution of occupants and interruptions with access corridors/exit egress can exponentially increase the risk for the occupants. Most construction projects are, however, planned and scheduled merely based on the time and budget criteria. While safety is considered paramount and is meant to be applied as a hard constraint in the scheduling stage, in practice, safe evacuation considerations are reduced to rules of thumb and general code guidelines. In this paper, we propose simulation as a tool to introduce safety under structural fire, as a decision criterion, to be mixed with time and budget for selecting the best construction schedule alternative. We have used the BIM (building information model) to extract the building's spatial and physical properties; and have applied co-simulation of fire, through computational fluid dynamics (CFD), and occupants' evacuation behavior, through agent-based modeling (ABM) to estimate the average and maximum required safe egress time for various construction sequencing alternatives. This parameter is then used as a third decision criterion, combined with the project's cost and duration, to evaluate construction schedule alternatives. We applied our method to a three-floor fire zone in a high-rise educational building in Montreal, and our results show that considering the fire safety criterion can make a difference in the final construction schedule. Our proposed method suggests an additional metric for evaluating renovation projects' construction plans, particularly in congested buildings which need to remain fully or partially operational during the renovation. Thus, this method can be employed by safety officers and facility managers, as well as construction project planners to guide accounting for fire incidents while planning for these types of projects. [ABSTRACT FROM AUTHOR]

The intermittent energy supply from distributed resources and the coupling of different energy and application sectors play an important role for future energy systems. Novel operational concepts require the use of widespread and reliable Information and Communication Technology (ICT). This paper presents the approach of a research project that focuses on the development of an innovative operational concept for a Smart Integrated Energy System (SIES), which consists of a physical architecture, ICT and energy management strategies. The cellular approach provides the architecture of the physical system in combination with Transactive Control (TC) as the system's energy management framework. Independent dynamic models for each component, the physical and digital system, operational management and market are suggested and combined in a newly introduced co-simulation platform to create a holistic model of the integrated energy system. To verify the effectiveness of the operational concept, energy system scenarios are derived and evaluation criteria are suggested which can be employed to evaluate the future system operations. [ABSTRACT FROM AUTHOR]