WORKSHOPS All CCA05 attendees are invited to take part in the following workshops. The workshop registration fees are listed under general registration. When registering, please indicate which workshop you plan to attend (WS1, WS2, or WS3). Early registration is recommended. For further information please contact the workshops chair, Dr. Mile Ostojic at mile.ostojic@nrc.ca.

The Flexible AC Transmission System (FACTS) is a concept based on high power electronic controllers, which enhance the value of transmission networks by increasing the utilization of their capacity. Since these controllers operate very fast, they improve controllability and safe operating limits of a transmission system without risking its stability. FACTS Controllers are being increasingly employed worldwide for achieving various objectives such as enhancing system power transfer limits, increasing system stability, damping power system oscillations, preventing voltage instability, mitigating subsynchronous resonance, improving the HVDC terminals performance, limiting fault currents, etc. The ongoing rapid advances in FACTS technology have been enabled by the development of new solid-state electrical switching devices. This workshop will be presented in three parts. Part 1: Introduction to FACTS: Operating Principles, Control, Applications and Interactions (Presenter: Dr. Rajiv K. Varma)

1. General Introduction to FACTS 2. Thyristor Based FACTS Controllers

- Static Var Compensators - Thyristor Controlled Series Capacitor

3. Gate Turn-Off Devices Based FACTS Controllers - Static Synchronous Compensator (STATCOM) - Static Series Synchronous Converter (SSSC) - Unified Power Flow Controller (UPFC)

4. Interactions Amongst FACTS Controllers - Controllers of Similar Kind - Controllers of Dissimilar Kind

WS1: Control, Protection and Real-Time Simulations of Flexible AC Transmission Systems (FACTS)

Rajiv Varma (the University of Western Ontario) Tarlochan Sidhu (the University of Western Ontario)

Christian Dufour (Opal-RT Technologies, Inc.) Sunday, August 28th, from 8:30AM to 5:00 PM

Part 2: Protection of FACTS Compensated Power Systems (Presenter: Dr. Tarlochan S. Sidhu)

1. Introduction - Distance Relaying - Protection Schemes

2. Protection of Shunt-FACTS Compensated Lines - Performance and Issues - Problem Mitigation Strategies

3. Protection of TCSC Compensated Lines - Performance and Issues - Problem Mitigation Strategies

4. Performance of Differential Protection Part 3: Real-time Simulators for the Development of FACTS Control Systems (Presenter: Dr. Christian Dufour) Real-time simulators have been invaluable in the development, testing, and commissioning of FACTS control systems. In the process of controller development, this technology can help in two main ways: rapid control prototyping; and Hardware-In-the-Loop (HIL) simulations. While rapid control prototyping is a well-established technique, HIL simulations are more difficult to realize for electrical systems for several reasons. For example, electrical systems usually have a lot of working modes caused by switches. Electrical systems also tend to be "stiff" by nature, requiring very small time step or variable-step solvers to achieve convergence and/or accuracy of simulations. The last difficulty comes from the use of power electronic switching devices running at high commutation frequencies. Emulating an IGBT motor inverter requires sub-microsecond precision on the firing time. This is problematic in HIL simulations where the current hardware can barely simulate the system at a 10 microseconds time step. For power network simulation, even such a small time step requires special solvers and interpolation techniques to ensure accurate results.

In this part of the workshop we will demonstrate how RT-LAB simulator from Opal-RT Technologies Inc. can be used to rapidly develop and test a FACTS controller for a GTO-based STATCOM power system. The possibility to simulate interaction between several FACT systems using a real-time PC cluster, as well as examples of other FACTS devices like VSI-based HVDC system will also be discussed.

For the miniaturization of devices and machines down to atomic and molecular sizes, micro/nanorobotic approach enabling precision manipulation, manufacturing, and interaction at the micro- and nanoscales is indispensable. Micro/Nanorobotics as an emerging field is based on the micro/nanoscale physics, fabrication, sensing, actuation, system integration, and control

WS2: Micro- and Nanoscale Robotics Metin Sitti (Carnegie Mellon University)

Sunday, August 28th, from 8:30AM to 12:30 PM

taking the scaling effects into consideration. Micro/Nanorobotics encompasses: (i) design and fabrication of micro/nanorobots with overall dimensions at the millimeter and micrometer ranges and made of micro/nanoscopic components; (ii) programming and coordination of large numbers of micro/nanorobots; and (iii) programmable assembly of micro/nanoscale components. This tutorial will focus on state-of-the-art micro/nanorobotics research topics, challenges, and activities around the world and at the NanoRobotics Laboratory.

As the first focus area, precision nanomanipulation systems using Atomic Force Microscope (AFM) probes will be introduced. Here, AFM probes are utilized as a pushing, pulling, cutting, and indenting type of nanomanipulator, and also as a three-dimensional (3-D) topography and force sensor. As the first application, using an AFM probe and a teleoperated human-machine interface, fine gold particles down to 14nm radius are positioned in two-dimension by mechanical pushing for developing micro/nanoassembly technology, and teleoperated touch feedback from the surfaces at the nanoscale is realized. Next, liquid polymers are pulled and solidified precisely by an AFM probe to manufacture customized 3-D polymer micro/nanofibers. Next, design methodology, analysis, and fabrication of biomimetic fibrillar adhesives inspired by geckos are explained. Geckos have unique dry adhesive fibers in their feet to climb any surface with a very high maneuverability. Discovering the principles of gecko adhesion recently, synthetic polymer micro/nanofibers are fabricated using micro/nanomolding techniques. The results of current prototype adhesive fibers and miniature climbing robots inspired by geckos are reported. Finally, miniaturization issues of micro/nanorobots are discussed. As current miniature robotics activities, biomedical swimming and endoscopic capsule microrobots, water strider robots walking on water, and Integrated Nano-Tool Carrier walking robots are explained briefly, and challenging issues are addressed. These miniature robots could revolutionize health-care, environmental monitoring, manufacturing, and space exploration applications in the future.

Workshop Outline: 1. Introduction

a. Background on Micro/Nanorobots b. Scaling Effects and Micro/Nanophysics c. Sensors, Actuators, Manipulators, Control d. Micro/Nanorobot examples around the world

2. Micro/Nanomanipulation with an Atomic Force Microscope (AFM) a. Background b. The AFM as a Robot c. Manipulation Examples and Applications

3. Miniature Microrobots a. Climbing robots inspired by geckos b. Biomedical swimming and endoscopic capsule microrobots c. Water strider robots walking on water d. Integrated Nano-Tool Carrier precision walking robots e. Challenges and Applications

4. Summary and Outlook

This workshop will cover the state of the art in the automotive research areas of intelligent systems and sensors involving applications of control. This research area includes modeling, identification and active control of dynamic, linear and nonlinear systems with particular relevance to automotive applications such as: In-vehicle electrical power systems control Damper modeling and optimal tuning of vehicle suspension systems Telematics and navigation network control Engine combustion performance and vehicle emission control Hybrid vehicle control Vehicle dynamics, steering and power train control Modeling, identification and active control of noise and vibration In-vehicle MEMS applications; - Distributed control architectures In-vehicle multi-sensor fusion and soft sensing techniques Calibration methods for engine and vehicle control

The workshop is intended for scientists and engineers who are familiar/trained in control system technology but not necessarily familiar with the automotive area or vice-versa.

Preliminary Program

Overview of the evolution of intelligent systems and sensors in the automotive sector with emphasis on control applications: a Canadian perspective Dr. Denis Gingras, University of Sherbrooke, Sherbrooke, Quebec, Canada

Active Control Technology - from R&D to Industry Dr. Borz Fariborzi, Hutchinson Aerospace - Industry, Brighton, MA, USA

Vehicle MEMS applications using multi-sensor data fusion in a distributed architecture Mr. Dan Preston, Medius Inc., Seattle, WA, USA

Active cabin noise suppression systems Dr. Alain Berry, University of Sherbrooke, Sherbrooke, Quebec, Canada

Integrated Navigation Systems for Vehicle Navigation Dr. Naser El-Sheimy, University of Calgary, Calgary, Alberta, Canada

Automotive MEMS: The Mainstream Technology Dr. John T.W. Yeow, University of Waterloo, Waterloo, Ontario, Canada

Low cost intelligent sensors for semi-active vibration isolation Dr. Farid Golnaraghi, University of Waterloo, Waterloo, Ontario, Canada

WS3: Intelligent Systems and Sensors for the Automotive Industry Denis Gingras (University of Sherbrooke)

Sunday, August 28th, from 1:30 PM to 5:30 PM