The small battery capacities of the mobile robot and the un-optimized planning efficiency of the industrial robot bottlenecked the time efficiency and productivity rate of coverage tasks in terms of speed and accuracy, putting a great constraint on the usability of the robot applications in various planning strategies in specific environmental conditions. Thus, it became highly desirable to address the optimization problems related to exploration and coverage path planning (CPP). In general, the goal of the CPP is to find an optimal coverage path with generates a collision-free trajectory by reducing the travel time, processing speed, cost energy, and the number of turns along the path length, as well as low overlapped rate, which reflect the robustness of CPP. This paper reviews the principle of CPP and discusses the development trend, including design variations and the characteristic of optimization algorithms, such as classical, heuristic, and most recent deep learning methods. Then, we compare the advantages and disadvantages of the existing CPP-based modeling in the area and target coverage. Finally, we conclude numerous open research problems of the CPP and make suggestions for future research directions to gain insights. INDEX TERMSCoverage path planning, exploration, heuristic algorithm, deep reinforcement learning.

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The single-phase split-source inverter is an emerging and attractive topology for boost dc-ac power conversion system. Such an inverter features high compactness, however, at the expense of high-frequency commutations across diodes. The corresponding hybrid PWM also confines the voltage harmonics to concentrate around the switching frequency and its multiples. This paper proposes a simplified split-source inverter which is realized by inserting only one power switch into an Hbridge. While generating the ac output, the newly developed PWM strategy ensures the inductor charged with constant duty-cycle. When compared to the existing split-source inverters, it offers the added benefits of reduced switch count, enhanced voltage boosting gain, reduced output filter requirement, and enhanced power efficiency. Comprehensive steady-state analysis is discussed while simulation and experimental results are subsequently presented to prove the validity of the proposed topology and the PWM strategy.Index Terms-Boost dc-ac power conversion, singlestage inverter, split-source inverter, pulse width modulation.

Abstract. Presented in this paper is an empirical model for long-term rain attenuation prediction and statistical prediction of site diversity gain on a slant path. Rain attenuation prediction on a slant path is derived using data collected from tropical regions, and the formula proposed is based on Gaussian distribution. The proposed rain attenuation model shows a considerable reduction in prediction error in terms of standard deviation and root-mean-square (rms) error. The site diversity prediction model is derived as a function of site separation distance, frequency of operation, elevation angle and baseline orientation angle. The novelty of the model is the inclusion of low elevation angles and a high link frequency up to 70 GHz in the model derivation. The results of comparison with Hodge, Panagopoulos and Nagaraja empirical predictions show that the proposed model provides a better performance for site separation distance and elevation angle. The overall performance of the proposed site diversity model is good, and the percentage error is within the allowable error limit approved by International Telecommunication UnionRegion (ITU-R).

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This paper presents a model predictive control (MPC) for off-board plug-in electric vehicle (PEV) chargers with photovoltaic (PV) integration using two-level four-leg inverter topology. The PEV charger is controlled by a unified controller that incorporates direct power and current MPC to dynamically control decoupled active-reactive power flow in a smart grid environment as well as to control PEV battery charging and discharging reliably. PV power generation with maximum power tracking is seamlessly integrated with the power flow control to provide additional power generation. Fast dynamic response and good steady-state performance under all power flow modes and various environmental conditions are evaluated and analyzed. From the results obtained, the charger demonstrates less than 1.5% total harmonic distortion as well as low active and reactive power ripple of less than 7% and 8% respectively on the grid for all power flow modes. The PEV battery also experiences a low charging and discharging current ripple of less than 2.5%. Therefore, the results indicate the successful implementation of the proposed charger and its control for PV integrated offboard PEV chargers.

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