Abstract: A system for controlling motion of an articulated vehicle with one or multiple trailers is described. The system is configured to infer the state of a vehicle, determine a motion path with forward motions and backward motions for the vehicle based on the state, and formulate an optimal control problem for optimizing the motion path. The optimal control problem comprises an integral tracking error function indicating integral tracking error based on motion cusps relating to the motion path. The motion cusps indicate switching between forward motion and backward motion. The motion path is optimized over a prediction horizon based on solving the optimal control problem. A control command is generated for the vehicle based on the optimized motion path and a vehicle model, and the motion of the articulated vehicle is controlled based on the control command thereby changing its state.

Abstract: The disclosure includes a method of diagnosing a grounding system of a structure that includes a charge collecting structure conductively connected to the ground via a grounding path, where diagnosing involves an act of monitoring output of a voltage and/or a current and/or an electrostatic detector connected to the grounding path.

Abstract: Examples include a structure adapted for monitoring electric charge characteristics of the structure, where the wind turbine generator includes an electric charge monitoring system including one or more electrostatic sensors adapted for measuring polarity, the one or more electrostatic sensors being configured for measuring an electrostatic potential of one or more parts or at locations of the structure, where sensory data from the electrostatic sensors are time-stamped and time-synchronised, and the electric charge monitoring system is configured for monitoring charge characteristics at the one or more parts or locations of the structure.

Abstract: The disclosure includes a method of diagnosing a grounding system of a structure that includes a charge collecting structure conductively connected to the ground via a grounding path, where diagnosing involves an act of monitoring output of a voltage and/or a current and/or an electrostatic detector connected to the grounding path.

Abstract: Examples include a structure adapted for monitoring electric charge characteristics of the structure, where the wind turbine generator includes an electric charge monitoring system including one or more electrostatic sensors adapted for measuring polarity, the one or more electrostatic sensors being configured for measuring an electrostatic potential of one or more parts or at locations of the structure, where sensory data from the electrostatic sensors are time-stamped and time-synchronised, and the electric charge monitoring system is configured for monitoring charge characteristics at the one or more parts or locations of the structure.

Abstract: Disclosed is a method of detecting abnormal conditions, e.g. of a blade or a rotor, on a wind turbine generator. Also disclosed is a system for detecting abnormal conditions, e.g. of a blade or rotor on a wind turbine generator.