基于视觉伺服的输电线巡检机器人抓线控制

巡检机器人在越障时,需要完成机器人手臂的准确抓线控制.结合输电线的几何特征和摄像机成像原理,提出了一种基于单摄像机的立体视觉方法来确定输电线的位置和姿态.基于该定位方法及视觉伺服理论,建立机械手抓线伺服控制模型.利用自行研制的巡检机器人进行了视觉伺服抓线实验;实验结果验证了该方法的有效性.

一种改进的超高压输电线路巡检机器人越障方法

介绍了一种新型的超高压输电线路巡检机器人,阐述了分阶段的控制策略.主要针对越障的工程实际问题,从理论上分析了越障阶段的难点:质心调节,输电线的辨识与定位问题.进行了仿真和试验,验证了控制策略和理论分析的正确性.

超高压线巡检机器人移动越障机构综述

介绍了国内外超高压输电线路巡检机器人的研究现状,分析了几种典型的巡检机器人传动原理、机械结构的特点,详细探讨了巡检机器人移动、越障的运动机理和机构形式。最后总结了巡检机器人移动越障机构的难点,展望了巡检机器人的发展趋势。

超高压输电线路巡检机器人的视觉监控系统研究

超高压输电线路智能巡检机器人是输电工程技术发展的重要内容．介绍了一种应用于500 kV 超高压输电线路带电巡检智能巡检机器人系统．重点介绍了该巡检机器人系统的视觉监视与检测方法及应用技术．此类机器人系统可在输电线路上实现监控状态下的自主行走与视觉监视,跨越杆塔等作业,可在野外环境下完成连续巡检作业．这种作业方式,将大大减轻输电维护人员的劳动强度与难度,提高巡检效率与质量．对输电工程的安全可靠运行具有重要意义．

Quantum interference effects of two coherent population trapping states on the atomic spectral lines of a F-e=0 -> F-g=1 transition

We investigate the fluorescence spectrum in a nearly degenerate atomic system of a F-e = 0 -> F-g = 1 transition by analytically solving Schrodinger equations. An ultranarrow fluorescence spectral line in between the two coherent population trapping windows has been found. Our analytic solutions clearly show the origin of the ultranarrow spectral line. Due to quantum interference effects between two coherent population trapping states, the width and intensity of the central spectral line can be controlled by an external magnetic field. Such an effect may be used to detect a magnetic field.

Ultranarrow absorptive spectral line induced by microwave field

This paper investigates the absorptive spectral lines of four-level atomic system driven by a coupling, probe and microwave fields. Due to the perturbation of the microwave field, the original electromagnetically induced transparency is changed to electromagnetically induced absorption and the absorptive spectral line can be very narrow. This ultranarrow spectral line has potential applications to the microwave atomic frequency standard and the measurement of very weak magnetic field.

Effects of atmosphere visibility on performances of non-line-of-sight ultraviolet communication systems

Dependence of performances of non-line-of-sight (NLOS) solar-blind ultraviolet (UV) communication systems on atmosphere visibility is investigated numerically by correlating the propagation of UV radiation with the visibility. A simplified solar-blind UV atmospheric propagation model is introduced, and the NLOS UV communication system model is constituted based on the single scattering assumption. Using the model, numerical simulation is conducted for two typical geometry configurations and different modulation formats. The results indicate that the performance of the NLOS UV communication system is insensitive to variation of visibility in quite a large range, and deteriorates significantly only in very low-visibility weather, and is also dependent on the geometry configuration of the system. The results also show that the pulse position modulation (PPM) is preferable due to its high-power efficiency to improve the system performance. (c) 2007 Elsevier GmbH. All rights reserved.

High power coherent beam combination from two fiber lasers

Phase locking of two fiber lasers is demonstrated experimentally by the use of a self-imaging resonator with a spatial filter. The high-contrast interference strips of the coherent beam profile are observed. The coherent output power of the fiber array exceeds 12W and the efficiency of coherent power combination is 88% with pump power of 60W. The whole system operates quite stably and, for the spatial filter, no thermal effects have been observed, which means that we can increase the coherent output power further by this method. (c) 2006 Optical Society of America

Phase-locking of two large-core fibre lasers with 60W of coherent output power

A phase-locking fibre laser array with up to 60 W of coherent output power based on two large-core fibre is reported. The slope efficiency of the in-phase mode is 37%. For two cases of spacings between the cores, steady high-contrast interference stripes are observed. When the whole system operates under a high pump power level, no thermal effects for the spatial filter have been observed, which means that we can increase the coherent output power further by increasing the individual fibre laser power.

High efficiency operation of butt joint line-defect-waveguide microlaser in two-dimensional photonic crystal slab

Butt joint line-defect-waveguide microlasers are demonstrated on photonic crystal slabs with airholes in a triangular lattice. Such microlaser is designed to increase the output power from the waveguide edge directly. The output power is remarkably enhanced to 214 times higher by introducing chirped structure in the output waveguide. The lasing mode operates in the linear dispersion region of the output waveguide so that the absorption loss due to the band-edge effect is reduced. The laser resonance is illustrated theoretically using the finite difference time domain method. A practical high power efficiency of 20% is obtained in this microlaser. (C) 2008 American Institute of Physics.

New type of multimode-interference-type thermo-optic variable optical attenuator

A thermo-optic variable optical attenuator (VOA) based on a Mach-Zehnder interferometer and multimode-interference coupler is fabricated. Not a single-mode but a multimode waveguide is used as the input and output structures of the optical field, which greatly reduces the coupling loss of the VOA with a normal single-mode fiber. The insertion loss of the fabricated VOA is 2.52 to 2.82 dB at the wavelength of 1520 to 1570 nm. The polarization dependent loss is 0.28 to 0.45 dB at the same wavelength range. Its maximum attenuation range is up to 26.3 dB when its power consumption is 369 mW. The response frequency of the fabricated VOA is about 10 kHz. (C) 2004 Society of Photo-Optical Instrumentation Engineers.

1x8 cascaded multimode interference splitter in silicon-on-insulator

A cascaded multimode interference 1 x 8 power splitter is proposed and fabricated in silicon-on-insulator material. The device consists of seven 1 x 2 power splitters arranged in a tree configuration. The cascaded splitter and its 1 x 2 splitter element have the power uniformity of approximately 1.5 dB and 0.3 dB, respectively.

Low power-consumption and high response frequency thermo-optic variable optical Attenuators based on silicon-on-insulator materials

A novel silicon-on-insulator thermo-optic variable optical attenuator with isolated grooves based on a multimode interference coupler principle is fabricated by the inductive coupled plasma etching technology. The maximum fibre-to-fibre insertion loss is lower than 2.2 dB, the dynamic attenuation range is from 0 to 30 dB in the wavelength range 1500-1600 nm, and the maximum power consumption is only 140 mW. The response frequency of the fabricated variable optical attenuator is about 30 kHz. Compared to the variable optical attenuator without isolated grooves, the maximum power consumption decreases more than 220 mW, and the response frequency rises are more than 20 kHz.

Application of ICA in on-line verification of the phase difference of the current sensor

The performance of the current sensor in power equipment may become worse affected by the environment. In this paper, based on ICA, we propose a method for on-line verification of the phase difference of the current sensor. However, not all source components are mutually independent in our application. In order to get an exact result, we have proposed a relative likelihood index to choose an optimal result from different runs. The index is based on the maximum likelihood evaluation theory and the independent subspace analysis. The feasibility of our method has been confirmed by experimental results.