Modelling and simulation of regeneration in AC traction propulsion system of electrified railway

This paper presents a robust model and its simulation to investigate the performance of an AC propulsion system in a rail vehicle for directly returning the regenerative braking power to the feeder substation of an AC traction network. This direct returning method can be an efficient approach for energy recovery if the regenerative braking is reliably applied. However, it is shown that this method can cause undesired voltage fluctuations if the regenerative braking regime or braking location of the rail vehicle change. The load torque on the traction motor (TM) is precisely modelled when pure electrical braking is applied. Different states of the direct torque controlled inverter are modelled when the TM regenerates. A circuit model for the utility grid, load impedances and the traction network is developed to evaluate the network receptivity against the regenerated power. The dynamics of the electromagnetic torque and the fluctuations of the DC-link voltage are investigated for two operational conditions: changes on the regenerative braking regime and changes on the rail vehicle braking location. The results justify how the DC-link voltage dramatically fluctuates with variations of the rail vehicle's operation conditions, whereas the electromagnetic torque is maintained on optimum rates.

An introduction to utilising the redundancy of a kinematically redundant parallel manipulator to operate a gripper

Although parallel manipulators provide several benefits compared to similar-sized serial manipulators, they typically exhibit a limited rotational workspace. One approach to designing a parallel manipulator with infinite range of tool rotation around one axis is to introduce kinematic redundancy. This is typically achieved by extending a non-redundant mechanism with an additional actuator and a supplemental degree of freedom, while the degrees of freedom of the tool platform remain the same. The main drawback of this approach is the cost of the additional actuator. In this paper, we discuss the possibility of harvesting the motion in the additional degree of freedom to operate a gripper. The benefits of the proposed idea include saving the cost of a gripper actuator and reducing the mass of the manipulated platform. Additionally, the requirement to provide the manipulated platform with compressed air or electric power is removed. Several variants of a kinematically redundant manipulated platform with five degrees of freedom are introduced along with conceptual mechanical designs for transforming the redundant platform motion into the opening and closing of a gripper.

Extending haptic device capability for 3D virtual grasping

This paper presents an investigation into the workspace constraints observed through the use of multiple single point haptic interfaces, which lead to the design of a novel grasping device that improves upon current commercial haptic interfaces. The presented device is desktop based, and has been designed to maximise the haptic workspace while offering the ability to grasp and manipulate virtual objects, which is a function that current commercial interfaces are limited in providing. The performance of the commercial haptic interface in producing sustained effective operation and increased workspace with the attached haptic gripper is evaluated, and the improvement of both has been determined.

Enabling multi-point haptic grasping in virtual environments

Haptic interaction has received increasing research interest in recent years. Currently, most commercially available haptic devices provide the user with a single point of interaction. Multi-point haptic devices present a logical progression in device design and enable the operator to experience a far wider range of haptic interactions, particularly the ability to grasp via multiple fingers. This is highly desirable for various haptically enabled applications including virtual training, telesurgery and telemanipulation. This paper presents a gripper attachment which utilises two low-cost commercially available haptic devices to facilitate multi-point haptic grasping. It provides the ability to render forces to the user's fingers independently and using Phantom Omni haptic devices offers several benefits over more complex approaches such as low-cost, reliability, and ease of programming. The workspace of the gripper attachment is considered and in order to haptically render the desired forces to the user's fingers, kinematic analysis is discussed and necessary formulations presented. The integrated multi-point haptic platform is presented and exploration of a virtual environment using CHAI 3D is demonstrated.

Grasping virtual objects with multi-point haptics

The majority of commercially available haptic devices offer a single point of haptic interaction. These devices are limited when it is desirable to grasp with multiple fingers in applications including virtual training, telesurgery and telemanipulation. Multipoint haptic devices serve to facilitate a greater range of interactions. This paper presents a gripper attachment to enable multi-point haptic grasping in virtual environments. The approach employs two Phantom Omni haptic devices to independently render forces to the user's thumb and other fingers. Compared with more complex approaches to multi-point haptics, this approach provides a number of advantages including low-cost, reliability and ease of programming. The ability of the integrated multi-point haptic platform to interact within a CHAI 3D virtual environment is also presented.

A multi-point haptic platform for grasping and manipulating virtual objects

This work presents a multi-point haptic platform that employs two Phantom Omni haptic devices. A gripper attachment connects to both devices and enables multi-point haptic grasping in virtual environments. In contrast to more complex approaches, this setup benefits from low-cost, reliability, and ease of programming while being capable of independently rendering forces to each of the user’s fingertips. The ability to grasp with multiple points potentially lends itself to applications such as virtual training, telesurgery and telemanipulation.

A look-ahead road grade determination method for HEVs

This paper presents a look-ahead road grade determination method for use in energy management of hybrid electric vehicles. Data that is gathered from a digital map and vehicle sensors is used to predict the future road grade and longitudinal forces. The predicted information is employed to specify the near future traction force demand. A simulation is carried out using data associated with a 50 km section of a real highway for a typical vehicle. The results are presented and discussed.

Energy efficiency methods in electrified railways based on recovery of regenerated power

Various attempts have been made to minimise energy consumption of rail vehicles by means of regenerative power from electric braking of traction motors. This paper describes energy efficiency methods in electrified railways based on recovery of energy. Direct recovery methods that return regenerative power to electrified networks, and recovery methods based on energy storage systems are elaborated. The benefits of developing recovery methods and advantages of energy storage systems are discussed.

Automation of a complex transfer operation using a polar manipulator

Purpose – The objective of this paper included developing a polar robot (SPBot) for rotating and transferring car engine block (CEB) around and along two different axes in a confined workspace envelope.

Design/methodology/approach – The complex transfer operations of the CEB requires sweeping complete surface of the half sphere, and thus a polar robot is best suited to such a task in a confined space. Considering the limited space for this operation, a specially designed manipulator is built comprising 2 degrees of freedom driven by electrical servo motors. Also due to the special form of CEB, an especially designed pneumatic gripper is developed. Kinematics models, static and dynamic equations, together with trajectory planning for such a manipulator are described.

Findings – The high-speed complex transfer in a limited environment is successfully implemented.

Originality/value – The developed polar robot provides for complex transfer operations that significantly increases the speed of the product line and thus reducing the cycle time from 60?s using manpower to just 20?s using the robot.

Reconfigurable multipurpose haptic interface

This paper presents a low-cost haptic interface providing four different kinematic configurations. The different configurations are achieved using two Phantom Omni haptic devices combined with a series of clip-on attachments. Aside from the flexibility to easily reconfigure the interface, three of the four configurations provide functionality which is either not readily available or is cost prohibitive for many applications.

River flows and profit flows: the powerful logic driving local news

The importance of local news is gaining traction with industry and in journalism scholarship. But there is a need for careful analysis of what it means to be “local” and how we might theorise the role and place of news organisations and journalists who serve local audiences. This paper draws on three qualitative case studies of local newspapers serving small towns and cities in Australia to generate concepts that can be used to deepen understanding about this form of news. Our research highlights that to be local is practical and embodied. It requires individuals, groups, organisations or institution to be anchored in a particular locale and have in-depth understanding of that place that has developed over time. We extend the scholarship of Pierre Bourdieu to suggest this may be understood as local habitus—a powerful set of dispositions and practical logic developed within a place—that the small newspaper is inherently tied to. Reading a newspaper is part of one's local habitus while an individual who possesses it in the journalistic field may have a significant advantage in their day-to-day practices. We suggest this theoretical lens can offer rich insights into the future of local news production across the western world.