输电线巡检机器人控制与实验研究

近年来，机器人的应用越来越广泛和深入，输电线巡检机器人是当前特种作业机器人的研究热点之一，具有广泛的应用前景和实用价值。本文的研究内容是围绕国家“863”计划支持项目“500KV超高压输电线巡检机器人的研究”展开的。本研究工作针对巡检机器人的关键控制问题，主要由三部分组成：设计了巡检机器人的体系结构，并应用离散事件理论对机器人的任务、行为和动作建模；对巡检机器人双轮同步驱动控制进行了分析，并应用奇异摄动理论设计了控制器；研究了基于单目视觉的输电线立体定位方法及通过视觉伺服完成机器人自主抓线控制。 第一，介绍了巡检机器人的作业环境，重点探讨了机器人机械系统和控制系统的设计与实现。在机械子系统中，详细介绍了巡检机器人的机构实现与越障方法。在控制系统中详细阐述了基于分层递阶的机器人控制系统硬件组成。另外介绍了供电系统、无线传输系统、传感系统的设计与实现。分析了输电线路周围的电磁环境，及其对机器人的影响，并根据分析结果完成了对机器人的电磁防护设计。 第二，开展了输电线巡检机器人体系结构及人机交互系统研究，针对巡检机器人工作特点设计了基于规划和感知行为的混合式体系结构。针对巡检机器人工作环境设计了以机器人为中心的人机交互方式。参考前人建立的离散事件动力系统的层次结构和并行结构，提出了顺序结构并证明了其无阻塞性、可控性和监控器存在性，并结合以上三种结构建立了巡检机器人作业行为的离散动力学模型，分别获得了任务层、行为层和动作层的监控器。 第三，进行了巡检机器人双轮驱动控制研究。巡检机器人双轮行走机构为过驱动系统，对双轮行走系统进行了运动学和动力学建模，将一行走轮设为主动轮另一行走轮设为从动轮。针对两行走轮之间弹性关节导致的控制中的振荡问题，采用奇异摄动理论将系统分为快慢两个子系统；针对巡检机器人系统参数的时变性采用PD自适应算法设计了慢系统控制器；应用最优控制理论设计了快系统控制器。仿真结果验证了该方法的有效性。 第四，进行了输电线视觉定位和视觉伺服抓线问题的研究。输电线巡检机器人的自主越障控制是实现机器人实用化的关键问题。为实现巡检机器人自主越障，采用视觉伺服控制机械手臂自动抓线。为提取输电线图像特征点，针对输电线投影图像特征改进了边缘提取算法，应用聚类算法提取了输电线上的像素点。提出在机械手运动过程中采用EKF（扩展卡尔曼滤波）来实现对输电线的立体定位。在分析了当前基于图像的视觉伺服研究现状，建立了基于图像雅克比矩阵的输电线视觉伺服抓线模型。针对非标定状况下图像雅可比矩阵中的不确定参数，应用I&I(Immersion Invariant)自适应算法来实现无标定图像视觉伺服。针对机器人的动力学不确定性，设计了模糊自适应控制器，并证明了稳定性。仿真验证该方法的有效性，实验验证了基于视觉伺服的抓线控制的有效性。

龙滩水电站左岸边坡监测信息系统研制及其监测资料分析

Guangxi Longtan Hydropower Station is not only a representative project of West Developing and Power Transmission from West to East in China, but also the second Hydropower Station to Three Gorges Project which is under construction in China. There are 770 X 104m3 creeping rock mass on the left bank slope in upper reaches, in which laid 9 water inlet tunnels and some underground plant buildings. Since the 435m high excavated slope threatens the security of the Dam, its deformation and stability is of great importance to the power station.Based on the Autodesk Map2004, Longtan Hydropower Station Monitoring Information System on Left Bank has been basically finished on the whole. Integrating the hydropower station monitoring information into Geographic Information System(GIS) environment, managers and engineers can dynamically gain the deformation information of the slop by query the symbols. By this means, designers can improve the correctness of analysis, and make a strategic and proper decision. Since the system is beneficial to effectively manage the monitoring-data, equitably save the cost of design and safe construction, and decrease the workload of the engineers, it is a successful application to the combination of hydropower station monitoring information management and computer information system technology.At the same time, on the basis of the geological analysis and rock mass toppling deformation and failure mechanism analysis of Longtan engineering left bank slope, the synthetic space-time analysis and influence factors analysis on the surface monitoring data and deep rock mass monitoring data of A-zone on left bank slope are carried on. It shows that the main intrinsic factor that effects the deformation of Zone A is the argillite limestone interbedding toppling structure, and its main external factors are rain and slope excavation. What's more, Degree of Reinforcement Demand(DRD) has been used to evaluate the slop reinforce effect of Zone A on left bank according to the Engineering Geomechanics-mate-Synthetics(EGMS). The result shows that the slop has been effective reinforced, and it is more stable after reinforce.At last, on the basis of contrasting with several forecast models, a synthetic forecast GRAV model has been presented and used to forecast the deformation of zone A on left bank in generating electricity period. The result indicates that GRAV model has good forecast precision, strong stability, and practical valuable reliability.

Quantitative Inference in a Mechanical Design Compiler

This paper presents the ideas underlying a program that takes as input a schematic of a mechanical or hydraulic power transmission system, plus specifications and a utility function, and returns catalog numbers from predefined catalogs for the optimal selection of components implementing the design. It thus provides the designer with a high level "language" in which to compose new designs, then performs some of the detailed design process for him. The program is based on a formalization of quantitative inferences about hierarchically organized sets of artifacts and operating conditions, which allows design compilation without the exhaustive enumeration of alternatives.

Algorithms for indoor localization based on IEEE 802.15.4-2011 UWB and inertial sensors

In this thesis, extensive experiments are firstly conducted to characterize the performance of using the emerging IEEE 802.15.4-2011 ultra wideband (UWB) for indoor localization, and the results demonstrate the accuracy and precision of using time of arrival measurements for ranging applications. A multipath propagation controlling technique is synthesized which considers the relationship between transmit power, transmission range and signal-to-noise ratio. The methodology includes a novel bilateral transmitter output power control algorithm which is demonstrated to be able to stabilize the multipath channel, and enable sub 5cm instant ranging accuracy in line of sight conditions. A fully-coupled architecture is proposed for the localization system using a combination of IEEE 802.15.4-2011 UWB and inertial sensors. This architecture not only implements the position estimation of the object by fusing the UWB and inertial measurements, but enables the nodes in the localization network to mutually share positional and other useful information via the UWB channel. The hybrid system has been demonstrated to be capable of simultaneous local-positioning and remote-tracking of the mobile object. Three fusion algorithms for relative position estimation are proposed, including internal navigation system (INS), INS with UWB ranging correction, and orientation plus ranging. Experimental results show that the INS with UWB correction algorithm achieves an average position accuracy of 0.1883m, and gets 83% and 62% improvements on the accuracy of the INS (1.0994m) and the existing extended Kalman filter tracking algorithm (0.5m), respectively.

Cost of wind energy: comparing distant wind resources to local resources in the midwestern United States.

The best wind sites in the United States are often located far from electricity demand centers and lack transmission access. Local sites that have lower quality wind resources but do not require as much power transmission capacity are an alternative to distant wind resources. In this paper, we explore the trade-offs between developing new wind generation at local sites and installing wind farms at remote sites. We first examine the general relationship between the high capital costs required for local wind development and the relatively lower capital costs required to install a wind farm capable of generating the same electrical output at a remote site,with the results representing the maximum amount an investor should be willing to pay for transmission access. We suggest that this analysis can be used as a first step in comparing potential wind resources to meet a state renewable portfolio standard (RPS). To illustrate, we compare the cost of local wind (∼50 km from the load) to the cost of distant wind requiring new transmission (∼550-750 km from the load) to meet the Illinois RPS. We find that local, lower capacity factor wind sites are the lowest cost option for meeting the Illinois RPS if new long distance transmission is required to access distant, higher capacity factor wind resources. If higher capacity wind sites can be connected to the existing grid at minimal cost, in many cases they will have lower costs.

Damping torque analysis for DC bus implemented damping control

Damping torque analysis is a well-developed technique for understanding and studying power system oscillations. This paper presents the applications of damping torque analysis for DC bus implemented damping control in power transmission networks in two examples. The first example is the investigation of damping effect of shunt VSC (Voltage Source Converter) based FACTS voltage control, i.e., STATCOM (Static Synchronous Compensator) voltage control. It is shown in the paper that STATCOM voltage control mainly contributes synchronous torque and hence has little effect on the damping of power system oscillations. The second example is the damping control implemented by a Battery Energy Storage System (BESS) installed in a power system. Damping torque analysis reveals that when BESS damping control is realized by regulating exchange of active and reactive power between the BESS and power system respectively, BESS damping control exhibits different properties. It is concluded by damping torque analysis that BESS damping control implemented by regulating active power is better with less interaction with BESS voltage control and more robust to variations of power system operating conditions. In the paper, all analytical conclusions obtained are demonstrated by simulation results of example power systems.

Developments in retrodirective array technology

There has been significant interest in retrodirective antennas, especially considering the wealth of applications that could be significantly enhanced, or created, by the use of such technology. There is enormous potential for retrodirective antennas where complicated automatic tracking systems would benefit from being replaced by much simpler systems. Retrodirective array technology offers one solution pathway since it can offer extremely fast tracking with relatively simple circuitry. Retrodirective or self-steering arrays are suited for low radio frequency (RF) power mobile terminal use particularly on or between un-stabilised vehicles. In this type of operational scenario, high degrees of relative movement are expected, and power consumption and weight of the antenna must be kept to a minimum. In this study, the authors give a brief historical review of basic retrodirective technology and elaborate on some recent developments at Queens University of Belfast associated with retrodirective antenna technology in relation to, two-way communications, ultrafast RADAR, microwave imaging, spatial power transmission, mitigation of multipath effects and spatial encryption.

Adaptive backstepping droop controller design for multi-terminal high-voltage direct current systems

Wind power is one of the most developed renewable energy resources worldwide. To integrate offshore wind farms to onshore grids, the high-voltage direct current (HVDC) transmission cables interfaced with voltage source converters (VSCs) are considered to be a better solution than conventional approaches. Proper DC voltage indicates successive power transfer. To connect more than one onshore grid, the DC voltage droop control is one of the most popular methods to share the control burden between different terminals. However, the challenges are that small droop gains will cause voltage deviations, while higher droop gain settings will cause large oscillations. This study aims to enhance the performance of the traditional droop controller by considering the DC cable dynamics. Based on the backstepping control concept, DC cables are modelled with a series of capacitors and inductors. The final droop control law is deduced step-by-step from the original remote side. At each step the control error from the previous step is considered. Simulation results show that both the voltage deviations and oscillations can be effectively reduced using the proposed method. Further, power sharing between different terminals can be effectively simplified such that it correlates linearly with the droop gains, thus enabling simple yet accurate system operation and control.

Smart environment technology as a possible enabler of smart cities

This paper discusses the technology of smart floors as a enabler of smart cities. The discussion will be based on technology that is embedded into the environment that enable location, navigation but also wireless power transmission for powering up elements siting on it, typically mobile devices. One of those examples is the smart floor, this implementation follows two paths, one where the floor is passive, and normally passive RFID's are embedded into the floor, they are used to provide intelligence into the surrounding space, this is normally complemented with a battery powered mobile unit that scans the floor for the sensors and communicates the information to a database which locates the mobile device in the environment. The other path for the smart city enabler is where the floor is active and delivers energy for the objects standing on top of it. In this paper these two approaches will be presented, by discussing the technology behind it. © 2014 IEEE.

Low-loss austempered ductile iron gears: experimental evaluation comparing materials and lubricants

An experimental study to evaluate the power dissipation of gears was performed. Three low-loss gear models were manufactured using standard 20° pressure angle tools. Austempered ductile iron (ADI) and 20MnCr5 carburized steel gears were tested in an FZG gear test machine using mineral, ester and polyalphaolephine (PAO)-based oils. The results compare power dissipation, the influence of different tooth flank geometries, materials and lubricants. This work concludes that conventional power-transmission gears can be replaced by these improved and more efficient low–loss models, which can be produced using common tools and that steel gears can be successfully replaced by austempered ductile iron gears.

Utilização de Cabos de alta Temperatura em linhas Aéreas em Média Tensão

A presente dissertação teve como objetivo fazer uma análise da viabilidade técnica da utilização dos condutores de alta temperatura nas linhas aéreas de MT, identificar vantagens, analisar inconvenientes, e estabelecer um comparativo a custos médios com as soluções convencionais. Foi efetuado o estudo de um caso real da EDP Distribuição que consistia na necessidade do aumento da capacidade de transporte de energia da linha aérea a 15 kV Espinho-Sanguedo. Neste foi ponderada a solução onde se poderia efetuar passagem de linha simples para linha dupla em alumínio-aço (AA) 160 mm2 ou a solução alternativa e inovadora de substituição dos condutores existentes por condutores de alta temperatura ACCC 182 mm2. Para isso foram efetuados cálculos e também criada uma ferramenta de apoio à decisão, para validação dos mesmos, com o intuito de mais tarde poder ser aplicada nas linhas aéreas em Média Tensão em todo o país e, sempre que necessário, se possa fazer um estudo de ponderação técnica de forma sistemática e estruturada. Neste trabalho estão identificadas as vantagens, foram relatados os inconvenientes, e estabeleceu-se um comparativo a custos médios da utilização de condutores de alta temperatura com as soluções convencionais. Antes de poder ser realizado um estudo do caso concreto da Linha aérea Espinho-Sanguedo foi necessário um aprofundamento do estado da arte no que diz respeito à comparação entre o cabo de alta temperatura ACCC e o cabo convencional ACSR, sendo este o mais utilizado nas linhas aéreas em MT. Os cabos de alta temperatura trouxeram inovações neste tema de transporte de energia, e como tal surgiu a necessidade de um estudo mais aprofundado da sua constituição, destacando o seu núcleo formado pelo compósito de fibra de carbono e fibra de vidro. Foi também analisado vantagens e desvantagens do cabo de alta temperatura e até mesmo situações onde a sua aplicação poderá ser vantajosa, de modo a tirar proveito das suas caraterísticas em que se destacam altas temperaturas de funcionamento e flechas reduzidas. Para elaborar um projeto de uma linha aérea em média tensão é necessário considerar a legislação em vigor, os aspetos ambientais e económicos, respeitando e garantindo as premissas do cálculo elétrico e mecânico. Economicamente este tipo de cabo (ACCC) é mais dispendioso do que os convencionais, no entanto o estudo realizado permitiu perceber que a sua implementação técnica é vantajosa em linhas aéreas de elevada capacidade de transporte de energia, sobretudo nos casos onde serão necessárias instalar linhas duplas ou linhas simples de seções elevadas. Devido às suas caraterísticas mecânicas, estes cabos permitem melhorar as linhas na sua dimensão, podendo diminuir o número de apoios a instalar, podendo diminuir a robustez dos apoios e permitir maior facilidade na montagem. Estas vantagens traduzem-se em menores impactos ambientais e permitem sobretudo reduzir os constrangimentos com os proprietários dos terrenos onde os apoios são implantados.

A Theory of Quantitative Inference Applied to a Mechanical Design Compiler

This thesis presents the ideas underlying a computer program that takes as input a schematic of a mechanical or hydraulic power transmission system, plus specifications and a utility function, and returns catalog numbers from predefined catalogs for the optimal selection of components implementing the design. Unlike programs for designing single components or systems, the program provides the designer with a high level "language" in which to compose new designs. It then performs some of the detailed design process. The process of "compilation" is based on a formalization of quantitative inferences about hierarchically organized sets of artifacts and operating conditions. This allows the design compilation without the exhaustive enumeration of alternatives.

Classification of sags according to their origin based on the waveform similarity

A statistical method for classification of sags their origin downstream or upstream from the recording point is proposed in this work. The goal is to obtain a statistical model using the sag waveforms useful to characterise one type of sags and to discriminate them from the other type. This model is built on the basis of multi-way principal component analysis an later used to project the available registers in a new space with lower dimension. Thus, a case base of diagnosed sags is built in the projection space. Finally classification is done by comparing new sags against the existing in the case base. Similarity is defined in the projection space using a combination of distances to recover the nearest neighbours to the new sag. Finally the method assigns the origin of the new sag according to the origin of their neighbours

Localización de faltas en sistemas de distribución de energía eléctrica usando métodos basados en el modelo y métodos basados en el conocimiento

La calidad de energía eléctrica incluye la calidad del suministro y la calidad de la atención al cliente. La calidad del suministro a su vez se considera que la conforman dos partes, la forma de onda y la continuidad. En esta tesis se aborda la continuidad del suministro a través de la localización de faltas. Este problema se encuentra relativamente resuelto en los sistemas de transmisión, donde por las características homogéneas de la línea, la medición en ambos terminales y la disponibilidad de diversos equipos, se puede localizar el sitio de falta con una precisión relativamente alta. En sistemas de distribución, sin embargo, la localización de faltas es un problema complejo y aún no resuelto. La complejidad es debida principalmente a la presencia de conductores no homogéneos, cargas intermedias, derivaciones laterales y desbalances en el sistema y la carga. Además, normalmente, en estos sistemas sólo se cuenta con medidas en la subestación, y un modelo simplificado del circuito. Los principales esfuerzos en la localización han estado orientados al desarrollo de métodos que utilicen el fundamental de la tensión y de la corriente en la subestación, para estimar la reactancia hasta la falta. Como la obtención de la reactancia permite cuantificar la distancia al sitio de falta a partir del uso del modelo, el Método se considera Basado en el Modelo (MBM). Sin embargo, algunas de sus desventajas están asociadas a la necesidad de un buen modelo del sistema y a la posibilidad de localizar varios sitios donde puede haber ocurrido la falta, esto es, se puede presentar múltiple estimación del sitio de falta. Como aporte, en esta tesis se presenta un análisis y prueba comparativa entre varios de los MBM frecuentemente referenciados. Adicionalmente se complementa la solución con métodos que utilizan otro tipo de información, como la obtenida de las bases históricas de faltas con registros de tensión y corriente medidos en la subestación (no se limita solamente al fundamental). Como herramienta de extracción de información de estos registros, se utilizan y prueban dos técnicas de clasificación (LAMDA y SVM). Éstas relacionan las características obtenidas de la señal, con la zona bajo falta y se denominan en este documento como Métodos de Clasificación Basados en el Conocimiento (MCBC). La información que usan los MCBC se obtiene de los registros de tensión y de corriente medidos en la subestación de distribución, antes, durante y después de la falta. Los registros se procesan para obtener los siguientes descriptores: a) la magnitud de la variación de tensión ( dV ), b) la variación de la magnitud de corriente ( dI ), c) la variación de la potencia ( dS ), d) la reactancia de falta ( Xf ), e) la frecuencia del transitorio ( f ), y f) el valor propio máximo de la matriz de correlación de corrientes (Sv), cada uno de los cuales ha sido seleccionado por facilitar la localización de la falta. A partir de estos descriptores, se proponen diferentes conjuntos de entrenamiento y validación de los MCBC, y mediante una metodología que muestra la posibilidad de hallar relaciones entre estos conjuntos y las zonas en las cuales se presenta la falta, se seleccionan los de mejor comportamiento. Los resultados de aplicación, demuestran que con la combinación de los MCBC con los MBM, se puede reducir el problema de la múltiple estimación del sitio de falta. El MCBC determina la zona de falta, mientras que el MBM encuentra la distancia desde el punto de medida hasta la falta, la integración en un esquema híbrido toma las mejores características de cada método. En este documento, lo que se conoce como híbrido es la combinación de los MBM y los MCBC, de una forma complementaria. Finalmente y para comprobar los aportes de esta tesis, se propone y prueba un esquema de integración híbrida para localización de faltas en dos sistemas de distribución diferentes. Tanto los métodos que usan los parámetros del sistema y se fundamentan en la estimación de la impedancia (MBM), como aquellos que usan como información los descriptores y se fundamentan en técnicas de clasificación (MCBC), muestran su validez para resolver el problema de localización de faltas. Ambas metodologías propuestas tienen ventajas y desventajas, pero según la teoría de integración de métodos presentada, se alcanza una alta complementariedad, que permite la formulación de híbridos que mejoran los resultados, reduciendo o evitando el problema de la múltiple estimación de la falta.

Discerning the conformation of G-quadruplex forming DNA

Terahertz power transmission spectroscopy (TPTS) measurements have been carried out to detect a difference between the hydration shells of G-quadruplex forming DNA sequences in strand and quadruplex configuration. Evidence of a change in hydration shell was observed.