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Research on On-line Prediction of Contact Resistance and Maximum Load Capacity of Switchgear Cabinet in Operation

Research on On-line Prediction of Contact Resistance and Max...

引用

IEEE international conference on Mechatronics, robotics and automation (ICMRA)

作者： Jieshuai Ren Hongbing Li Zifan Dong Song He Jinbin Li Borui Niu Equipment Technology Center State Grid Hubei Electric Power Co. Ltd. Electric Power Research Institute Wuhan China Equipment Division State Grid Hubei Electric Power Co. Ltd. Wuhan China School of Electrical Engineering and Automation Wuhan University Wuhan China

the contact defect of the disconnecting switch contacts in the switchgear cabinet is the direct cause of the overheating defects, which decreases the load capacity of cabinets and may leads to fire and short-circuit accidents. In this paper, an online prediction scheme of contact resistance and load capacity is proposed. the relationship between the steady-state temperature rise of the switchgear contacts and the combination of contact resistance and load current is deduced qualitatively through the thermal circuit model. then the prediction functions which obtain the contact resistance and the maximum load capacity of the switchgear cabinet by measuring the load current and steady-state temperature in contacts are proposed theoretically. A simulation based on temperature-fluid field is conducted to quantitatively verify the proposed prediction functions. the prediction scheme do not require any additional hardware in switchgear cabinets with contact temperature sensors, and can be used to diagnose contact defect before overheating defects occur, which provides important references for the power dispatch of substations and operation & maintenance of switchgear cabinets.

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ARMER: Modular and Semi-Autonomous Supernumerary Robotic Limbs for Disaster Relief 2021

ARMER: Modular and Semi-Autonomous Supernumerary Robotic Lim...

引用

5th international conference of the robotics Society on Advances in robotics, AIR 2021

作者： Manisekaran, Parthan Shreyanka, S.G. Sujeet Tripathi, Shikha Sudarshan, T.S.B. Centre For Robotics Automation And Intelligent Systems Dept. of ECE PES University Bangalore India

ISBN: (纸本)9781450389716

the design and implementation of a semi-autonomous Supernumerary Robotic Limbs (SRL) for disaster relief to ease the workload of disaster rescue teams during calamities like earthquakes is proposed in this work. the key parameters considered are modularity, ease of use, payload and accuracy. A 3D printed portable Robotic Limb has been designed that can be carried by the user on the shoulder with a backpack-like structure and can be used to push debris along the line of sight. Existing Supernumerary robotic limbs work on the principle of leader-follower concept wherein the user must mimic the action required following which the robot performs the same action. In a time-constrained, unpredictable environment like disaster, this might not be feasible. the proposed design is equipped with an RGBD camera that can detect the debris 'selected' by the user and can autonomously push the debris. this technique can save time and the effort required in leading the robot or remote controlling it. To test the proof of concept, dimensions of the SRL has been downscaled and the accuracy of detection of debris by the robot, maximum payload that can be pushed, and the impact of the limb if equipped by a human user has been computed. We then interpolate and compare the results to the actual scale SRL. the modularity of the SRL has been analyzed and different end-effectors based on the function and capacities required have also been incorporated in the design. © 2021 ACM.

关键词： Robots

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Visual Guidance of Aerial Vehicle for Target Recognition and Pose Estimation

Visual Guidance of Aerial Vehicle for Target Recognition and...

引用

IEEE international conference on Cyber Technology in automation, Control, and Intelligent systems

作者： Zhaoyang Zhang Guangyu Zhang Liying Yang Yuqing He Siliang Li Northeastern University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang China

this paper proposes a deep learning-based target pose estimation method for aerial vehicle, a robotic system combining a rotary-wing UAV and a robotic arm, which is difficult to accurately acquire the pose of the target when performing tasks in the field environment. Firstly, in the offline stage, the YOLOv5 model is improved by adding angle prediction branches to make it capable of pose estimation; secondly, the offline model is used to complete target recognition, target segmentation and pose estimation in combination with online images, and the online visual point cloud is combined with statistical filtering to complete the position estimation of targets; Finally, the effectiveness and feasibility of this visual guidance method is verified through indoor static experiments and outdoor flight experiments, and this method successfully guided the aerial vehicle to complete the torch docking task.

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Optimization of Image Preprocessing and Background Influences using a Depth Camera for Person Re-Identification on a Mobile Robot

Optimization of Image Preprocessing and Background Influence...

引用

IEEE international conference on automation Science and Engineering (CASE)

作者： Sebastian Flores Zeynep Boztoprak Jana Jost Department of AI and Autonomous Systems Fraunhofer Institute for Material Flow and Logistics Dortmund Germany Department of Robotics and Cognitive Systems Fraunhofer Institute for Material Flow and Logistics Dortmund Germany

In this paper, we optimize datasets with different image preprocessing techniques for person re-identification using the ResNet18 model on a mobile robot with limited hardware, e.g., computational power and depth camera. For this, we create 16 datasets for which we discovered that the inverted original images, from the IR gray value images of the depth camera, results in the highest values with an r1, r5 and mAP of 98.48 %,99.82 % and 80.86 %. Additionally, we explore the cross-dataset evaluation for the 16 datasets to examine the robustness of our model, which points to a low generalizability. the scores are associated with the similarity between the trained and evaluated dataset.

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Target Detection Algorithm for Multirotor UAVs in Complex Backgrounds

Target Detection Algorithm for Multirotor UAVs in Complex Ba...

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Artificial Intelligence, robotics and Control (AIRC), international conference on

作者： Qingchun Jiao Huaijie Niu JunFeng Zhuang Devou Zhan Lin Bao School of Automation and Electrical Engineering Zhejiang University of Science and Technology Hangzhou China Zhejiang Public Security Institute of Science and Technology Hangzhou China Zhejiang Fang Yuan Test Group Co. Ltd Hangzhou China School of Mechanical Electrical and Transportation Engineering Nantong Vocational College of Science and Technology Nantong China

ISBN: (数字)9798350385076

ISBN: (纸本)9798350385083

In addressing the issues of insufficient accuracy and slow speed in target detection algorithms for multirotor UAV images with complex backgrounds, this paper proposes a target detection algorithm, DSCW-YOLOV8, based on the YOLOV8 algorithm. Firstly, the paper reconstructs the C2f module into the DS-C2f module through a depthwise separable convolution module, replacing the C2f module in the YOLOV8 backbone network to improve the model's inference speed. Secondly, the paper introduces the Coordinated Attention (CA) mechanism into the backbone network of the YOLOV8 algorithm to enhance the model's detection accuracy. Finally, the Wise-IoU with a dynamic non-monotonic focusing mechanism is used as the bounding box loss function for the improved algorithm, enhancing the regression capability of bounding boxes and the robustness of detection. Experimental results on a multimodal dataset consisting of visible light and infrared images demonstrate that the parameter count of the DSCW-YOLOV8 algorithm is reduced by 43% compared to the baseline YOLOV8s model. the detection accuracy and speed, measured by mAP@0.5 and FPS, respectively, have improved by 10.3% and 8.1%, confirming the effectiveness of the improved algorithm.

关键词： Training Accuracy Heuristic algorithms Robot kinematics Object detection Autonomous aerial vehicles Inference algorithms

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Blockchain Technology with Applications to Distributed Control and Cooperative robotics

Blockchain Technology with Applications to Distributed Contr...

引用

international conference on Contemporary Computing and Informatics (IC3I)

作者： K. Suresh Kumar Dharmendra Yadav Sanjeev Kumar Joshi M. Kalyan Chakravarthi Amit Kumar Jain Vikas Tripathi Department of MBA Panimalar Engineering College Varadarajapuram Poonamallee Chennai Department of Computer Science and Engineering Bikaner (Constituent College of Bikaner Technical University Bikaner) Chak Rural Rajasthan Uttaranchal Institute of Technology Uttaranchal University Dehradun Uttarakhand India School of Electronics Engineering VIT - AP University Amaravati Andhra Pradesh Computer Science Delhi University Delhi India Department of Computer Science & Engineering Graphic Era Deemed to be University Dehradun Uttarakhand India

Various advantages of blockchain include decentralisation, persistence, anonymity, and auditability. Numerous researchers are now interested in distributed control systems that facilitate coordinated and cooperative autonomy as a result of the rising market for robotics. the fields of distributed control and cooperative robotics have constantly faced unsolvable issues with safety and distributed communication. Blockchain innovation has recently been recognized in this setting as a viable technique to solve several of the above problems, including the recognition of malicious nodes, malfunction in process automation, non-compliance with the established standards and privacy protections, safety strikes on robotic, and lack of clarity in measuring performance and audits. this research aims to offer a pathway for newcomers to enter this study area by providing a comprehensive image of blockchain technology’s operating principle and important components in the terminology of management and robotics. Blockchain innovation holds out hope for a comprehensive resolution to this issue and offers a comprehensive review of the system in the form of tutorials. the importance of blockchain in various robotics application cases is then examined. the approaches for future study that can lead to breakthroughs and successful blockchain incorporation in the robotics industry are then highlighted.

关键词： Technological innovation Service robots Terminology Robot kinematics Decentralized control Swarm robotics Tutorials

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Study of Spinning Reserve Setting Based on Local Wind/Solar Radiation Features in Unit Commitment

Study of Spinning Reserve Setting Based on Local Wind/Solar ...

引用

robotics, Control and automation Engineering (RCAE), international conference on

作者： Shengyao Shi Yuchun Liu Yu Lu Minglei Jiang Meng Zhu Changhui Lv Danchen Zheng Jizhe Dong State Grid Jilin Electric Power Co. Ltd. Changchun China Changchun University of Technology Changchun China

ISBN: (数字)9781665459419

ISBN: (纸本)9781665459426

the wind and solar radiation of each location show distinct local features. this paper proposes a spinning reserve setting method that considers the local wind and solar radiation features. through the statistics of local historical wind speed and solar radiation data, the wind and solar radiation transition matrices are established. Using the transition matrices, the power system's additional spinning reserves to compensate for wind and solar power fluctuations are set. the spinning reserves are then applied to the unit commitment calculations. A case study is performed on a 10-units system using the proposed method.

关键词： Uncertainty Fluctuations automation Wind speed Wind power generation Real-time systems Power systems

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Analysis of Kinematic Diagrams and Design Solutions of Mobile Agricultural Robots 1

引用

6th international conference on Interactive Collaborative robotics (ICR)

作者： Vasiunina, Iuliia Krestovnikov, Konstantin Bykov, Aleksandr Erashov, Aleksei Russian Acad Sci SPC RAS St Petersburg Fed Res Ctr 39 14th Line St Petersburg 199178 Russia

ISBN: (数字)9783030877255

ISBN: (纸本)9783030877255;9783030877248

automation and robotization in agriculture can reduce the amount of manual labor and increase yields and product quality. To perform tasks on agricultural land, the robot needs to move on open ground and cover significant distances. thus, the main structural part of the agricultural robot is an autonomous mobile platform on which various functional equipment is installed. the rapid development of agricultural robotics makes it urgent to develop multifunctional platforms for applications in this area. To select the optimal kinematic scheme of the future robotic platform, it is necessary to analyze the existing solutions in this area and draw conclusions about the advantages and disadvantages of various options. this work is aimed at the search and selection of kinematic schemes for basic robotic platforms, the use of which is planned on agricultural land and in greenhouse complexes. the paper analyzes the design solutions and propellers used by the authors of research works and projects in the field of agricultural robotics. Based on the analysis, the most suitable kinematic schemes of mobile platforms were selected for this area, their properties and principles of operation were considered.

关键词： Kinematic diagrams of mobile platforms Types of movers for mobile platforms Supporting systems of mobile platforms Agricultural robotics

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Position Tracking Control of a Mobile Vehicle-Manipulator System with Disturbances

Position Tracking Control of a Mobile Vehicle-Manipulator Sy...

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robotics, Control and automation Engineering (RCAE), international conference on

作者： Fang Guo Yi Qin Fujie Wang School of Electrical Engineering and Intelligentization Dongguan University of Technology Dongguan China

ISBN: (数字)9781665459419

ISBN: (纸本)9781665459426

In this thesis, the main consideration is how to construct and describe system model for a flexible mobile vehicle-manipulator system with tension and disturbances and design the control strategy for attaining the goals of position tracking. Hamilton's principle is applied to system modeling and some nonlinear differential equations are derived. On this basis, an effective position tracking control strategy is brought up, where two auxiliary signals are given to help to prove stability and symbolic functions are given to help to cope with disturbances. With given control strategy, both the vehicle and angular of joint can track the desired positions. Meanwhile, oscillation amplitude of manipulator is also decreased. At last, the validation of control strategy is proved via simulations.

关键词： automation Computer simulation Differential equations systems modeling Manipulators Mathematical models Stability analysis

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Classifying Laboratory Tools using Robot arm associated with Computer Vision 7

Classifying Laboratory Tools using Robot arm associated with...

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7th international Scientific conference on Applying New Technology in Green Buildings, ATiGB 2022

作者： Nguyen, Vinh-Hao Nguyen, Hai-Ninh Ho, Minh-thien Nguyen, thanh-Sang University of Technology Dept. Control Engineering and Automation Ho Chi Minh City Ho Chi Minh City Viet Nam

ISBN: (数字)9781665472852

ISBN: (纸本)9781665472852

6D pose estimation of 3D object is an important task in robotics, which allows the robot to determine object's position and orientation in pick-And-place applications. this paper proposes a solution for 6D pose estimation using RGB-D camera and 6-DOF robot. the main algorithm is the Point Pair Feature (PPF) that helps to find the position and orientation of the object. the authors also give some improvements based on the original algorithm. the accuracy of PPF algorithm's will be evaluated in 5°, 5cm. For communication between the robot and the computer, we build a UDP-based protocol program that is suggested by Yaskawa. In addition, we provide a Graphical User Interface (GUI) to support the control and observation of the execution. © 2022 IEEE.

关键词： Graphical user interfaces

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