In order to achieve the function of measuring friction on contacting surface between wafer and manipulator in real time, in this paper, we mainly measured the resolution and precision of the three dimension force sens...
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SCADA (Supervisory Control And Data Acquisition) system is a basic infrastructure of modern power systems. SCADA data are widely used in applications such as state estimation, power flow calculation, and on-line secur...
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ISBN:
(纸本)9781510830059
SCADA (Supervisory Control And Data Acquisition) system is a basic infrastructure of modern power systems. SCADA data are widely used in applications such as state estimation, power flow calculation, and on-line security assessment. The accuracy of the SCADA data directly affects the implementation of power system automatic control. In practice, the error of the SCADA data may deviate from its factory precision due to the influence of the equipment aging, data transmission and so on. To quantitatively evaluate the validity of the SCADA data, a consistency index is defined in this paper. Some SCADA data from several substations of a power gird is checked with the consistency index to reveal its reliability.
In order to ensure the security buffer of the 6-UPS space docking mechanism, real-time control based on contact force is needed. In this paper, a highly effective Cartesian impedance control method based on the feedba...
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Most of separating operations for solar panels have been achieved by utilizing explosive bolt nowadays. However, with the development of space technology, especially when new generations of small satellites start to e...
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Being the most important component of minimally invasive surgical robot system, remote centre mechanisms (RCM) composed of three joints, achieve the position and orientation adjustment of the surgical instrument insid...
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ISBN:
(纸本)9781479941001
Being the most important component of minimally invasive surgical robot system, remote centre mechanisms (RCM) composed of three joints, achieve the position and orientation adjustment of the surgical instrument inside a patient's body. In order to implement the high-precision position control and eliminate the adverse effect result from the friction of RCM's joints, in this paper, a fuzzy sliding mode controller with the friction compensation is designed. The result of simulation and experiment show that the controller designed can provide a trajectory tracking with real-time, high-precision performance and strong robustness.
With rapid increase of wind power installed capacity, the operation mode of power system has changed greatly, it is necessary to include modeling and simulation based on wind turbines and farms. Numerical simulation p...
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ISBN:
(纸本)9781467371070
With rapid increase of wind power installed capacity, the operation mode of power system has changed greatly, it is necessary to include modeling and simulation based on wind turbines and farms. Numerical simulation plays a unique role in power system operation and control, and its accuracy turns out to be the focus of electric industry. PSASP and PSS/E, as two main sorts of simulation analysis software at home and abroad respectively, both enable wind turbines electromechanical transient simulation. In this paper, Detailed comparisons are made between Doubly-fed induction generator (DFIG) in PSS/E and PSASP. Finally, simulative results of power system including the models are compared and analyzed.
Legged robots have better performance on discontinuous terrain than that of wheeled robots. However, the dynamic trotting and balance control of a quadruped robot is still a challenging problem, especially when the ro...
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Legged robots have better performance on discontinuous terrain than that of wheeled robots. However, the dynamic trotting and balance control of a quadruped robot is still a challenging problem, especially when the robot has multi-joint legs. This paper presents a three-dimensional model of a quadruped robot which has 6 Degrees of Freedom (DOF) on torso and 5 DOF on each leg. On the basis of the Spring-Loaded Inverted Pendulum (SLIP) model, body control algorithm is discussed in the first place to figure out how legs work in 3D trotting. Then, motivated by the principle of joint function separation and introducing certain biological characteristics, two joint coordination approaches are developed to produce the trot and provide balance. The robot reaches the highest speed of 2.0 m.s-1, and keeps balance under 250 Kg.m.s-1 lateral disturbance in the simulations. The effectiveness of these approaches is also verified on a prototype robot which runs to 0.83 m.s-1 on the treadmill, The simulations and experiments show that legged robots have good biological properties, such as the ground reaction force, and spring-like leg behavior.
The Thevenin equivalent circuit parameters for the upstream system seen at a load bus plays an important role in the power system operation and planning. In order to accurately estimate the Thevenin equivalent paramet...
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ISBN:
(纸本)9781467371070
The Thevenin equivalent circuit parameters for the upstream system seen at a load bus plays an important role in the power system operation and planning. In order to accurately estimate the Thevenin equivalent parameters for the upstream supply system, an estimation method not requiring synchronized measurement is used in this paper. The characteristics of the probability curves of load voltage and impedance fluctuations have been analyzed, based on which the data selection criteria has been established. The field measurement data from different substations are processed by the proposed methods, and abnormal data has been filtered out in order to increase the accuracy of the estimated parameters. The validity and accuracy of the proposed method has been verified by both the simulation and field measurement data.
A fuzzy adaptive control method is proposed for a class of non-affine nonlinear systems. By combing implicit function theorem and time scale separation, the control input is derived from the solution of a fast dynamic...
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Rottenness is one of the most prevalent defects caused by mechanical damage or fungal infection. It is a challenging task to detect the early rottenness in apples because they present a color and texture similar to th...
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