A mobile self-reconfigurable robot based on modularity

A novel mobile self-reconfigurable robot is presented. This robot consists of several independent units. Each unit is composed of modular components including ultrasonic sensor, camera, communication, computation, and mobility parts, and is capable of simple self-reconfiguring to enhance its mobility by expanding itself. Several units can not only link into a train or other shapes autonomously via camera and sensors to be a united whole robot for obstacle clearing, but also disjoin to be separate units under control after missions. To achieve small overall size, compact mechanical structures are adopted in modular components design, and a miniature advanced RISC machines （ARM） based embedded controller is developed for minimal power consumption and efficient global control. The docking experiment between two units has also been implemented.

主变压器BMH型排油注氮灭火系统改造方案及工程应用

目前,油浸变压器BMH-1A型排油注氮灭火系统的控制回路均存在启动条件单一、接线不合理等问题,容易引起装置误动。通过对该型排油注氮灭火系统的分析,提出在控制回路中增加主变压器三侧断路器位置、增加紧急解锁按钮以及改造探测器接线等措施,保证灭火系统在主变正常运行时不误动,主变着火时不拒动。另外,对BMH-1A型排油注氮灭火系统机械结构进行了改造,并针对变电站实际情况提出工程应用的改造方案。