This paper presents the formulation and practical implementation of positioning methodologies that compensate for the nonholonomic constraints of a mobile microrobot that is driven by two vibrating direct current(DC) ...This paper presents the formulation and practical implementation of positioning methodologies that compensate for the nonholonomic constraints of a mobile microrobot that is driven by two vibrating direct current(DC) micromotors. The open-loop and closed-loop approaches described here add the capability for net sidewise displacements of the microrobotic platform. A displacement is achieved by the execution of a number of repeating steps that depend on the desired displacement, the speed of the micromotors, and the elapsed time. Simulation and experimental results verified the performance of the proposed methodologies.展开更多
A novel single-ended online fault location algorithm is investigated for DC distribution networks. The proposed algorithm calculates the fault distance based on the characteristics of the voltage resonance. The Prony&...A novel single-ended online fault location algorithm is investigated for DC distribution networks. The proposed algorithm calculates the fault distance based on the characteristics of the voltage resonance. The Prony's method is introduced to extract the characteristics. A novel method is proposed to solve the pseudo dual-root problem in the calculation process. The multiple data windows are adopted to enhance the robustness of the proposed algorithm. An index is proposed to evaluate the accuracy and validity of the results derived from the various data windows. The performances of the proposed algorithm in different fault scenarios were evaluated using the PSCAD/EMTDC simulations. The results show that the algorithm can locate the faults with transient resistance using the 1.6 ms data of the DC-side voltage after a fault inception and offers a good precision.展开更多
基金supported in part by the National Science Foundation(IIS1318638 and IIS1426752)the Shenzhen Science and Technology Project(ZDSY20120617113312191)
文摘This paper presents the formulation and practical implementation of positioning methodologies that compensate for the nonholonomic constraints of a mobile microrobot that is driven by two vibrating direct current(DC) micromotors. The open-loop and closed-loop approaches described here add the capability for net sidewise displacements of the microrobotic platform. A displacement is achieved by the execution of a number of repeating steps that depend on the desired displacement, the speed of the micromotors, and the elapsed time. Simulation and experimental results verified the performance of the proposed methodologies.
基金supported by the National Basic Research Program of China("973" Project)(Grant No.2012CB215206)the National Natural Science Foundation of China(Grant Nos.51407067&51222703)the "111" Project of China(Grant No.B08013)
文摘A novel single-ended online fault location algorithm is investigated for DC distribution networks. The proposed algorithm calculates the fault distance based on the characteristics of the voltage resonance. The Prony's method is introduced to extract the characteristics. A novel method is proposed to solve the pseudo dual-root problem in the calculation process. The multiple data windows are adopted to enhance the robustness of the proposed algorithm. An index is proposed to evaluate the accuracy and validity of the results derived from the various data windows. The performances of the proposed algorithm in different fault scenarios were evaluated using the PSCAD/EMTDC simulations. The results show that the algorithm can locate the faults with transient resistance using the 1.6 ms data of the DC-side voltage after a fault inception and offers a good precision.
