A barrier-free wheelchair robot with a mechanism coupled by wheel and track is presented in this paper. Using the wheelchair,the lower limb disabled persons could be more relaxed to take part in outdoor activities whe...A barrier-free wheelchair robot with a mechanism coupled by wheel and track is presented in this paper. Using the wheelchair,the lower limb disabled persons could be more relaxed to take part in outdoor activities whether on flat ground or stairs and obstacles in the city. The wheel-track coupling mechanism is designed and the stability of the bodywork of the wheelchair robot on the stairs is analyzed. In order to obtain the stability of wheelchair robot when it climbs obstacles,centroid projection method is applied to analyze the static stability,stability margin is proposed to provide the stability under some dynamic forces,and the push rod rotation angle in terms of the guaranteed stability margin is given. Finally,the dynamic model of the wheelchair robot based on Lagrange equation is established,which can be a theoretical foundation for the wheelchair control system design.展开更多
The paper discusses the framework for a risk-informed root cause analysis process.Such process enables scaling of the analysis performed based on the risk associated with the undesired event or condition,thereby creat...The paper discusses the framework for a risk-informed root cause analysis process.Such process enables scaling of the analysis performed based on the risk associated with the undesired event or condition,thereby creating tiers of analysis where the greater the risk,the more sophisticated the analysis.In a risk-informed root cause analysis process,a situation is normally not analyzed at a level less than what actually occurred.However,a situation may be investigated as though the consequence were greater than actually happened,especially if only slight differences in circumstances could result in a significantly higher consequence.While operational events or safety issues are normally expected to result only with negligible or marginal actual consequences,many of those would actually have certain potential to develop or propagate into catastrophic events.This potential can be expressed qualitatively or quantitatively.Risk-informing of root cause analysis relies on mapping the event or safety issue into a risk matrix which,traditionally,is a two-dimensional probability-consequence matrix.A new concept employed in the risk matrix for root cause analysis is that,while the probability reflects the observed or expected range of values(retaining,thus,its“traditional”meaning),the consequence reflects not only the observed or materialized impact(such as failure of equipment)but,also,its potential to propagate or develop into highly undesirable final state.The paper presents main elements of risk-informed root cause analysis process and discusses qualitative and quantitative aspects and approaches to determination of risk significance of operational events or safety issues.展开更多
为提高电力系统静态电压的稳定性,提出将静止无功补偿器(static var compensator,SVC)与可控串联补偿装置(thyristor controlled series compensator,TCSC)相结合并作用于电力系统线路中,运用动态连续潮流法计算电力系统静态电压稳定裕...为提高电力系统静态电压的稳定性,提出将静止无功补偿器(static var compensator,SVC)与可控串联补偿装置(thyristor controlled series compensator,TCSC)相结合并作用于电力系统线路中,运用动态连续潮流法计算电力系统静态电压稳定裕度的新方法。首先建立SVC与TCSC的稳态模型;然后引入节点参数因子和支路参数因子的概念,运用模态分析法确定系统母线和支路的薄弱点,并联SVC对母线薄弱点进行无功补偿,串联TCSC优化薄弱线路功率分配;最后运用动态连续潮流法求出静态电压稳定裕度。以IEEE-14节点系统进行仿真计算,并对无灵活交流输电(flexible AC transmission system,FACTS)装置、单独安装SVC或TCSC、SVC和TCSC相结合情况下的系统静态电压稳定裕度值作比较,结果表明所提新方法能够快速、准确地提高电力系统静态电压稳定性。展开更多
基金Supported by State Key Laboratory of Robotics and Systems(HIT)(SKLRS-2010-ZD-04)Capital Medical Development Scientific Research Fund(20092098)
文摘A barrier-free wheelchair robot with a mechanism coupled by wheel and track is presented in this paper. Using the wheelchair,the lower limb disabled persons could be more relaxed to take part in outdoor activities whether on flat ground or stairs and obstacles in the city. The wheel-track coupling mechanism is designed and the stability of the bodywork of the wheelchair robot on the stairs is analyzed. In order to obtain the stability of wheelchair robot when it climbs obstacles,centroid projection method is applied to analyze the static stability,stability margin is proposed to provide the stability under some dynamic forces,and the push rod rotation angle in terms of the guaranteed stability margin is given. Finally,the dynamic model of the wheelchair robot based on Lagrange equation is established,which can be a theoretical foundation for the wheelchair control system design.
文摘The paper discusses the framework for a risk-informed root cause analysis process.Such process enables scaling of the analysis performed based on the risk associated with the undesired event or condition,thereby creating tiers of analysis where the greater the risk,the more sophisticated the analysis.In a risk-informed root cause analysis process,a situation is normally not analyzed at a level less than what actually occurred.However,a situation may be investigated as though the consequence were greater than actually happened,especially if only slight differences in circumstances could result in a significantly higher consequence.While operational events or safety issues are normally expected to result only with negligible or marginal actual consequences,many of those would actually have certain potential to develop or propagate into catastrophic events.This potential can be expressed qualitatively or quantitatively.Risk-informing of root cause analysis relies on mapping the event or safety issue into a risk matrix which,traditionally,is a two-dimensional probability-consequence matrix.A new concept employed in the risk matrix for root cause analysis is that,while the probability reflects the observed or expected range of values(retaining,thus,its“traditional”meaning),the consequence reflects not only the observed or materialized impact(such as failure of equipment)but,also,its potential to propagate or develop into highly undesirable final state.The paper presents main elements of risk-informed root cause analysis process and discusses qualitative and quantitative aspects and approaches to determination of risk significance of operational events or safety issues.
文摘为提高电力系统静态电压的稳定性,提出将静止无功补偿器(static var compensator,SVC)与可控串联补偿装置(thyristor controlled series compensator,TCSC)相结合并作用于电力系统线路中,运用动态连续潮流法计算电力系统静态电压稳定裕度的新方法。首先建立SVC与TCSC的稳态模型;然后引入节点参数因子和支路参数因子的概念,运用模态分析法确定系统母线和支路的薄弱点,并联SVC对母线薄弱点进行无功补偿,串联TCSC优化薄弱线路功率分配;最后运用动态连续潮流法求出静态电压稳定裕度。以IEEE-14节点系统进行仿真计算,并对无灵活交流输电(flexible AC transmission system,FACTS)装置、单独安装SVC或TCSC、SVC和TCSC相结合情况下的系统静态电压稳定裕度值作比较,结果表明所提新方法能够快速、准确地提高电力系统静态电压稳定性。
