This paper examines various aspects of the design process and subsequent field test measurements of a large and complex substation grounding system. The study and measurements show that soil layering and lead interfer...This paper examines various aspects of the design process and subsequent field test measurements of a large and complex substation grounding system. The study and measurements show that soil layering and lead interference can have a significant impact on the appropriate test location that yields the exact substation ground impedance. Applying a specific percentage rule such as the 61.8% rule for uniform soils to obtain the true ground impedance may lead to unacceptable errors for large grounding systems. This poses significant problems when attempting to validate a design based on raw test data that are interpreted using approximate methods to evaluate substation ground impedance, and determine ground potential rise (GPR), touch and step voltages. Advanced measurement methodologies and modern software packages were used to obtain and effectively analyze fall of potential test data, compute fault current distribution, and evaluate touch and step voltages for this large substation. Fault current distribution between the grounding system and other metallic paths were computed to determine the portion of fault current discharged in the grounding system. The performance of the grounding system, including its GPR and touch and step voltages, has been accurately computed and measured, taking into account the impedance of the steel material used of the ground conductors and circulating currents within the substation grounding system.展开更多
In this study,a walking method that prevents a fall of the planetary exploration-legged rover is proposed.In the proposed walking method,the leg is sunk by giving vibration to the ground.The posture of the rover is ch...In this study,a walking method that prevents a fall of the planetary exploration-legged rover is proposed.In the proposed walking method,the leg is sunk by giving vibration to the ground.The posture of the rover is changed to prevent a fall of the rover by sinking the leg.First,the relationship between the kind of vibration and the subsidence of the leg is confirmed.In this experimental result,the leg is shown to be easy to sink to the ground by giving vibration.Moreover,the larger the vibratory force is,the easier the leg sinks to the ground.Finally,the legged testbed walks on the loose ground with a slope using the proposed walking method.In this experimental result,the testbed is difficult to fall down when it uses the proposed walking.Moreover,the angle of a slope that the testbed can walk becomes large by using the proposed walking.展开更多
文摘This paper examines various aspects of the design process and subsequent field test measurements of a large and complex substation grounding system. The study and measurements show that soil layering and lead interference can have a significant impact on the appropriate test location that yields the exact substation ground impedance. Applying a specific percentage rule such as the 61.8% rule for uniform soils to obtain the true ground impedance may lead to unacceptable errors for large grounding systems. This poses significant problems when attempting to validate a design based on raw test data that are interpreted using approximate methods to evaluate substation ground impedance, and determine ground potential rise (GPR), touch and step voltages. Advanced measurement methodologies and modern software packages were used to obtain and effectively analyze fall of potential test data, compute fault current distribution, and evaluate touch and step voltages for this large substation. Fault current distribution between the grounding system and other metallic paths were computed to determine the portion of fault current discharged in the grounding system. The performance of the grounding system, including its GPR and touch and step voltages, has been accurately computed and measured, taking into account the impedance of the steel material used of the ground conductors and circulating currents within the substation grounding system.
文摘In this study,a walking method that prevents a fall of the planetary exploration-legged rover is proposed.In the proposed walking method,the leg is sunk by giving vibration to the ground.The posture of the rover is changed to prevent a fall of the rover by sinking the leg.First,the relationship between the kind of vibration and the subsidence of the leg is confirmed.In this experimental result,the leg is shown to be easy to sink to the ground by giving vibration.Moreover,the larger the vibratory force is,the easier the leg sinks to the ground.Finally,the legged testbed walks on the loose ground with a slope using the proposed walking method.In this experimental result,the testbed is difficult to fall down when it uses the proposed walking.Moreover,the angle of a slope that the testbed can walk becomes large by using the proposed walking.