智能机器人在电力电缆隧道巡检的实践分析

电力电缆隧道的运行环境比较繁杂,如果采取人工巡检那将会加大巡检人员的工作量,同时还会大大延长巡检工作的时间,从而降低了电力电缆隧道巡检工作的效率。此外由于内部环境复杂等原因,在巡检的过程中还容易出现安全事故。对此,不少企业已经将智能机器人运用在该项工作中,借助智能机器人开展电力电缆隧道巡检工作能有效解决人工巡检的问题,一来可以有效提高巡检工作的效率,二来还保障了巡检人员的生命健康。而本文针对智能机器人在电力电缆隧道巡检作出实践分析,具体内容如下。     

新导智能电力设备智能巡检管理RFID解决方案

电力设备手持设备终端巡检系统针对巡检工作实际需要及特点,具有路线安排、数据记录、工作状态监督、数据汇总报告等功能,并可与电力设备企业现有信息系统无缝连接,有效了解、检查巡检工作状态,能及时发现电力设备的缺陷,提升电力设备运行安全性并降低生产运营成本。     

选煤厂设备巡检系统设计

针对传统的选煤厂设备管理方法存在漏检漏查、无专用仪器、数据处理繁琐等问题,提出了一种新型的选煤厂设备巡检系统的设计方案。在巡检线路及设备上安装相应的感应卡,巡检人员携带巡检仪到各点读卡,把代表该点的卡号和时间记录下来,同时完成规定的巡检和数据采集工作,然后进行下一点的巡检任务;巡检工作完成后将巡检仪的数据传送到监控计算机,由巡检数据综合信息管理软件进行处理,从而达到对巡检情况进行记录和考核的目的。实际应用表明,该系统运行稳定、功能实用。     

变电站巡检机器人导航控制系统设计与实现

随着信息技术的快速发展,作为电网中的重要节点,变电站的自动化程度不断提高。日常巡检工作对于变电站的正常运行起着至关重要的作用,针对人工巡检出现的一些问题,使用机器人代替人工完成巡检工作是经过验证的较好的解决方案之一。导航和控制模块是完成巡检工作的重要组成部分,在设计的过程中需要充分考虑导航和控制模块的组成结构、传感器种类和信息交互方式等,为软件系统的实现提供保障。     

基于强化学习的配电网巡检缺陷自动识别方法

针对无人机配电网巡检过程中存在的不能准确识别树障等缺陷的问题，研究基于强化学习的配电网巡检缺陷自动识别方法。建立无人机智能巡检管控平台，在此基础上利用Sarsa强化学习算法自动分析巡检作业缺陷，实现树障、设备及安全隐患等缺陷的自动识别。试验结果表明，该方法能够有效识别巡检作业中存在的缺陷，提升无人机智能作业管控平台工作效果。     

基于RFID手持终端的煤矿安全巡检系统的设计

针对传统的煤矿安全巡检方法采用人工巡检方式存在的问题,提出了一种基于RFID手持终端的煤矿安全巡检系统的设计方案。该方案中,巡检人员使用手持终端读自己的身份识别卡登录,然后通过安全管理服务器下载当班巡检任务和安全隐患库;巡检人员下井,按照下载的巡检任务依次到巡检地点刷地址识别卡,然后根据要求检测气体浓度,排查隐患,并进行相关记录;巡检结束,巡检人员通过安全管理服务器上传巡检的数据结果;安全管理人员对上传的数据进行统计和汇总,从而及时发现隐患,同时根据记录的时间判断巡检人员的脱班漏岗情况。实际应用表明,该系统能够有效地推进煤矿安全巡检工作的规范化和信息化,提升煤矿企业的安全管理水平。     

基于Mobile GIS的智能巡检系统的研究与实现

针对传统电力设备巡检中存在的巡检过程难以追踪、巡检数据难以共享等问题,提出一种由表示层、WAP服务层、应用层和数据服务层四个逻辑层组成的基于J2EE结构的分布式移动GIS体系架构。基于该架构实现了一种使用移动手机作为主要巡检终端设备的智能巡检系统,并在该系统中采用移动定位、二维码识别等技术手段实现了巡检过程的实时追踪以及巡检数据的实时共享。通过系统性能和功能测试表明,该智能巡检系统具有操作效率较高、运行稳定的特性,能够有效解决传统巡检工作的管理痛点。     

高压电力廊道巡检机器人控制系统研究

定期巡检是保障高压电力廊道正常生产、安全运行的重要工作。针对电力廊道空间大、内部环境复杂、空气湿度大以及含可燃性气体的问题,设计了一种多传感器、可远程操控的智能巡检机器人,克服了时间和环境的约束,保障了巡检结果的准确性。经测试表明,该巡检机器人既可以完成巡检任务,还具有适应性强、可靠性高、控制灵活且抗干扰性高等优点。     

基于遥感的电力线路安全巡检技术现状及展望

随着电力电网技术的不断发展,为保障电网科学、经济、安全的运行必须深度发展电力线路的遥感安全巡检,加快我国电力电网的自动化建设。而作为电网系统重要组成部分的电力线路需要对其进行有效的巡检管理,从而保证设备的安全运行。介绍电力线路安全巡检技术和遥感巡检系统功能,针对现有电路巡检模式中存在的文件进行了深入的分析,结合遥感技术、卫星全球定位(GPS)和地理信息系统(GIS)等技术构建安全、可靠、高效的安全巡检系统,避免了人工巡检效率较低、人为因素多、管理不便的缺点,减少电力巡检工作量并提高电力巡检效率。基于遥感的电力线路安全巡检使电力巡检工作管理自动化、规范化,杜绝人为设备事故且保障电力生产的安全。     

二维码技术在选煤厂PLC集控系统中的应用

针对传统的选煤厂设备人工巡检方式准确率和效率较低等问题,提出了一种基于二维码技术的选煤厂PLC集控系统设计方案,介绍了该系统的结构、控制流程及二维码技术在该系统中的应用方案。安检员登录二维码扫描仪上的巡检管理系统并下载巡检任务,然后扫描待检设备的二维码,通过PLC集控系统与数据库服务器进行数据通信。上位机将设备的运行数据发送到二维码扫描仪进行数据显示,完成设备巡检;同时,上位机进行巡检工作数据统计,完成对巡检人员的考勤。     

A method of defuzzification based on the approach of areas' ratio

The new method of defuzzification of output parameters from the base of fuzzy rules for a Mamdani fuzzy controller is given in the paper. The peculiarity of the method is the usage of the universal equation for the area computation of the geometric shapes. During the realization of fuzzy inference linguistic terms, the structure changes from the triangular into a trapezoidal shape. That is why the universal equation is used. The method is limited and can be used only for the triangular and trapezoidal membership functions. Gaussian functions can also be used while modifying the proposed method. Traditional defuzzification models such as Middle of Maxima − MoM, First of Maxima − FoM, Last of Maxima − LoM, First of Suppport − FoS, Last of Support − LoS, Middle of Support − MoS, Center of Sums − CoS, Model of Height − MoH have a number of systematic errors: curse of dimensionality, partition of unity condition and absence of additivity. The above-mentioned methods can be seen as Center of Gravity − CoG, which has the same errors. These errors lead to the fact that accuracy of fuzzy systems decreases, because during the training root mean square error increases. One of the reasons that provokes the errors is that some of the activated fuzzy rules are excluded from the fuzzy inference. It is also possible to increase the accuracy of the fuzzy system through properties of continuity. The proposed method guarantees fulfilling of the property of continuity, as the intersection point of the adjustment linguistic terms equals 0.5 when a parametrized membership function is used. The causes of errors and a way to delete them are reviewed in the paper. The proposed method excludes errors which are inherent to the traditional and non- traditional models of defuzzification. Comparative analysis of the proposed method of defuzzification with traditional and non-traditional models shows its effectiveness.     

An approach to the synthesis of fuzzy stabilization systems with a priori unknown model of an object

A method of synthesis of fuzzy stabilization systems for a broad class of dynamic objects under the assumption that the mathematical model of the object is not known a priori is proposed. The control is formulated in the form of a proportional law of adjustment as a function of a macro-variable; the square of the Euclidean norm of the phase variables is adopted as the macro-variable. An analogous variable characterizes the distance of the object from the equilibrium position. Despite the simplicity of the control law, its sign remains constant due to the fact that the macro-variable is positive-definite over the entire phase space. The switching times of the signals are determined by fuzzy identification of the system’s dynamic modes on the basis of measurement of the derivatives of the macro-variable.     

Complement of Source Equation of Elastic Line

A new notion of joint, defined in terms of the state of motor (active or locked) and type of the elastic or rigid element, gear and/or link that follows after the motor, is introduced. Special attention is paid to the motion of the flexible links in the robotic configuration. The paper deals with the relationship between the equation of elastic line equilibrium, the “Euler–Bernoulli approach” (EBA), and equation of motion at the point of elastic line tip, the “Lumped-mass approach” (LMA). The Euler–Bernoulli equations (which have for a long time been used in the literature) should be expanded according to the requirements of the motion complexity of elastic robotic systems. The Euler–Bernoulli equation (based on the known laws of dynamics) should be supplemented with all the forces that are participating in the formation of the elasticity moment of the considered mode. This yields the difference in the structure of Euler–Bernoulli equations for each mode. The stiffness matrix is a full matrix. Mathematical model of the actuators also comprises coupling between elasticity forces. Particular integral of Daniel Bernoulli should be supplemented with the stationary character of elastic deformation of any point of the considered mode, caused by the present forces. General form of the elastic line is a direct outcome of the system motion dynamics, and cannot be described by one scalar equation but by three equations for position and three equations for orientation of every point on that elastic line. The choice of reference trajectory is analyzed. Simulation results are shown for a selected robotic example involving the simultaneous presence of elasticity of the gear and of the link (two modes), as well as the environment force dynamics.     

3 Laser transmission joining in microtechnology

The laser is a joining tool which is particularly suitable for the application in microtechnology. The process variant laser transmission joining can be used both for welding thermoplastics and bonding of silicon and glass. The investigations presented in this paper cover detailed examinations of both processes. Concerning laser transmission welding of plastics it is examined how far the content of carbon black in the material influences the formation of the weld seam. It is shown that the optical depth of penetration, the weld seam width as well as the formation of the weld morphology differ with varying content of carbon black. Selective laser radiation bonding (SLB) is a novel method for joining silicon and glass based on the transmission heating of the interface of both joining partners and the thermo-chemical principles of silicon direct bonding. SLB shows advantages in reference to the thermal load of sensitive components like sensors and to the selectivity of the joining geometry. In this study the principle method of SLB and the latest advances like the integration of the thermal process control in the laser processing head will be presented. Also experimental test results of the process with constant laser power and thermal process control and the comparison of them will be shown.An erratum to this article can be found at     

Remote sensing of spring phenology in boreal regions: A free of snow-effect method using NOAA-AVHRR and SPOT-VGT data (1982-2004)

Measurements of spring phenological dates in boreal regions using NDVI can be affected by snowmelt. This impacts the analysis of interannual variations in phenology and the estimates of annual carbon fluxes. For these two objectives, snowmelt effect must be removed from the phenological detection. We propose a methodology for determining the date of onset of greening in the 1982-2004 period using SPOT-VEGETATION (VGT) and NOAA Advanced Very High Resolution Radiometer (AVHRR) data. From 1998 onwards, the date of onset of greening is taken as the date at which the Normalized Difference Water Index (NDWI), calculated from SPOT-VGT near and short-wave infrared bands, starts increasing. This index decreases with snowmelt but increases with vegetation greening. For the 1982-2001 period, the date of onset of greening is the date at which AVHRR-NDVI equals a pixel specific threshold (PST), determined using the results of the NDWI method in the years common to the two datasets. The methods are validated using in situ measurements of the dates of leaf appearance. RMSE of 6.7 and 7.8 days, respectively, is found using NDWI-VGT and PST-NOAA methodologies, and the difference between the two methodologies in the common years is small. Very importantly, the dates are not biased. The interannual variations of the 23-year spring phenology dataset on the study area in northern Eurasia are analysed. In average over the study area, an advance of 8 days and a delay of 3.6 days are, respectively, found over the periods 1982-1991 and 1993-2004. These results confirm and complete previous studies about the greening trend, remove the uncertainty due to snow, and may improve carbon budget calculations.     

Mr. Twinn’s bombes

This article discusses the history and design of the special versions of the bombe key-finding machines used by Britain’s Government Code & Cypher School (GC&CS) during World War II to attack the Enigma traffic of the Abwehr (the German military intelligence service). These special bombes were based on the design of their more numerous counterparts used against the traffic of the German armed services, but differed from them in important ways that highlight the adaptability of the British bombe design, and the power and flexibility of the diagonal board. Also discussed are the changes in the Abwehr indicating system that drove the development of these machines, the ingenious ways in which they were used, and some related developments involving the bombes used by the U.S. Navy’s cryptanalytic unit (OP-20-G).     

Spark平台下聚类算法的性能比较

通过实验,从运行时间、加速比、可扩展性和规模增长性4个方面比较了 Spark平台中3种典型的聚类算法即K-means聚类算法、二分K-means聚类算法和高斯混合聚类算法 的性能。实验结果表明:1)随着节点个数的增加,3种算法对百兆以上规模数据集聚类的运行时间明显减少;2)当数据集规模大于500MB时,3种算法的加速比均有明显提高,且随着节点个数的增加,加速比近似于线性增长;3)3种算法的可扩展性随着节点个数的增加而降低,当数据集规模大于500MB时,相对于K-means和高斯混合算法,二分K-means算法的可扩展性最差;4)当数据集规模大于100MB时,高斯混合算法的规模增长性远高于K-means和二分K-means算法。     

协作机器人的构型分析研究

针对协作机器人的构型分析研究,得出了偏置是影响机器人构型的一个重要因素。首先,对现有典型协作机器人的构型进行分析,通过构型间的内在联系与演化过程得到构型之间的差异。然后利用构型之间的差异引出了偏置的定义,并通过偏置对关节运动范围的影响将其分为S型偏置和Y型偏置。最后以全局性能指标、工作空间体积指标和灵活工作空间指标为性能评价标准,对iiwa、Sawyer、Yumi三种典型构型的性能进行了仿真。通过对比分析可知,偏置的存在使构型的全局性能和工作空间体积性能降低,但对灵活工作空间性能有提高作用。结果表明偏置是影响机器人性能的重要因素,该分析研究为协作机器人的构型设计提供了理论依据。     

Overview of ATM networks: functions and procedures

The purpose of this paper is to present an overview of the ATM technique. The basic principles of the ATM transfer technique, the B-ISDN layered protocol reference model, as well as the architecture and the main functions of the ATM network, are described in this tutorial. In particular, we present the main characteristics of the ATM technique, the structure of the ATM cell, the functions which deal with the protection from errored cells (HEC procedure) and the identification of the boundaries of the ATM cells (cell delineation and scrambling). The VP/VC concept is explained in detail, and the main principles and functions of the three lowest layers (Physical, ATM and Adaptation) of the B-ISDN layered protocol reference model are surveyed. The issue of Quality of Service parameters in ATM networks is reviewed, and the problem of the allocation of the network resources in response to user demands, as well as the problems of congestion control, Usage Parameter Control (UPC) and traffic modelling in ATM networks, are assessed. Finally, we present ‘possible’ sets of traffic characterization parameters, and show how possible B-ISDN sources can be modelled according to the basic on-off ATM traffic source model.