搬运工业机器人的教学仿真系统设计

利用OpenGL开发环境,与Visual C++相结合,建立搬运工业机器人的三维模型,开发的仿真系统具有可扩充性和可移植性,将FMS机器人的正逆运动学、正逆动力学、各种控制算法、轨迹规划封装成通用模块,并提供用户接口,供用户设计自己的模块和控制算法;增加多个输入输出模块。该结构可扩展实际的FMS机器人控制系统,从而更好地为搬运工业机器人在工作空间的工作姿态进行三维仿真,实现实时控制与实时仿真的一体化。     

Delta3机器人在全自动装箱线中的应用与分析

进入2011年后,随着人工成本的继续逐步提高,装箱生产线采取自动化设备代替人工成为了一个必然的趋势。而且由于全自动装箱线生产供应商的行业竞争,全自动装箱线的售卖价格比较2000年初时并没有增加,进口品牌生产的机器人售卖价格也开始下降,并且中国供应商也可以独立完成机器人的软件工作及装箱生产线的集成程序控制工作。在这样的大环境下,2011年前使用不多的Delta3机器人开始大量的融入全自动装箱线新项目中进行使用。     

Mesh-Mould: Robotically Fabricated Spatial Meshes as Reinforced Concrete Formwork

If robots are to be employed in the construction of high-rise structures, logistics and material systems have to be entirely rethought to cater for both their abilities and limitations: robots have limited loading capacity, but greater dexterity than other on-site, automated construction techniques. Here, Norman Hack of ETH Zurich and Willi Viktor Lauer of the Future Cities Laboratory (FCL) at the Singapore-ETH Centre for Global Environmental Sustainability (SEC) describe the research they have undertaken to develop ‘mesh-mould’ as an alternative to conventional formwork.     

Control and protection of a microgrid connected to utility through back-to-back converters

This paper discusses the control and protection of a microgrid that is connected to utility through back-to-back converters. The back-to-back converter connection facilitates bidirectional power flow between the utility and the microgrid. These converters can operate in two different modes-one in which a fixed amount of power is drawn from the utility and the other in which the microgrid power shortfall is supplied by the utility. In the case of a fault in the utility or microgrid side, the protection system should act not only to clear the fault but also to block the back-to-back converters such that its dc bus voltage does not fall during fault. Furthermore, a converter internal mechanism prevents it from supplying high current during a fault and this complicates the operation of a protection system. To overcome this, an admittance based relay scheme is proposed, which has an inverse time characteristic based on measured admittance of the line. The proposed protection and control schemes are able to ensure reliable operation of the microgrid.     

A simplified model for estimating the monthly performance of autonomous wind energy systems with battery storage

This paper presents a simplified algorithm to estimate the monthly performance of autonomous small-scale wind energy systems with battery storage. The novel model is drawn based on the simulation results, using eight-year long hour-by-hour measured wind speed data from five different locations throughout the world. An hourly constant load profile is used. The renewable energy simulation program (ARES) of the Cardiff School of Engineering is used. The ARES simulates the battery state of voltage (SoV) and is able to predict the system performance.The monthly performance values obtained from the simulations are plotted against increasing energy to load ratios for varying battery storage capacities to obtain performance curves. The novel method correlates the monthly system performance with the parameters of the Weibull distribution function, thus offering a universal use. The monthly performance curves are mathematically represented using a 2-parameter function. The novel method is validated by comparing the simulated performance values with those estimated from the simplified algorithm. The standard errors calculated in estimation of the system performance using the simplified algorithm are further presented for each battery capacity.     

Hybrid wind/PV/diesel hybrid power systems modeling and South American applications

This paper presents an applications case study and comparison of performance results between two computational models for simulating the performance of hybrid power systems. The first model, HYBRID2, was developed at the University of Massachusetts under National Renewable Energy Laboratory (NREL) sponsorship. The second model, SOMES, was developed at Utrecht University in the Netherlands. Both models have been designed to predict the technical and economical (life cycle cost) performance of hybrid power plants that typically might be comprised of renewable energy sources, a battery bank, and a diesel generator. A South American (Brazil) based hybrid power system used to power a remote telecommunications system was used for the applications case study. A final system configuration be used as a basis for model prediction comparison was established as a result of HYBRID2 parametric evaluation. Both codes yielded similar performance results, and this work points out that the predicted performance discrepancies are due basically to different subcomponent models and differences in control strategy. The generalized nature of this work is intended to be of interest to engineers involved with the design and analysis of hybrid power systems.     

少数民族聚居区自主营造模式探讨* ——以第三届“中联杯”全国大学生设计竞赛二等奖作品为例

少数民族聚居区更新改造过程中往往面临传统民俗文化保护与城市快速更新的矛盾。文章引入自主营造的概念,并基于少数民族聚居区的自身特性,提出了少数民族聚居区自主营造模式。并以第三届＂中联杯＂全国大学生建筑设计竞赛二等奖作品为例,着重探讨了少数民族聚居区自主营造模式系统性的运用过程及策略。     

巧妙解决机器人训练中由场地引起的问题

针对篮球机器人比赛训练过程中由于场地识别引起的问题进行了深入研究,找到了由于机器人对场地识别不准而引起的机器人运动问题,并对这些问题进行了分析,通过修改程序很好解决和避免了这些问题,对篮球机器人比赛提供了一些很好的调试、训练方法思路。