2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)最新文献_第2页

Development of Tele-Alarm and Fire Protection system using Remote Terminal Unit for Nuclear Power Plant 核电站远程终端远程报警消防系统的研制

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-04-30 DOI: 10.1109/RACE.2015.7097289

R. P. Behera, N. Murali, S. S. Satya Murty

{"title":"Development of Tele-Alarm and Fire Protection system using Remote Terminal Unit for Nuclear Power Plant","authors":"R. P. Behera, N. Murali, S. S. Satya Murty","doi":"10.1109/RACE.2015.7097289","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097289","url":null,"abstract":"Tele-Alarm and Fire Protection systems are two important echelons of the defense-in-depth approach to achieve a degree of safety necessary in Nuclear Power Plant. Tele-Alarm systems are used to ensure that the operator in every shift performs area surveillance of all the equipment to check their healthiness and identify maintenance requirements. Similarly, Fire Protection Systems play a major role in alerting plant operator for implementation of emergency action and are used to actuate fire-extinguishing systems in the incipient stage so as to minimize the fire damage to structures, systems and components. In this paper we present design & development of Tele-Alarm and Fire Protection System using 8051 Micro-controller based Remote Terminal Unit (RTU) for real time monitoring of area surveillance keys, call buttons, detectors used for detection of water logging, oxygen deficiency & fire hazards and generating control outputs for fire extinguisher via commands received from remotely located control room operator in nuclear power plant like Prototype Fast Breeder Reactor (PFBR) being constructed at Kalpakkam.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"345 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121225891","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Construction of Hexagonal-Based Strategic Connected Dominating Set for mobile ad hoc networks 基于六边形的移动自组网策略连通支配集的构建

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-04-30 DOI: 10.1109/RACE.2015.7097294

Sharmila V. Ceronmani, A. George

引用次数: 1

Energy-efficient inverse dynamic model of a Hexapod robot 六足机器人节能逆动力学模型

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-04-30 DOI: 10.1109/RACE.2015.7097237

Abhijit Mahapatra, S. Roy, Kondalarao Bhavanibhatla, D. K. Pratihar

{"title":"Energy-efficient inverse dynamic model of a Hexapod robot","authors":"Abhijit Mahapatra, S. Roy, Kondalarao Bhavanibhatla, D. K. Pratihar","doi":"10.1109/RACE.2015.7097237","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097237","url":null,"abstract":"A hexapod robotic system is a complex multi-body system that exhibits complex motion characteristics due to the effect of forces and torques (both internal and external). In the present study, inverse dynamics model using Newton-Euler approach was developed for the hexapod robotic system. It is assumed that the prescribed motion of the model is fully known and consistent with the kinematic constraints of the realistic model. The kinematic motion parameters (displacement, velocity and accelerations) obtained from the inverse kinematic analysis of the robotic system with specified path and gait planning for straight forward motion in varying terrain are substituted in the inverse dynamic model which is a set of algebraic equations. The equations are solved for to determine the joint torques and resulting reaction forces for the foot in contact with the ground that are responsible to generate the prescribed motion trajectories. The solution is not unique due to the redundant set of forces/ moments and/or constraints used. Therefore, the solution of the problem has been obtained by minimizing the total instantaneous power consumption of the system, considered as the objective function with respect to linear equality and inequality constraints. The simulated results of foot-ground contact and variation of instantaneous power consumption for the dynamical system are discussed thereafter.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128812463","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 10

Design and development of underwater robot 水下机器人的设计与开发

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-04-30 DOI: 10.1109/RACE.2015.7097243

Jagjeet Singh, D. Gandhi, M. Sanghani, P. Robi, S. K. Dwivedy

引用次数: 7

Application of a modified Genetic Algorithm for enhancing grasp quality on 3D objects 一种改进的遗传算法在提高三维物体抓取质量中的应用

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-04-30 DOI: 10.1109/RACE.2015.7097278

V. Rakesh, U. Sharma, B. Rao, S. Venugopal, T. Asokan

引用次数: 3

Real time closed loop data based estimation and explicit model based control of an air conditioning system implemented in hardware in loop scheme 空调系统的实时闭环数据估计和显式模型控制在硬件在环方案中实现

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-04-30 DOI: 10.1109/RACE.2015.7097266

Chinmaya Sahu, T. Radhakrishnan, N. Sivakumaran

{"title":"Real time closed loop data based estimation and explicit model based control of an air conditioning system implemented in hardware in loop scheme","authors":"Chinmaya Sahu, T. Radhakrishnan, N. Sivakumaran","doi":"10.1109/RACE.2015.7097266","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097266","url":null,"abstract":"Domestic air conditioners (AC) are a major source of energy consumption. Based on real time data, the input/output dynamics between electronic expansion valve opening degrees (EEVOD) and evaporator outlet air (supply air) temperature is modeled in this paper. Considering an on/off scenario, the outer loop provides two different references to the inner loop based on heating/cooling needs. This supply air temperature (SAT) influences the room model with ambient temperature and wall dynamics (ordinary differential equations simulated in MATLAB). With safety constraints for superheat (SH) and rate constraints on EEVOD, a multi parametric model predictive controller (mpMPC) is designed to control SAT. A proportional integral cascade control scheme is designed to compare the performance of the mpMPC scheme. In hardware in loop (HIL) environment, both controllers are tested under ambient temperature based disturbance. Using power spent and thermal comfort quantization, it is observed that mpMPC scheme outperforms traditional control strategy.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"07 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130755172","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Performance analysis of multi-band multiple beamforming butler matrix for smart antenna systems 智能天线系统多波段多波束成形管家矩阵性能分析

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-04-30 DOI: 10.1109/RACE.2015.7097291

S. Sivasundarapandian

引用次数: 7

Development of Instrument Control Electronics for PLC-based Analytical Instrumentation 基于plc的分析仪器仪表控制电子学的发展

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-04-30 DOI: 10.1109/RACE.2015.7097267

K. S. Narasimham

{"title":"Development of Instrument Control Electronics for PLC-based Analytical Instrumentation","authors":"K. S. Narasimham","doi":"10.1109/RACE.2015.7097267","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097267","url":null,"abstract":"Analytical Instrumentation plays a vital role in the production and evaluation of products to be introduced in the market. This instrumentation is used mainly to evaluate the products for the benefit of the people concerned. Quantitative and qualitative analysis of sample matrix is provided by analytical instrumentation. This analysis helps in detecting toxic/essential elements in the field of food, drugs, water and air etc., Inductively coupled plasma mass spectrometer (ICPMS) is a versatile, complex and a very sensitive analytical instrument. ICPMS is used for compositional characterization of materials up to the levels of parts per billion (ppb) and parts per trillion (ppt). For obtaining required high sensitivities, one needs to optimize nearly 30 to 40 process parameters during the analysis/operation of these instruments. Optimization of these parameters has to be carried out in real time environment through a computer and other electronic sub-systems. The use of electronic sub-systems such as Programmable Logic Controllers (PLCs) in ICPMS simplified the design, implementation of interlocks and subsequent optimization of various process parameters. This paper describes the role of PLCs in Mass-spectrometers in general and ICPMS in specific. An Instrument Control Electronics (ICE) module is developed for interfacing vacuum sub-system to ICPMS. The integration aspects of newly developed ICE to the PLC and the advantages of use of PLCs in `ICPMS' System are discussed, at length, in this paper.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"49 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132624900","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Adaptive optimization using grey relational analysis and PID control of CNC drilling process 基于灰色关联分析和PID控制的数控钻孔过程自适应优化

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-04-30 DOI: 10.1109/RACE.2015.7097277

Mary J. Susai, U. Sabura Banu, D. Dinakaran, R. S. Nakandhrakumar

引用次数: 5

Monovision based automated navigation and object detection 基于Monovision的自动导航和目标检测

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-04-30 DOI: 10.1109/RACE.2015.7097242

S. Charan, M. Manjunath, S. Niranjana, Kumar G. J. Kranthi, Prasad V. Nutan

引用次数: 0