2020 International SAUPEC/RobMech/PRASA Conference最新文献_第3页

Quasi-Serial Manipulator - Inverse Kinematics and Workspace Analysis for Industrial Automation 准串联机械手——工业自动化逆运动学与工作空间分析

2020 International SAUPEC/RobMech/PRASA Conference Pub Date : 2020-01-01 DOI: 10.1109/SAUPEC/RobMech/PRASA48453.2020.9041102

B. Kelly, J. Padayachee, G. Bright

引用次数: 1

Dissolved Gases Analysis of canola-based ester oil under creepage discharge 漏电放电条件下菜籽油酯类油溶解气体分析

2020 International SAUPEC/RobMech/PRASA Conference Pub Date : 2020-01-01 DOI: 10.1109/SAUPEC/RobMech/PRASA48453.2020.9041045

Hlengiwe Mnisi, C. Nyamupangedengu

{"title":"Dissolved Gases Analysis of canola-based ester oil under creepage discharge","authors":"Hlengiwe Mnisi, C. Nyamupangedengu","doi":"10.1109/SAUPEC/RobMech/PRASA48453.2020.9041045","DOIUrl":"https://doi.org/10.1109/SAUPEC/RobMech/PRASA48453.2020.9041045","url":null,"abstract":"The objective of this work is to investigate the Dissolved Gases Analysis (DGA) of canola-based ester oil under creepage discharge. DGA is a reliable diagnostic tool used in power transformers to detect incipient faults developing inside the transformer. The detection of incipient faults enables early scheduling of preventative maintenance and hence prevention of transformer damage. Recently, natural ester oils have been introduced to power transformers as an alternative oil. The application of natural ester oils in power transformers requires a guideline for the application of DGA in this type of oil. The creepage discharges are generated by applying 28 kV to a needle-plane configuration configured at an acute angle. The dissolved gases result reveal that similar gases are generated in the ester and mineral oil while the quantity of dissolved gases is high in the ester oil than the mineral oil. The key dissolved gas was found to be hydrogen. The Duval's triangle and the IEEE key gas diagnostic technique correctly identify the fault while the IEC 60599 fails to identify the fault. The IEC 60599 requires modifications for use in transformers filled with canola oil.","PeriodicalId":215514,"journal":{"name":"2020 International SAUPEC/RobMech/PRASA Conference","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126268249","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: 2

Generation of metrics by semantic segmentation of high speed lightning footage using machine learning 利用机器学习对高速闪电镜头进行语义分割生成度量

2020 International SAUPEC/RobMech/PRASA Conference Pub Date : 2020-01-01 DOI: 10.1109/SAUPEC/RobMech/PRASA48453.2020.9041123

J. R. Smit, Hugh GP Huntt, T. Cross, C. Schumann, T. Warner

引用次数: 0

Autonomous Vision Based Landing Strategy for a Rotary Wing UAV 基于自主视觉的旋翼无人机着陆策略

2020 International SAUPEC/RobMech/PRASA Conference Pub Date : 2020-01-01 DOI: 10.1109/SAUPEC/RobMech/PRASA48453.2020.9041238

P.R. Grobler, H. W. Jordaan

引用次数: 3

On the Effectiveness of Silly Walks as Initial Guesses for Optimal Legged Locomotion Problems 关于愚蠢行走作为最优腿运动问题初始猜测的有效性

2020 International SAUPEC/RobMech/PRASA Conference Pub Date : 2020-01-01 DOI: 10.1109/SAUPEC/RobMech/PRASA48453.2020.9041065

Stacey Shield, Amir Patel

{"title":"On the Effectiveness of Silly Walks as Initial Guesses for Optimal Legged Locomotion Problems","authors":"Stacey Shield, Amir Patel","doi":"10.1109/SAUPEC/RobMech/PRASA48453.2020.9041065","DOIUrl":"https://doi.org/10.1109/SAUPEC/RobMech/PRASA48453.2020.9041065","url":null,"abstract":"Trajectory optimization is a popular method of generating high-level plans for legged locomotion tasks, but convergence, and the quality of the solutions achieved, are dependent on the guess trajectory used to initialize the solver. Because the results are locally optimal at best, finding a good solution to a poorly-defined problem necessitates an unbiased initialization technique that facilitates broad exploration of the solution space over multiple attempts, but the problem is unlikely to solve at all if the guess is too far from feasible. In this paper, we attempt to navigate this trade-off between randomness and reliability using ‘silly walks': stochastically-generated gaits that satisfy some of the problem's feasibility constraints. We present a simple method of generating these motions, and compare the performance of this type of guess to various random sampling approaches. Through tests on a pendulum, hopper and quadrupedal model, we demonstrate that the silly walk offers a favourable balance of reliability, convergence time and solution diversity for legged locomotion problems.","PeriodicalId":215514,"journal":{"name":"2020 International SAUPEC/RobMech/PRASA Conference","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134259783","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

A Comparative Analysis of Different MPC Controllers for Load Frequency Control for Interconnected Power System 不同MPC控制器用于互联电力系统负荷频率控制的比较分析

2020 International SAUPEC/RobMech/PRASA Conference Pub Date : 2020-01-01 DOI: 10.1109/SAUPEC/RobMech/PRASA48453.2020.9040959

Igbineweka Ernest Uyioghosa, A. Saha

引用次数: 3

Evaluation of Performance Index Methodology for Power Network Contingency Ranking 电网应急排序的性能指标评价方法

2020 International SAUPEC/RobMech/PRASA Conference Pub Date : 2020-01-01 DOI: 10.1109/SAUPEC/RobMech/PRASA48453.2020.9041137

B. O. Adewolu, A. Saha

引用次数: 2

Towards Improving Human Arithmetic Learning using Machine Learning 利用机器学习改进人类算术学习

2020 International SAUPEC/RobMech/PRASA Conference Pub Date : 2020-01-01 DOI: 10.1109/SAUPEC/RobMech/PRASA48453.2020.9041140

Tessa Hall, H. Kamper

{"title":"Towards Improving Human Arithmetic Learning using Machine Learning","authors":"Tessa Hall, H. Kamper","doi":"10.1109/SAUPEC/RobMech/PRASA48453.2020.9041140","DOIUrl":"https://doi.org/10.1109/SAUPEC/RobMech/PRASA48453.2020.9041140","url":null,"abstract":"Basic arithmetic is an essential skill that is used in almost all career paths in some way. Ensuring that young children have a solid foundation in simple mathematical concepts is a worldwide goal and new methods to improve arithmetic learning are constantly being developed. Our aim is to utilise machine learning to assist learners with developing their basic mathematics skills by identifying the types of problems a user struggles with and presenting them with targeted questions to improve in these areas. In this paper we focus only on the prediction component: given a set of arithmetic questions and corresponding answers, can we predict which future questions a user will answer incorrectly? The accuracy and suitability of four machine learning models are evaluated using data from computer-generated agents as well as human users. On simulated agents, our models achieve accuracies of around 79% to 96% with decision trees performing the best. On human data, our models achieve accuracies in the range of 63% to 69%, with the decision tree once again outperforming other approaches. We hope that these error predictions models could be incorporated into future E-learning systems targeted at human arithmetic learning.","PeriodicalId":215514,"journal":{"name":"2020 International SAUPEC/RobMech/PRASA Conference","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133685027","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: 1

Real-Time Simulation of Power System Wide Area Protection 电力系统广域保护的实时仿真

2020 International SAUPEC/RobMech/PRASA Conference Pub Date : 2020-01-01 DOI: 10.1109/SAUPEC/RobMech/PRASA48453.2020.9041093

Bright Tetteh, K. Awodele, K. Folly

{"title":"Real-Time Simulation of Power System Wide Area Protection","authors":"Bright Tetteh, K. Awodele, K. Folly","doi":"10.1109/SAUPEC/RobMech/PRASA48453.2020.9041093","DOIUrl":"https://doi.org/10.1109/SAUPEC/RobMech/PRASA48453.2020.9041093","url":null,"abstract":"The power system is transforming from the traditional grid to a smart grid and it is important that all the aspects of the power system are developed to meet the demand of the smart grid. Wide area protection is a protection technique that uses system wide information obtained from Phasor Measurement Units (PMUs) to detect a fault to mitigate cascading failures. Different algorithms have been developed making use of wide area measurement to provide protection to the power system. This study investigated the performance of a wide area protection technique which detects faults by forming protection zones based on the PMU placement and the network topology. The technique makes use of Positive Sequence Voltage Magnitude (PSVM) to detect a zone where a fault occurred and uses the phase angles of the Positive Sequence Currents (PSC) to detect the faulted line. The algorithm was simulated in MATLAB/Simulink and in Real-Time using OPAL-RT, the accuracy of the algorithm was found to be 100% in determining the faulted zone and 85% in determining the faulted line. The fault clearing time was analyzed through hardware-in-the-Ioop (HIL) implementation as against the local protection and the technique was found to be suitable for a backup protection.","PeriodicalId":215514,"journal":{"name":"2020 International SAUPEC/RobMech/PRASA Conference","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116033151","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

Use of Electrical Energy Storage to Improve the Voltage Stability of a Power System with Large Amount of Wind Generation 利用储能技术提高风力发电大容量电力系统电压稳定性

2020 International SAUPEC/RobMech/PRASA Conference Pub Date : 2020-01-01 DOI: 10.1109/SAUPEC/RobMech/PRASA48453.2020.9040989

Ziphezinhle Kazi, K. Awodele, Bongane Nhlapo, Victor Olalekan Adebayo

{"title":"Use of Electrical Energy Storage to Improve the Voltage Stability of a Power System with Large Amount of Wind Generation","authors":"Ziphezinhle Kazi, K. Awodele, Bongane Nhlapo, Victor Olalekan Adebayo","doi":"10.1109/SAUPEC/RobMech/PRASA48453.2020.9040989","DOIUrl":"https://doi.org/10.1109/SAUPEC/RobMech/PRASA48453.2020.9040989","url":null,"abstract":"This paper proposes the use of the energy storage system to improve the voltage stability on a small-scale South African network with a large amount of wind power generation, under both steady-state and fault conditions. Pumped-hydroelectric storage and battery energy storage system were selected and compared in DIgSILENT PowerFactory 2018 simulation software. Mathematical models and block models of the network components, battery energy storage system and pumped-hydroelectric storage models were developed and tested under steady-state operation. Three cases were studied which included the network with wind power generation, then with wind power generation and battery energy storage system and finally with wind power generation and pumped-hydroelectric storage. Results under steady-state conditions showed that the voltage levels for the four loads were within the acceptable standard voltage limits of 0.95 p.u. and 1.05 p.u. across all three cases. It was concluded that battery energy storage system is the most suitable electrical energy storage for a network with a large amount of wind generation, as it displayed the capability of maintaining the voltage levels within the acceptable voltage limits under both steady-state and fault conditions.","PeriodicalId":215514,"journal":{"name":"2020 International SAUPEC/RobMech/PRASA Conference","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115225290","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