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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
{"title":"Quasi-Serial Manipulator - Inverse Kinematics and Workspace Analysis for Industrial Automation","authors":"B. Kelly, J. Padayachee, G. Bright","doi":"10.1109/SAUPEC/RobMech/PRASA48453.2020.9041102","DOIUrl":"https://doi.org/10.1109/SAUPEC/RobMech/PRASA48453.2020.9041102","url":null,"abstract":"Industrial automation, especially within the manufacturing environment, is reliant on accurate control of robotic manipulators; for this reason, Inverse Kinematic (IK) control is desired. This paper outlines some key differences between forward and inverse kinematic control, and the derivation complexity of such, for Serial Kinematic Manipulators (SKM's) versus Parallel Kinematic Manipulators (PKM's). The IK of a single quasi-serial manipulator was derived, and subsequently validated using the physical model and an Arduino script. The workspace of this same mechanism was determined via an empirical method, and compared to an analytically derived workspace using MATLAB. Finally, a two-quasi-serial PKM was proposed and described.","PeriodicalId":215514,"journal":{"name":"2020 International SAUPEC/RobMech/PRASA Conference","volume":"95 19 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":"123399877","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
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
{"title":"Generation of metrics by semantic segmentation of high speed lightning footage using machine learning","authors":"J. R. Smit, Hugh GP Huntt, T. Cross, C. Schumann, T. Warner","doi":"10.1109/SAUPEC/RobMech/PRASA48453.2020.9041123","DOIUrl":"https://doi.org/10.1109/SAUPEC/RobMech/PRASA48453.2020.9041123","url":null,"abstract":"An investigation into the application of semantic segmentation in generating metrics from high speed footage is presented. Five pre-trained networks were assessed, DeepLabV3performed the best with 87.5 mean accuracy given limited GPU ram for training. The temporal part of the system uses the segmentation labels to determine information about the lightning events. A direction finding procedure based on DBscan is implemented. The performance of the system as a whole across 7 points for per-frame analysis is between 48% and 81.5% based on 27 events. The system parameters require adjusting to better extract the metrics from the events. The system is not able to replicate manual classification but is an aid in classification.","PeriodicalId":215514,"journal":{"name":"2020 International SAUPEC/RobMech/PRASA Conference","volume":"59 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":"127626993","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
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
{"title":"Autonomous Vision Based Landing Strategy for a Rotary Wing UAV","authors":"P.R. Grobler, H. W. Jordaan","doi":"10.1109/SAUPEC/RobMech/PRASA48453.2020.9041238","DOIUrl":"https://doi.org/10.1109/SAUPEC/RobMech/PRASA48453.2020.9041238","url":null,"abstract":"This paper investigates solutions to achieving autonomous landings with multirotor UAVs (Unmanned Aeriel Vehicles). The landings presented in this paper require reliability and high levels of accuracy. The UAV can not rely on traditional GPS for localisation, instead, it makes use of specialised landing pads and onboard cameras. The solutions presented rely on the assumption that landing targets are static. The paper presents the design of 3 different landing pads and evaluates their effectiveness in a simulation environment designed to replicate the real-world and physical UAV as close as possible. The robustness of the proposed solution is evaluated by varying external factors. The paper also addresses state machine design to ensure reliable and safe landings. Other methods of achieving accurate landings are also discussed. Statistical simulation results are obtained using a fusion between Gazebo simulator, ROS and PX4 autopilot flight software.","PeriodicalId":215514,"journal":{"name":"2020 International SAUPEC/RobMech/PRASA Conference","volume":"6 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":"134222423","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
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
Detection of electricity theft in low voltage networks using analytics and machine learning 使用分析和机器学习检测低压网络中的电力盗窃
2020 International SAUPEC/RobMech/PRASA Conference Pub Date : 2020-01-01 DOI: 10.1109/SAUPEC/RobMech/PRASA48453.2020.9041117
Mabatho Hashatsi, Chizeba Maulu, M. Shuma-Iwisi
{"title":"Detection of electricity theft in low voltage networks using analytics and machine learning","authors":"Mabatho Hashatsi, Chizeba Maulu, M. Shuma-Iwisi","doi":"10.1109/SAUPEC/RobMech/PRASA48453.2020.9041117","DOIUrl":"https://doi.org/10.1109/SAUPEC/RobMech/PRASA48453.2020.9041117","url":null,"abstract":"The objective of the work presented in this paper was to identify and implement a machine learning algorithm, to detect electricity theft using smart meter data. Open-source smart meter consumption data for the year 2015 at a granularity of 15 minutes was used to create the model. A cubic support vector machine classification algorithm was used to train the model, with an optimized value of K. Four test sets with different percentages of fraudulent users namely: 10%,25%,50%, and 75% were used to test the proposed solution. Evaluation metrics were used to determine the performance of the proposed solution. An average accuracy of 90.6% and a detection rate of 95.75% was achieved.","PeriodicalId":215514,"journal":{"name":"2020 International SAUPEC/RobMech/PRASA Conference","volume":"12 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":"114561785","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
Comparison of Graphene Oxide and Reduced Graphene Oxide Doping on YBCO For Power Applications 氧化石墨烯与还原氧化石墨烯在YBCO上掺杂的比较
2020 International SAUPEC/RobMech/PRASA Conference Pub Date : 2020-01-01 DOI: 10.1109/SAUPEC/RobMech/PRASA48453.2020.9041088
M. Gaffoor, A. Jarvis, S. Perumal
{"title":"Comparison of Graphene Oxide and Reduced Graphene Oxide Doping on YBCO For Power Applications","authors":"M. Gaffoor, A. Jarvis, S. Perumal","doi":"10.1109/SAUPEC/RobMech/PRASA48453.2020.9041088","DOIUrl":"https://doi.org/10.1109/SAUPEC/RobMech/PRASA48453.2020.9041088","url":null,"abstract":"In this research high temperature superconductor material (YBCO) was doped with graphene oxide (GO) and reduced graphene oxide (rGO) in 0.5 % wt. and 0.7 % wt. concentrations. Resistance versus Temperature (R vs. T) measurements were carried out in field cooling (FC) and zero field cooling (ZFC) conditions. In order to determine the critical transition temperature (Tc) and observe the effect of doping on the weak-links. The increase in Tc was greater in GO doped samples compared to rGO doped samples, this is due to the increase in oxygen content in the doped samples which was confirmed by iodometric titration. The weak-link effect was improved in both GO and rGO doped samples. The reduction of the weak-link effect implies YBCO material with a higher critical current density (Jc).","PeriodicalId":215514,"journal":{"name":"2020 International SAUPEC/RobMech/PRASA Conference","volume":"15 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":"116085038","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
Durability Analysis of Metal Oxide Varistor under Direct Current Switching Surges 金属氧化物压敏电阻在直流开关浪涌作用下的耐久性分析
2020 International SAUPEC/RobMech/PRASA Conference Pub Date : 2020-01-01 DOI: 10.1109/SAUPEC/RobMech/PRASA48453.2020.9040958
D. van Niekerk, P. Bokoro
{"title":"Durability Analysis of Metal Oxide Varistor under Direct Current Switching Surges","authors":"D. van Niekerk, P. Bokoro","doi":"10.1109/SAUPEC/RobMech/PRASA48453.2020.9040958","DOIUrl":"https://doi.org/10.1109/SAUPEC/RobMech/PRASA48453.2020.9040958","url":null,"abstract":"The circuit-break switch of a direct current (DC) system will have to dissipate any stored residual line inductance energy during the switch-off period. Therefore, it is common to make use of a metal oxide varistor (MOV) mounted in parallel with a DC switch, in order to prevent arc damage by absorbing and transferring stored residual line inductance energy around the switch. However, the parallel-connected surge protecting MOV should not fail before the expected lifetime operation of the DC switch. Under repeated DC switching surge conditions, a zinc oxide (ZnO) based varistor degrades and its energy absorption capability reduces over time. Fast consecutive switch-off operations are not common in circuit-break DC switch applications, thereby allowing sufficient time for excess absorbed energy by the MOV to be dissipated as heat to ambiance. However, it is not well understood how varistor DC switching surge durability could be modeled, for this specific type of energy handling capability (EHC). In this work, a novel method to model the MOV durability or resiliency to DC switching surges with time intervals in-between for sufficient cooling is proposed. The obtained model will then serve as an average numerical durability indicator that could assist designers in predicting the expected lifetime of the parallel connected surge protecting MOV. It will also be a more effective way of comparing this specific type of degradation or EHC between different manufacturers with similar specifications.","PeriodicalId":215514,"journal":{"name":"2020 International SAUPEC/RobMech/PRASA Conference","volume":"72 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":"123438831","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
Automatic classification of medical X-ray images with convolutional neural networks 基于卷积神经网络的医学x射线图像自动分类
2020 International SAUPEC/RobMech/PRASA Conference Pub Date : 2020-01-01 DOI: 10.1109/SAUPEC/RobMech/PRASA48453.2020.9041052
Xolisani Nkwentsha, Anicet Hounkanrin, F. Nicolls
{"title":"Automatic classification of medical X-ray images with convolutional neural networks","authors":"Xolisani Nkwentsha, Anicet Hounkanrin, F. Nicolls","doi":"10.1109/SAUPEC/RobMech/PRASA48453.2020.9041052","DOIUrl":"https://doi.org/10.1109/SAUPEC/RobMech/PRASA48453.2020.9041052","url":null,"abstract":"The classification of medical images is an important step for image-based clinical decision support systems. With the number of images taken per patient scan rapidly increasing, there is a need for automatic medical image classification systems that are accurate because manual classification and annotation is time-consuming and prone to errors. This paper focuses on automatic classification of X-ray image from the ImageCLEF 2009 dataset based on anatomical and biological information using the InceptionV3 model. The X-ray images are prepared and preprocessed with two different padding techniques, two image enhancement techniques and layering to convert the grey-scale images to 3-channel images to prepare them for InceptionV3. In terms of classification loss, constant padding with no enhancements had the best performance with an accuracy of 68.67% and a loss of 1.442. In terms of classification accuracy, constant padding with enhancement had the best performance with an accuracy of 71.34% and a loss of 1.608.","PeriodicalId":215514,"journal":{"name":"2020 International SAUPEC/RobMech/PRASA Conference","volume":"24 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":"115988592","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
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
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