The walking robot project

A walking robot was designed, analyzed, and tested as an intelligent, mobile, and a terrain adaptive system. The robot's design was an application of existing technologies. The design of the six legs modified and combines well understood mechanisms and was optimized for performance, flexibility, and simplicity. The body design incorporated two tripods for walking stability and ease of turning. The electrical hardware design used modularity and distributed processing to drive the motors. The software design used feedback to coordinate the system and simple keystrokes to give commands. The walking machine can be easily adapted to hostile environments such as high radiation zones and alien terrain. The primary goal of the leg design was to create a leg capable of supporting a robot's body and electrical hardware while walking or performing desired tasks, namely those required for planetary exploration. The leg designers intent was to study the maximum amount of flexibility and maneuverability achievable by the simplest and lightest leg design. The main constraints for the leg design were leg kinematics, ease of assembly, degrees of freedom, number of motors, overall size, and weight

Fractal-based autonomous partial discharge pattern recognition method for MV motors

On-line partial discharge (PD) monitoring is being increasingly adopted to improve the asset management and maintenance of medium-voltage (MV) motors. This study presents a novel method for autonomous analysis and classification of motor PD patterns in situations where a phase-reference voltage waveform is not available. The main contributions include a polar PD (PPD) pattern and a fractal theory-based autonomous PD recognition method. PPD pattern that is applied to convert the traditional phase-resolved PD pattern into a circular form addresses the lack of phase information in on-line PD monitoring system. The fractal theory is then presented in detail to address the task of discrimination of 6 kinds of single source and 15 kinds of multi-source PD patterns related to motors, as outlined in IEC 60034. The classification of known and unknown defects is calculated by a method known as centre score. Validation of the proposed method is demonstrated using data from laboratory experiments on three typical PD geometries. This study also discusses the application of the proposed techniques with 24 sets of on-site PD measurement data from 4 motors in 2 nuclear power stations. The results show that the proposed method performs effectively in recognising not only the single-source PD but also multi-source PDs

Classification of multiple electromagnetic interference events in high-voltage power plant

This paper addresses condition assessment of electrical assets contained in high voltage power plants. Our work introduces a novel analysis approach of multiple event signals related to faults, and which are measured using Electro-Magnetic Interference method. The proposed method transfers the expert’s knowledge on events presence in the signals to an intelligent system which could potentially be used for automatic EMI diagnosis. Cyclic spectrum analysis is used as feature extraction to efficiently extract the repetitive rate and the dynamic discharge level of the events, and multi-class support vector machine is adopted for their classification. This first and novel method achieved successful results which may have potential implications on developing a framework for automatic diagnosis tool of EMI events

Classification of partial discharge EMI conditions using permutation entropy-based features

In this paper we investigate the application of feature extraction and machine learning techniques to fault identification in power systems. Specifically we implement the novel application of Permutation Entropy-based measures known as Weighted Permutation and Dispersion Entropy to field Electro- Magnetic Interference (EMI) signals for classification of discharge sources, also called conditions, such as partial discharge, arcing and corona which arise from various assets of different power sites. This work introduces two main contributions: the application of entropy measures in condition monitoring and the classification of real field EMI captured signals. The two simple and low dimension features are fed to a Multi-Class Support Vector Machine for the classification of different discharge sources contained in the EMI signals. Classification was performed to distinguish between the conditions observed within each site and between all sites. Results demonstrate that the proposed approach separated and identified the discharge sources successfully

Imaging time series for the classification of EMI discharge sources

In this work, we aim to classify a wider range of Electromagnetic Interference (EMI) discharge sources collected from new power plant sites across multiple assets. This engenders a more complex and challenging classification task. The study involves an investigation and development of new and improved feature extraction and data dimension reduction algorithms based on image processing techniques. The approach is to exploit the Gramian Angular Field technique to map the measured EMI time signals to an image, from which the significant information is extracted while removing redundancy. The image of each discharge type contains a unique fingerprint. Two feature reduction methods called the Local Binary Pattern (LBP) and the Local Phase Quantisation (LPQ) are then used within the mapped images. This provides feature vectors that can be implemented into a Random Forest (RF) classifier. The performance of a previous and the two new proposed methods, on the new database set, is compared in terms of classification accuracy, precision, recall, and F-measure. Results show that the new methods have a higher performance than the previous one, where LBP features achieve the best outcome

Observation of charge ordering signal in monovalent doped Nd0.75Na0.25-xKxMn1O3 (0 ≤ x ≤ 0.10) manganites

K doping in the compound of Nd0.75Na0.25-xKxMn1O3 (x = 0, 0.05 and 0.10) manganites have been investigated to study its effect on crystalline phase and surface morphology as well as electrical transport and magnetic properties. The structure properties of the Nd0.75Na0.25- xKxMnO3 manganite have been characterized using X-ray diffraction measurement and it proved that the crystalline phase of samples were essentially single phased and indexed as orthorhombic structure with space group of Pnma. The morphological study from scanning electron microscope showed there was an improvement on the grains boundaries and sizes as well as the compactness with K doping suggestively due to the difference of ionic radius. On the other hand, DC electrical resistivity measurement showed all samples exhibit insulating behavior. However, analysis of dlnρ/dT-1 vs. T revealed the clearly peaks could be observed at temperature 210K for x = 0 and the peaks were shifted to the lower temperature around 190 K and 165 K for x = 0.05 and x = 0.1 respectively, indicate the existence of charge ordering (CO) state in the compound. Meanwhile, the investigation on magnetic behavior showed all samples exhibit transition from paramagnetic phase to anti-ferromagnetic phase with decreasing temperature and the TN was observed to shift to lower temperature suggestively due to weakening of CO stat

Initial results on fault diagnosis of DSN antenna control assemblies using pattern recognition techniques

Initial results obtained from an investigation using pattern recognition techniques for identifying fault modes in the Deep Space Network (DSN) 70 m antenna control loops are described. The overall background to the problem is described, the motivation and potential benefits of this approach are outlined. In particular, an experiment is described in which fault modes were introduced into a state-space simulation of the antenna control loops. By training a multilayer feed-forward neural network on the simulated sensor output, classification rates of over 95 percent were achieved with a false alarm rate of zero on unseen tests data. It concludes that although the neural classifier has certain practical limitations at present, it also has considerable potential for problems of this nature

Fault Detection of Gearbox from Inverter Signals Using Advanced Signal Processing Techniques

The gear faults are time-localized transient events so time-frequency analysis techniques (such as the Short-Time Fourier Transform, Wavelet Transform, motor current signature analysis) are widely used to deal with non-stationary and nonlinear signals. Newly developed signal processing techniques (such as empirical mode decomposition and Teager Kaiser Energy Operator) enabled the recognition of the vibration modes that coexist in the system, and to have a better understanding of the nature of the fault information contained in the vibration signal. However these methods require a lot of computational power so this paper presents a novel approach of gearbox fault detection using the inverter signals to monitor the load, rather than the motor current. The proposed technique could be used for continuous monitoring as well as on-line damage detection systems for gearbox maintenance

A Review of Smart Materials in Tactile Actuators for Information Delivery

As the largest organ in the human body, the skin provides the important sensory channel for humans to receive external stimulations based on touch. By the information perceived through touch, people can feel and guess the properties of objects, like weight, temperature, textures, and motion, etc. In fact, those properties are nerve stimuli to our brain received by different kinds of receptors in the skin. Mechanical, electrical, and thermal stimuli can stimulate these receptors and cause different information to be conveyed through the nerves. Technologies for actuators to provide mechanical, electrical or thermal stimuli have been developed. These include static or vibrational actuation, electrostatic stimulation, focused ultrasound, and more. Smart materials, such as piezoelectric materials, carbon nanotubes, and shape memory alloys, play important roles in providing actuation for tactile sensation. This paper aims to review the background biological knowledge of human tactile sensing, to give an understanding of how we sense and interact with the world through the sense of touch, as well as the conventional and state-of-the-art technologies of tactile actuators for tactile feedback delivery