Abstract: This paper addresses a vision based solution to collaborative multi-agent system for autonomous mobile robots. Each agent in the swarm is designed based on two different behavioural architectures, allowing them to overcome navigation problem in partly cluttered environment. A simple but efficient communication topology has been applied to the robot agents so as to run them in a swarm methodology. Robots’ performance is being evaluated under different experimental conditions, and analysis of the results allows us to validate the proposed navigation approach.

• Publication Date: 19-Apr-2015
• DOI: 10.15224/978-1-63248-044-6-72
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Abstract: Power transformer transients, which are originated from non-linear operating characteristics, may cause failure of a power system. In this study, a special resonance phenomenon where overvoltages observed due to switching capacitances of the line is investigated. This situation is detected while high voltage side of the transformer is open circuit (no-load) and the low voltage side is connected to a transmission line through nonlinear switch (or breaker). This special resonance is caused by the interaction of leakage inductance of the transformer windings and the switching capacitance. A test setup containing 220V/34.5kV transformer is employed for realization of simulation results obtained by SPICE analysis. In order to simulate switching capacitance, a capacitance of 5.54μF is connected to low voltage side. The recorded and simulated test results show good correspondence. Observed overvoltages are analysed by continuous wavelet transform (CWT) and fast Fourier transform (FFT) techniq

• Publication Date: 19-Apr-2015
• DOI: 10.15224/978-1-63248-044-6-73
• Views: 0
• Downloads: 0