Power transmission line live working robots are important equipment and useful exploration to ensure the reliable operation of high-voltage lines and they are the development trend to realizing intelligent automation power system operation and maintenance management. At present, most robots adapt lithium battery power supply and can be hoisted on line. The robot online endurance operation time is closely related to the system energy consumption. When the robot electricity of battery is insufficient, it needs to be charged offline. In order to reduce the frequency of robot hoisted on and off line as much as possible and improve the robot battery life time after it has been online, this has become a key technology which needs to be solved urgently. It is of great theoretical significance and practical application value to promote the robot overall operation efficiency. Based on the above, this paper establishes double different types manipulator energy consumption models for high-voltage transmission line damper replacement operation and drainage plate maintenance operation, through analysis and synthesis, a general energy consumption model for different tasks have been abstracted and an objective function for optimizing the robot manipulator motion energy consumption have been constructed based on the robot dynamics, thereby, GA(genetic algorithm) has been adapted, through selecting appropriate algorithm parameters, the optimal manipulator energy consumption has been solved and then it can be substituted back to the manipulator energy consumption model so as to obtain the optimal joint energy consumption motion function, based on the optimal energy consumption results, the optimal robot energy consumption motion planning has been carried out, according to the MATLAB simulation results, the energy consumption of the optimized trajectory is significantly lower than before, which can effectively reduce the frequency the robot hoisted online and offline, so as to improve the robot operation overall efficiency, at the same time, the optimal energy consumption trajectory planning method has strong versatility for different operation tasks. Finally, based on the optimal energy consumption trajectory planning, the robot drainage board tightening and damper replacement operation experiments on 220 kV power lines which verified the effectiveness and engineering practicability of the proposed method.
Polyvinylidene fluoride (PVDF) porous membrane was prepared were prepared by a two-step method of surface gelation-immersion precipitation phase inversion. The surface of the scraping PVDF solution film was sprayed with acetic acid solution of chitosan (CS) and glutaraldehyde aqueous solution successively, and the film surface gelled with chitosan crosslinking. And then the liquid film was immersed in coagulation bath water for phase transformation to obtain the modified PVDF porous membranes. The influence of crosslinking degree of chitosan and glutaraldehyde on the structure and properties of PVDF porous membrane was discussed by controlling the gelation time. The results showed that with the extension of gel time, the surface structure of PVDF membranes changed from dense cortex to porous structure, the porosity gradually decreased, the average pore size first increased and then decreased, the contact angle gradually decreased, and the pure water flux first increased and then decreased. The dynamic circulating filtration experiment of bovine serum albumin (BSA) solution showed that the rejection rate of the modified membrane increased from 68.3% to 90.0%, and the flux recovery rate increased from 73.0% to 84.4%, the irreversible fouling ratio decreased from 27.7% to 15.6%. Therefore, the hydrophilicity and antifouling of PVDF membrane were improved after surface chitosan crosslinking.
Internal standard line plays a crucial role in the univariate quantitative analysis in portable laser-induced breakdown spectroscopy (LIBS) technology. To overcome the uncertainty of the conventional internal standard method, the...
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