This paper presents design and construction of a prototype resistive voltage measuring system composing of a saline solution divider and resistive attenuator. The structure of the developed divider is designed in form of coaxial cylinder. The system has voltage rating of 300 kV. The developed measuring system has been test according to the IEC standard composing of unit step response test, scale factor test, withstand voltage test, and short term stability test. The experimental response times of the developed voltage measuring systems without and with shielding ring are about 50 ns and 25 ns, respectively. This accomplishment will be advantage for increasing capability of HV laboratory and for researches, which are about effect of fast transient voltage in transmission and distribution systems in Thailand.
In this paper, the adaptive Monte Carlo localization (AMCL) error in terms of similar data detected by light detection and ranging (LiDAR) in different locations is investigated. This localization causes a robot to move to the incorrect location temporarily. We propose the fusion of landmark-based localization using an iBeacon device combined with the AMCL algorithm. This technique can solve the probabilistic localization problem of the conventional techniques applied in mobile robots by fusing the timed elastic band (TEB) and scan-matching algorithms, which reduces the error from 7 cm to less than 3 cm. The proposed technique is implemented on a clean-room-type mobile robot with 100 kg payload certificated by the SOP39 standard.
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