A MATLAB/GUI (Graphical User Interface) based simulation tool has been developed to calculate the short-circuit fault currents in power transmission lines and to use as an educational material for courses on power system analysis. Presented program provides the calculation of three-phase (3LS), single line-to-ground (1LG), line-to-line (2LS), and double line-to-ground (2LG) faults on transmission lines. Symmetrical components of currents and voltages are used for calculations in the program. By means of the program, calculated fault currents and voltages on the fault point of the line have been presented both in per-unit and in real values. Furthermore, this calculated currents and voltages can be observed in GUI screen. In this way, an educational tool has been developed for the students to check the accuracy of their calculations and to observe the variations of waveforms. The purpose of this GUI based tool is to help the student to understand the concept of symmetrical components and short-circuit faults.
These days, in industrial robot applications, servo motors with reducer have been used to move robot manipulators. Due to the weight of the robot parts, it causes undesirable conditions such as backward movement, downward movement and vibration caused by the moments of inertia at the time of movement. In this study, step motor ball screw driven actuators, which use push-pull force instead of servo motor with reducers, were utilized to provide rotational movement in robot arms. The ball screw system reduces the effect of moments of inertia caused by the movements of the robot joints, and restricts the free movements of the robot joints. It also provides an advantage by reducing costs since it uses smaller motors. In articulated robots, the complexity of kinematic equations and the use of high-order polynomials for trajectory planning cause difficulties in controlling. In this study, the information of the points, where the robot went during the manual movement, was obtained by using the macros prepared in program interface without using kinematic and trajectory planning equations. The position lines taken at these points were printed in a text file by adding the code G01 and f feed-rate. The robot was made to move by running this file in the program interface used for control. This method allows the operator to use the robot without advanced kinematics knowledge.
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