Science Proceedings Series

Survey on Mobile Robot Motion

Hameedah Sahib Hasan — Mon, 29 May 2023 00:00:00 -0400

Navigation is an important task in the mobile robotics area. The goal of mobile robot navigation is to reach a prescribed destination or a specific destination, following a closely or predetermined trajectory as much as possible. Mobile robots carry out many tasks such as patrol, medical rescue, planetary exploration, material handling, and other tasks. Therefore, intelligent flexible robots must be able to move independently in different environments to the final position. In this paper, a survey on the navigation of mobile robot motion is introduced.

Optimum Site Selection and Sizing of Distributed Canal- Top PV Plant Based on Load Flow Analysis

Mon, 29 May 2023 00:00:00 -0400

The energy crisis has been increased over the year due to an increase in the population and expansion in industries. Pakistan has also been considered not only as an energy deficient country but also been considered as a country where the cost of energy production is at its peak due to the use of fossil fuels for energy production and less use of renewable energy resources for the production of electrical energy. To address these issues the use of renewable energy resources has become inevitable. This research is targeted to highlight the optimal location for the use of solar PV panels over the canal top for the production of Electrical Energy along with distribution techniques to energize the feeders and grid system. Different locations in different districts of Punjab over the branch canals and distributary have been short-listed and the performance of Solar PV panels over these canals has been analyzed for high efficiency. To develop small PV (solar-photovoltaic) plants in urban areas of Gujranwala division, and Rakh Branch canal, Faisalabad on top of canals or nullahs to energize various, industrial, residential, commercial, and agriculture zones. In this research, we identified six potential locations in the Gujranwala division and Rakh branch canal, Faisalabad along with the identification of closest grids and potential power purchasers while in the second step, it provided potential designs of models that can be considered suitable for deployment of small scale PV plants at the identified locations along with the financial analysis including estimated construction cost and the estimated tariff rate for selling power to the potential customer. This research has analyzed the situation of the National grid infrastructure in the project area and has proposed a design of a separate transmission system that can be used to effectively distribute power to industries and can easily be integrated into the National grid in the future. The establishment of a separate transmission system provides the flexibility of expansion in the size of the installed PV plant without upgrading the electrical network which otherwise becomes difficult in the case of national grid usage due to the limited capacities of feeders.

Study of the Impact of Weather Conditions on the Performance of HVDC Insulator String using Physics-Based System Model

Mon, 29 May 2023 00:00:00 -0400

Electrical energy transmission over long distances using the High Voltage DC (HVDC) mechanism, instead of the standard High Voltage AC (HVAC), is beneficial as it introduces relatively lower power/line losses. However, compared to HVAC, HVDC is more susceptible to environmental conditions like humidity, wind, pollution, etc. Such conditions particularly impact the insulator strings and may degrade them over time resulting in increased line losses. Such surface effects of electric field and partial ionization, on the performance of HVDC transmission lines in extreme conditions, are usually characterized experimentally, however, numerical models are also used to understand experimental results. In this work, the impact of extreme weather conditions on the working of HVDC insulators and transmission lines is studied to identify key vulnerabilities in the system. For this purpose, a physics-based system model of the transmission line is developed and optimized. Using the developed model, weather conditions like atmospheric humidity is simulated to understand the impact of insulator string design, its materials, and construction on HVDC’s performance. Here, electric field and partial ionization insulator, flashover, and the stress distribution along the string are the pivot points of research. This study shows a significant variation from the original performance at 0% humidity once relative humidity reaches up to 60%. The developed model and performed analysis can assist in optimizing the choice of material and construction of insulator strings for HVDC applications based on prevalent weather conditions in the target area.