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Transformers in distribution systems can be broadly categorized into distribution substation transformers and other distribution transformers. They are crucial for stepping down high transmission voltages to levels suitable for distribution and end-user applications.
Distribution substation transformers come in various ratings and typically use mineral oil for insulation and cooling. To prevent moisture and air from entering the oil, some transformers use an inert gas like nitrogen to fill the...
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Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
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Distribution Reliability and Automation01:25

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Distribution reliability in electrical power systems is critical for ensuring an uninterrupted power supply to consumers at minimal cost. According to IEEE Standard Terms, reliability is the probability that a device will function without failure over a specified time period or amount of usage. For electric power distribution, this translates to maintaining continuous power supply and addressing customer concerns over power outages. Several indices, as defined by IEEE Standard 1366-2012, are...
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Sequence Networks of Rotating Machines01:24

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A Y-connected synchronous generator, grounded through a neutral impedance, is designed to produce balanced internal phase voltages with only positive-sequence components. The generator's sequence networks include a source voltage that is exclusively in the positive-sequence network. The sequence components of line-to-ground voltages at the generator terminals illustrate this configuration.
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The fast decoupled power flow method addresses contingencies in power system operations, such as generator outages or transmission line failures. This method provides quick power flow solutions, essential for real-time system adjustments. Fast decoupled power flow algorithms simplify the Jacobian matrix by neglecting certain elements, leading to two sets of decoupled equations:
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Updated: Oct 27, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
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EMERGE Modular Robot: A Tool for Fast Deployment of Evolved Robots.

Rodrigo Moreno1, Andres Faiña1

  • 1REAL Lab, IT University of Copenhagen, Copenhagen, Denmark.

Frontiers in Robotics and AI
|July 22, 2021
PubMed
Summary

The EMERGE platform enables full cycle reconfigurable hardware evolution for modular robots. This system facilitates autonomous assembly, testing, and disassembly, paving the way for adaptable robotic systems.

Keywords:
automatic reconfigurationautonomous hardware evolutionevolutionary roboticsmorphology evolutionphysical robots

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Area of Science:

  • Robotics
  • Reconfigurable Hardware
  • Evolutionary Computation

Background:

  • Developing adaptable robotic systems is crucial for diverse applications.
  • Existing reconfigurable hardware platforms often lack a full cycle process for morphology evolution.
  • Bridging the simulation-to-reality gap in robotic morphology is a significant challenge.

Purpose of the Study:

  • To present the EMERGE (Easy Modular Embodied Robot Generator) platform for full cycle morphology evolution in reconfigurable hardware.
  • To detail the mechanical design, assembly, and testing procedures for EMERGE modules.
  • To demonstrate the feasibility of autonomous, full cycle evolution of robot morphologies in physical hardware.

Main Methods:

  • Designed and built EMERGE modular robot components using off-the-shelf and 3D-printed parts with magnetic connectors.
  • Developed a visual guiding tool with AprilTag markers for accurate manual assembly.
  • Evolved 30 morphologies in simulation, transferred them to physical hardware, and tested their performance, including autonomous assembly/disassembly.
  • Investigated the role of magnetic connectors in protecting modules from damage.

Main Results:

  • EMERGE modules are fast to build (30 min/module) and assemble (<5 min for <10 modules).
  • Physical EMERGE morphologies accurately reproduced simulated performance, accounting for the reality gap.
  • Magnetic connectors provided a safety mechanism against high external torques.
  • Autonomous module attachment/detachment using a robotic manipulator was demonstrated.

Conclusions:

  • The EMERGE platform successfully enables a full cycle process for evolving robot morphology in physical reconfigurable hardware.
  • The system demonstrates the potential for fully autonomous, adaptive robotic systems.
  • EMERGE offers a viable approach to balancing reusability and morphological variability in physical robot evolution.