自动化外文文献翻译
智能建筑的设计和建设管理系统'智能建筑'和'智能家居'技术的概念智能领域的建筑，智能家居，建筑管理系统（房屋管理中心）包含了一个巨大的各种技术，各地商业，工业，体制和住宅楼宇，包括能源管理系统和建设控制的功能，建设管理系统的核心是'智能建筑'的概念，其目的是为了控制、监测和优化建设服务，例如，照明;加热;安全，闭路电视及警报系统;存取控制;视听和娱乐系统;通风，过滤和气候控制等;甚至产品的考勤控制和报告（尤其是工作人员的运动和供货）潜在的这些概念和周边技术是巨大的，和我们的生活正在发生变化的影响，从智能建筑的设计与发展对我们的生活和工作环境的影响，对设施的规划和设施管理，也是潜在的巨大的。
任何设施管理人员考虑楼宇发展或网站的搬迁也应考虑所带来的机会智能建筑技术及概念。
这项免费的概要文章是由一家总部设在英国的首席专家加里米尔斯提供，他在智能建筑，智能家居，以及大厦管理系统都有非常熟练以及高超的水平。
智能建筑物和建筑管理系统在20世纪70年代已经在工业界开始应用，从制度和管制使用的自动化生产过程和管理植物的生长。
发达国家智能建筑在80年代概念和应用软件的发展和标准化，使智能楼宇的技术和系统，可以在以住宅和商业部门之间转让。
智能建筑-控制理论智能建筑的本质，建设管理系统和智能建筑是在控制技术，使服务一体化，自动化和优化的所有服务和设备提供服务和管理环境的建设。
可编程逻辑控制器（PLC），形成了原来的基础上的控制技术。
后来的事态发展，在商业和住宅的申请，是基于分布式智能的微处理器。
稍后这些技术的采用和发展，让各种网站的建设和服务得以优化，往往高产显着并且降低成本和节省大量能源。
有很多方法，其中建设服务的建筑物内可以得到控制，下降大致可分为二的方法类型：文献来自：Intelligent building，2005年第8期基于时间-提供暖气或照明服务等，只有在需要时基本参数的优化-经常使用的名词，代表环境方面的服务，如温度的空间加热或照度的照明。
暖气-基于时间的控制基于时间的控制，可以用来打开和关闭供暖系统（和/或热水）在预先选定的时期（一天，一周等）。
优化参数：无论任何条件下，控制，确保建设达到预期的温度，开始入住。
暖气-优化基于参数（温度）控制的例子温度控制：保护对冻结或霜冻保护一般涉及运行供暖系统水泵和锅炉，当外部温度达到了一套水平（0 ° C时）。
补偿系统：当室外温度下降，将控制流温度，在加热电路相对外部温度。
这将提供一个上升的电路流温度。
散热器恒温阀：这些意义上的空间温度在一个房间内和节流阀的流量相关，所以通过装上散热器或变换器控制。
比例控制：涉及交换设备，并自动关闭，以规管输出。
其他的方法可以包括恒温器，红外传感入住的（被动式红外线感应器），用户手册和控制。
照明控制方法不同的控制系统的存在，再次基于时间的控制和优化基于参数的情况下的水平照度或特定用途的照明是必需的。
区域：灯开关就相应的使用和布局的照明领域，如果只有一小部分，为了避免照明一大片，它需要轻亮。
时间控制：开关和关闭自动在每个区域，以预设的时间表，轻损耗。
被动式红外线（红外）入住遥感：在地区是被侵入的间歇，入住传感器可以用来表明是否或没有任何人是当前和切换轻或关闭。
轻一级的监测：这包括调光开关或人工照明，以维持一个轻的水平来衡量一个光电。
建设管理系统和智能建筑-节约能源直到最近几年，能源效率一直是大厦的业主和投资者比较低的优先和低限度的考虑。
但是，随着急剧增加的和认识能源使用的关注和进步，符合成本效益的技术，能源效率正在迅速成为一部分房地产管理，设施管理和运作策略的概念，现在也作出重大大举进入国内住宅建筑部门。
照明，节约能源的最多可以有75 ％的原电路的负荷，它代表5 ％的能源消费总量的住宅和商业部门。
节约能源的潜力，从水加热，冷却，或热水的生产，最多可以有10 ％，代表多达7 ％的能源消费总量的国内住宅及商业部门。
经验研究表明，在奥地利的潜在加热和冷却可节省的能源是高达30 ％，在公共建筑物。
甚至让事实，即建筑物所使用的研究可能已被那些有特别高的能源用量，这个数字是一个令人印象深刻的一个。
（资料来源：eu2分析和市场调查，欧洲的建筑技术在中环及中东欧国家-g opa）建设管理系统和智能建筑-环境和温室气体的好处减少对温室气体排放量的依赖和相关的减少能源的使用。
智能建筑和楼宇管理系统的技术直接有助于减少能源的使用，在商业，工业，体制和国内住宅部门。
在短期内，智能楼宇和适当的应用管理系统的建设有利于环境。
立法和环境标准，卫生和安全规定，和全球趋势对改善室内空气质量标准，都是显着的办法，并提供一个连续认可的需要-建设管理系统和智能建筑技术。
政府的措施在世界各地也有强劲的发展，并通过大厦管理系统的技术。
例如，英国碳信托允许增强资本免税额（非洲经委会），以作抵销对税务关于能源效率的制度，从而使储蓄的30 ％左右，为所有能源相关的建设管理系统和智能楼宇设备，以及相关的安装和设计成本。
建设管理系统和智能建筑-市场趋势仔细解释，是必要的。
在英国，通过控制技术进入新的建设和翻新的主要行业是比较高的：估计在数年前的英国市场的建设管理控制系统的新建和主要翻新，所有部门，建议通过市场（如在1994年-源u k1评估英国能源的R TD，越- 1994）：暖气控制70 ％。
热水系统控制的90 ％。
空调控制80 ％。
不过，根据欧洲委员会的记录多达90 ％的现有的建筑物已不适用或无效的管制，其中有许多需要完成的整修控制系统。
此外传统的控制系统停止短期自动化智能建筑的全部功能。
一个重要的因素是人类所需的最优秀的有效运作，即使控制系统正确地指明和安装。
鉴于典型的装置和设备经常存在的问题，为建设占用（住宅）或经理（商业）的使用情况操作是否正确和正确的运作是至关重要的有效的结果。
教育用户，改善系统的设计方便用户，并提供有关指示和信息都是至关重要的，使理论转化为实践，并实现潜在的效益和节省。
建设管理系统和智能大厦-的实际利益能源的有效的制度，平衡建设的电灯，日光和机械系统以谋求最大利益。
加强照明设计是一个多电器布局。
它必须考虑的需要及附表占用，季节和气候的日光变化，及其对建筑物的机械系统的影响。
照明系统加入日光到建设是一个方法，以达到能源效益的设计。
自然日光'收获' ，可以使人们更快乐，更健康，更具生产力减少需要的电灯，大量的金钱可以节省能源。
几乎每一个商业大厦是一个潜在的节能项目，如电力照明系统，可设计为暗灰色，与供货的日光。
高达75 ％的照明能源消耗可节省。
此外，通过减少电灯照明，并尽量减少太阳能热增益，控制的照明还可以减少建筑物的空调负荷。
机械系统暖通空调系统和控制措施，包括应用分配制度的空气进入工作区，是机械零件的建筑物，影响热舒适性。
这些系统必须共同努力，提供建筑的舒适度。
而不是通常的一部分的美学大厦，他们是至关重要的其业务和乘员的满意度。
头号办公室投诉，是因为工作场所是太热，人数第二的是办公室太冷。
很多人应付加入的球迷，空间加热器，涵盖了喷口，投诉，进行'恒温战争'与他们的合作工人，或者干脆离开办公室。
住户可以驱车前往分心，试图调整舒适，其空间。
不适当的温度，湿度，通风，室内空气品质也有重大影响的生产力和健康。
当我们热舒适我们更好地开展工作，店更长的时间，放松，呼吸更容易，我们的注意力集中越好。
为了提供一个舒适和健康的室内环境建设机械系统必须：提供一个可接受的水平，温度和湿度和安全防范，气味和室内空气污染物。
创造意识的可居住性，通过空气流动，通风和轻微的温度变化。
让乘员，可以控制和修改条件，以符合个人喜好。
阻力大厦管理系统和智能建筑技术“我们的楼宇已具能源效益的” 。
（是整个建筑的节能，抑或是业主，限制他的重点，以公用地方及毛额租用空间？）“我们宁愿设备与最低的成本时，首先装修租客空间” 。
（是否规范有任何的想法谁承担增加的经营成本，这样的策略呢？）“我们需要一个为期两年的简单的回馈或更少” 。
（这是仍然是现实，鉴于该回报率对货币市场是从字面上了其中的十分之一是什么这是20年前？）“住户支付所有的能源成本，并会得到所有的储蓄” 。
（请勿住户真的支付所有的能源，还是只能源超过预先设定的基准年或牺牲停止？）“我们正在出售的建设” 。
（我们是否应该承担，然后降低营运开支和收获增加资产价值并不重要？）智能家居建设管理系统为住宅的申请与广泛采用数字技术将有一场深刻变革，我们如何与他人沟通。
甚至如何，在我们的家园，我们商店进行服务，接收新闻，管理我们的财政状况，了解世界，并开展业务，管理资源，寻找娱乐，当我们进入老年并保持独立性和自主性。
这些活动的日益发生在家庭中。
作为我们的看法，银行，商店，大学，社区和城市的变化反应的新技术，使建筑建立管理制度，正在成为一个不平凡的新的重要性。
因为它存在的今天，家庭不能满足这些需求，或利用新的机会所造成的社会和技术的变化。
大多数人住的空间不能满足他们的需要。
直到最近，大多数房屋被有线仍略多于主要电子电路，数电话线，和几个电视电缆。
时代变了。
电器及保安系统承办商经常安装低压电缆通信网，这就是广泛的智能家居或'智能家居系统。
服务和设备，利用这些网络包括：安全;家庭影院和娱乐;电话，门电话和内部通信;个人电脑及互联网网络;监视摄像头;车道的车辆传感器;沟通恒温;摩托窗口百叶窗和窗帘;输入系统;和灌溉系统。
智能家园智能家居'是另一种的任期为1智能化住宅的建设，或一个智能家居。
几年前，这些概念很少考虑未来和幻想。
现在他们的现实。
这些条款是现在常用来定义一个居住使用控制系统的整合居住的各种自动化系统。
整合民政系统，使它们能够互相沟通，通过控制系统，从而使单一的按钮和语音控制同时在预先编程的情景或经营模式下控制各种家用系统。
发展智能家居系统，集中讨论如何在家及其相关技术，产品和服务应该演变，以最好地满足面临的机遇和挑战的未来。
的可能性和排列是无止境的。
这里是一些例子：智能家居示例1情况下，如'我家'可引发迫切的一个按钮上的一个关键环远程控制从您的车辆作为你的做法的车道上。
控制系统接收的关键环远程控制的命令。
这将触发预先编程的函数序列。
例如出发，把对照明在车道，车库，走廊，和厨房。
然后解除武装的保安系统，打开车库门，打开进入室内车库门，调整暖气，以预设的温度，并轮流对整个内部音响系统播放你最喜爱的CD ，同时你可以洗澡。
控制系统编程，以满足特定用户的需求，开创了连续自动操作的家用系统，在回应一个按钮命令的基础上，形势和或时间。
智能家居案例2在上午07时30分，你要清醒的声音，你最喜爱的CD中发出的背景;灯在您的卧室开关'，让您醒来在自己的时间。
机械制造及自动化毕业设计---外语文献翻译
攀枝花学院本科毕业设计（论文）外文译文院（系）：机电工程学院专业：机械设计制造及其自动化姓名：**************学号：ZJD02043外语文献翻译摘自: 《制造工程与技术（机加工）》（英文版）《Manufacturing Engineering and Technology—Machining》机械工业出版社2004年3月第1版页P560—564美s. 卡尔帕基安(Serope kalpakjian)s.r 施密德(Steven R.Schmid) 著原文：20.9 MACHINABILITYThe machinability of a material usually defined in terms of four factors:1、Surface finish and integrity of the machined part;2、Tool life obtained;3、Force and power requirements;4、Chip control.Thus, good machinability good surface finish and integrity, long tool life, and low force And power requirements. As for chip control, long and thin (stringy) cured chips, if not broken up, can severely interfere with the cutting operation by becoming entangled in the cutting zone.Because of the complex nature of cutting operations, it is difficult to establish relationships that quantitatively define the machinability of a material. In manufacturing plants, tool life and surface roughness are generally considered to be the most important factors in machinability. Although not used much any more, approximate machinability ratings are available in the example below.20.9.1 Machinability Of SteelsBecause steels are among the most important engineering materials (as noted in Chapter 5), their machinability has been studied extensively. The machinability of steels has been mainly improved by adding lead and sulfur to obtain so-calledfree-machining steels.Resulfurized and Rephosphorized steels. Sulfur in steels forms manganese sulfide inclusions (second-phase particles), which act as stress raisers in the primaryshear zone. As a result, the chips produced break up easily and are small; this improves machinability. The size, shape, distribution, and concentration of these inclusions significantly influence machinability. Elements such as tellurium and selenium, which are both chemically similar to sulfur, act as inclusion modifiers in resulfurized steels.Phosphorus in steels has two major effects. It strengthens the ferrite, causing increased hardness. Harder steels result in better chip formation and surface finish. Note that soft steels can be difficult to machine, with built-up edge formation and poor surface finish. The second effect is that increased hardness causes the formation of short chips instead of continuous stringy ones, thereby improving machinability.Leaded Steels. A high percentage of lead in steels solidifies at the tip of manganese sulfide inclusions. In non-resulfurized grades of steel, lead takes the form of dispersed fine particles. Lead is insoluble in iron, copper, and aluminum and their alloys. Because of its low shear strength, therefore, lead acts as a solid lubricant (Section 32.11) and is smeared over the tool-chip interface during cutting. This behavior has been verified by the presence of high concentrations of lead on thetool-side face of chips when machining leaded steels.When the temperature is sufficiently high-for instance, at high cutting speeds and feeds (Section 20.6)—the lead melts directly in front of the tool, acting as a liquid lubricant. In addition to this effect, lead lowers the shear stress in the primary shear zone, reducing cutting forces and power consumption. Lead can be used in every grade of steel, such as 10xx, 11xx, 12xx, 41xx, etc. Leaded steels are identified by the letter L between the second and third numerals (for example, 10L45). (Note that in stainless steels, similar use of the letter L means “low carbon,” a condition that improves their corrosion resistance.)However, because lead is a well-known toxin and a pollutant, there are serious environmental concerns about its use in steels (estimated at 4500 tons of lead consumption every year in the production of steels). Consequently, there is a continuing trend toward eliminating the use of lead in steels (lead-free steels). Bismuth and tin are now being investigated as possible substitutes for lead in steels.Calcium-Deoxidized Steels. An important development is calcium-deoxidized steels, in which oxide flakes of calcium silicates (CaSo) are formed. These flakes, in turn, reduce the strength of the secondary shear zone, decreasing tool-chip interfaceand wear. Temperature is correspondingly reduced. Consequently, these steels produce less crater wear, especially at high cutting speeds.Stainless Steels. Austenitic (300 series) steels are generally difficult to machine. Chatter can be s problem, necessitating machine tools with high stiffness. However, ferritic stainless steels (also 300 series) have good machinability. Martensitic (400 series) steels are abrasive, tend to form a built-up edge, and require tool materials with high hot hardness and crater-wear resistance. Precipitation-hardening stainless steels are strong and abrasive, requiring hard and abrasion-resistant tool materials.The Effects of Other Elements in Steels on Machinability. The presence of aluminum and silicon in steels is always harmful because these elements combine with oxygen to form aluminum oxide and silicates, which are hard and abrasive. These compounds increase tool wear and reduce machinability. It is essential to produce and use clean steels.Carbon and manganese have various effects on the machinability of steels, depending on their composition. Plain low-carbon steels (less than 0.15% C) can produce poor surface finish by forming a built-up edge. Cast steels are more abrasive, although their machinability is similar to that of wrought steels. Tool and die steels are very difficult to machine and usually require annealing prior to machining. Machinability of most steels is improved by cold working, which hardens the material and reduces the tendency for built-up edge formation.Other alloying elements, such as nickel, chromium, molybdenum, and vanadium, which improve the properties of steels, generally reduce machinability. The effect of boron is negligible. Gaseous elements such as hydrogen and nitrogen can have particularly detrimental effects on the properties of steel. Oxygen has been shown to have a strong effect on the aspect ratio of the manganese sulfide inclusions; the higher the oxygen content, the lower the aspect ratio and the higher the machinability.In selecting various elements to improve machinability, we should consider the possible detrimental effects of these elements on the properties and strength of the machined part in service. At elevated temperatures, for example, lead causes embrittlement of steels (liquid-metal embrittlement, hot shortness; see Section 1.4.3), although at room temperature it has no effect on mechanical properties.Sulfur can severely reduce the hot workability of steels, because of the formation of iron sulfide, unless sufficient manganese is present to prevent such formation. Atroom temperature, the mechanical properties of resulfurized steels depend on the orientation of the deformed manganese sulfide inclusions (anisotropy). Rephosphorized steels are significantly less ductile, and are produced solely to improve machinability.20.9.2 Machinability of Various Other MetalsAluminum is generally very easy to machine, although the softer grades tend to form a built-up edge, resulting in poor surface finish. High cutting speeds, high rake angles, and high relief angles are recommended. Wrought aluminum alloys with high silicon content and cast aluminum alloys may be abrasive; they require harder tool materials. Dimensional tolerance control may be a problem in machining aluminum, since it has a high thermal coefficient of expansion and a relatively low elastic modulus.Beryllium is similar to cast irons. Because it is more abrasive and toxic, though, it requires machining in a controlled environment.Cast gray irons are generally machinable but are. Free carbides in castings reduce their machinability and cause tool chipping or fracture, necessitating tools with high toughness. Nodular and malleable irons are machinable with hard tool materials.Cobalt-based alloys are abrasive and highly work-hardening. They require sharp, abrasion-resistant tool materials and low feeds and speeds.Wrought copper can be difficult to machine because of built-up edge formation, although cast copper alloys are easy to machine. Brasses are easy to machine, especially with the addition pf lead (leaded free-machining brass). Bronzes are more difficult to machine than brass.Magnesium is very easy to machine, with good surface finish and prolonged tool life. However care should be exercised because of its high rate of oxidation and the danger of fire (the element is pyrophoric).Molybdenum is ductile and work-hardening, so it can produce poor surface finish. Sharp tools are necessary.Nickel-based alloys are work-hardening, abrasive, and strong at high temperatures. Their machinability is similar to that of stainless steels.Tantalum is very work-hardening, ductile, and soft. It produces a poor surfacefinish; tool wear is high.Titanium and its alloys have poor thermal conductivity (indeed, the lowest of all metals), causing significant temperature rise and built-up edge; they can be difficult to machine.Tungsten is brittle, strong, and very abrasive, so its machinability is low,although it greatly improves at elevated temperatures.Zirconium has good machinability. It requires a coolant-type cutting fluid,however, because of the explosion and fire.20.9.3 Machinability of Various MaterialsGraphite is abrasive; it requires hard, abrasion-resistant, sharp tools.Thermoplastics generally have low thermal conductivity, low elastic modulus, and low softening temperature. Consequently, machining them requires tools with positive rake angles (to reduce cutting forces), large relief angles, small depths of cut and feed, relatively high speeds, andproper support of the workpiece. Tools should be sharp.External cooling of the cutting zone may be necessary to keep the chips from becoming “gummy” and sticking to the tools. Cooling can usually be achieved w ith a jet of air, vapor mist, or water-soluble oils. Residual stresses may develop during machining. To relieve these stresses, machined parts can be annealed for a period of time at temperatures ranging from C ︒80 to C ︒160 (F ︒175to F ︒315), and then cooled slowly and uniformly to room temperature.Thermosetting plastics are brittle and sensitive to thermal gradients duringcutting. Their machinability is generally similar to that of thermoplastics.Because of the fibers present, reinforced plastics are very abrasive and aredifficult to machine. Fiber tearing, pulling, and edge delamination are significant problems; they can lead to severe reduction in the load-carrying capacity of the component. Furthermore, machining of these materials requires careful removal of machining debris to avoid contact with and inhaling of the fibers.The machinability of ceramics has improved steadily with the development of nanoceramics (Section 8.2.5) and with the selection of appropriate processing parameters, such as ductile-regime cutting (Section 22.4.2).Metal-matrix and ceramic-matrix composites can be difficult to machine, depending on the properties of the individual components, i.e., reinforcing or whiskers, as well as the matrix material.20.9.4 Thermally Assisted MachiningMetals and alloys that are difficult to machine at room temperature can be machined more easily at elevated temperatures. In thermally assisted machining (hot machining), the source of heat—a torch, induction coil, high-energy beam (such as laser or electron beam), or plasma arc—is forces, (b) increased tool life, (c) use of inexpensive cutting-tool materials, (d) higher material-removal rates, and (e) reduced tendency for vibration and chatter.It may be difficult to heat and maintain a uniform temperature distribution within the workpiece. Also, the original microstructure of the workpiece may be adversely affected by elevated temperatures. Most applications of hot machining are in the turning of high-strength metals and alloys, although experiments are in progress to machine ceramics such as silicon nitride.SUMMARYMachinability is usually defined in terms of surface finish, tool life, force and power requirements, and chip control. Machinability of materials depends not only on their intrinsic properties and microstructure, but also on proper selection and controlof process variables.译文：20.9 可机加工性一种材料的可机加工性通常以四种因素的方式定义：1、分的表面光洁性和表面完整性。
外文翻译--农业温室大棚智能自动化控制
毕业设计论文外文资料翻译学院：电气学院专业：电气工程及其自动化姓名：学号：外文出处：Agricultural greenhousesgreenhouse intelligent automaticcontrol附件： 1.外文资料翻译译文；2.外文原文。
附件1：外文资料翻译译文农业温室大棚智能自动化控制摘要：历来确定的轨迹到controlgreenhouse农作物生长的问题解决了用约束优化或应用人工智能技术。
已被用作经济利润的最优化研究的主要标准，以获得充足的气候控制设定值，为作物生长。
本文讨论了通过分层控制体系结构由一个高层次的多目标优化方法，要解决这个问题是要找到白天和夜间温度（气候相关的设定值）和电导率的参考轨迹管辖的温室作物生长的问题（ fertirrigation的相关设定值）。
的目标是利润最大化，果实品质，水分利用效率，这些目前正在培育的国际规则。
在过去8年来，获得在工业温室的选择说明结果显示和描述关键词分层农业;系统，过程控制，优化方法;产量优化1。
介绍现代农业是时下在质量和环境影响方面的规定，因此，它是一个自动控制技术的应用已在过去几年增加了很多（[法卡斯，2005和Sigrimis，2000] [Sigrimis 等。
，2001]，[Sigrimis和国王，1999]和Straten等。
，2010]）。
温室生产agrosystem的是一个复杂的物理，化学和生物过程，同时发生，反应不同的响应时间和环境因素的模式，特点是许多相互作用（Challa及Straten，1993年），必须以控制种植者获得最好的结果。
作物生长过程是最重要的，主要是由周围环境的气候变量（光合有效辐射PAR - ，温度，湿度，和内空气中的二氧化碳浓度）的影响，水和化肥，灌溉，虫害和疾病提供的金额，如修剪和处理他人之间的农药和文化的劳动力。
温室是理想的增长，因为它构成一个封闭的环境，气候和fertirrigation变量在可控制的作物。
自动化专业外文翻译---模糊逻辑控制机器人走迷宫
外文资料FUZZY LOGIC CONTROL FOR ROBOT MAZE TRA VERSAL: ANUNDERGRADUATE CASE STUDYJames Wolfer Chad A. GeorgeAbstractAs previously reported, Indiana University South Bend has deployed autonomous robots in their Computer Organization course to facilitate introducing computer science students to the basics of logic, embedded systems, and assembly language. The robots help to provide effective, real-time feedback on program operation and to make assembly language less abstract. As a part of their coursework students are required to program a sensor-based traversal of a maze. This paper details one solution to this problem employing a fuzzy logic controller to create linguistic rules.Key words:Fuzzy logic, pedagogy, robots, student projectsINTRODUCTIONAssembly language programming in a computer science environment is often taught using abstract exercises to illustrate concepts and encourage student proficiency.To augment this approach we have elected to provide hands-on, real-world experience to our students by introducing robots into our assembly language class.Observing the physical action of robots can generate valuable feedback and have real-world consequences – robots hitting walls make students instantly aware of program errors, for example.It also provides insight into the realities of physical machines such as motor control, sensor calibration, and noise. To help provide a meaningful experience for our computer organization students, we reviewed the course with the following objectives in mind:• Expand the experience of our students in a manner that enhances the student's insight, provides a hands-on, visual, environment for them to learn, and forms an integrated component for future classes.•Remove some of the abstraction inherent in the assembly language class. Specifically, to help enhance the error detection environment.• Provide a kinesthetic aspect to our pedagogy.• Build student expertise early in their program that could lead to research projects and advanced classroom activities later in their program. Specifically, in this case, to build expertise to support later coursework in intelligent systems and robotics.As one component in meeting these objectives we, in cooperation with the Computer Science department, the Intelligent Systems Laboratory, and the University Center for Excellence in Teaching, designed a robotics laboratory to support the assembly language portion of the computer organization class as described in [1].The balance of this report describes one example project resulting from this environment. Specifically, we describe the results of a student project developing an assembly language fuzzy engine, membership function creation, fuzzy controller, and resulting robot behavior in a Linux-based environment.We also describe subsequent software devlopment in C# under Windows, including graphical membership tuning, real-time display of sensor activation, and fuzzy controller system response. Collectively these tools allow for robust controller development, assemblylanguage support, and an environment suitable for effective classroom and publicdisplay.BACKGROUNDRobots have long been recognized for their potential educational utility, with examples ranging from abstract, simulated, robots, such as Karel[2] and Turtle[3] for teaching programming and geometry respectively, to competitive events such as robotic soccer tournaments[4].As the cost of robotics hardware has decreased their migration into the classroom has accelerated [5, 6]. Driven by the combined goals for this class and the future research objectives, as well as software availability, we chose to use off-the-shelf, Khepera II, robots from K-Team[7].SIMULATED ROBOT DIAGRAMThe K-Team Kephera II is a small, two-motor robot which uses differential wheel speed for steering. Figure 1 shows a functional diagram of the robot. In addition to thetwo motors it includes a series of eight infrared sensors, six along the “front” and two in the “back”of the robot. This robot also comes with an embedded system-call library, a variety of development tools, and the availability of several simulators. The embedded code in the Khepera robots includes a relatively simple, but adequate, command level interface which communicates with the host via a standard serial port. This allows students to write their programs using the host instruction set (Intel Pentium in this case), send commands, and receive responses such as sensor values, motor speed and relative wheel position.We also chose to provide a Linux-based programming environment to our students by adapting and remastering the Knoppix Linux distribution [9]. Our custom distribution supplemented Knoppix with modified simulators for the Khepera, the interface library (including source code),manuals, and assembler documentation. Collectively, this provides a complete development platform.The SIM Kheperasimulator[8] includes source code in C, and provides a workable subset of the native robot command language. It also has the ability to redirect input and output to the physical robot from the graphics display. Figure 2 shows the simulated Khepera robot in a maze environment and Figure 3 shows an actual Khepera in a physical maze. To provide a seamless interface to the simulator and robots we modified the original simulator to more effectively communicate through a pair of Linuxpipes, and we developed a small custom subroutine library callable from the student's assembly language programs.Assignments for the class range from initial C assignments to call the robot routines to assembly language assignments culminating in the robot traversing the maze. FUZZY CONTROLLEROne approach to robot control, fuzzy logic, attempts to encapsulate important aspects of human decision making. By forming a representation tolerant of vague, imprecise, ambiguous, and perhaps missing information fuzzy logic enhances the ability to deal with real-world problems. Furthermore, by empirically modeling a system engineering experience and intuition can be incorporated into a final design.Typical fuzzy controller design [10] consists of:• Defining the control objectives and criteria• Determining the input and output relationships• Creating fuzzy membership functions, along withsubsequent rules, to encapsulate a solution fromintput to output.• Apply necessary input/output conditioning• Test, evaluate, and tune the resulting system.Figure 4 illustrates the conversion from sensor input to a fuzzy-linguistic value. Given three fuzzy possibilities, …too close‟, …too far‟, and …just right‟, along with a sensor reading we can ascertain the degree to which the sensor reading belongs to each of these fuzzy terms. Note that while Figure 4 illustrates a triangular membership set, trapezoids and other shapes are also common.Once the inputs are mapped to their corresponding fuzzy sets the fuzzy attributes are used, expert system style, to trigger rules governing the consequent actions, in this case, of the robot.For example, a series of rules for a robot may include:• If left-sensor is too close and right sensor is too far then turn right.• If left sensor is just right and forward sensor is too far then drive straight.• If left sensor is too far and forward sensor is too far then turn left.• If forward sensor is close then turn right sharply.The logical operators …and‟, …or‟, and …not‟ are calculated as follows: …and‟ represents set intersection and is calculated as the minimum value, …or‟ is calculated as the maximum value or the union of the sets, and …not‟ finds the inverse of the set, calculated as 1.0-fitness.Once inputs have been processed and rules applied, the resulting fuzzy actions must be mapped to real-world control outputs. Figure 5 illustrates this process. Here output is computed as the coordinate of the centroid of the aggregate area of the individual membership sets along the horizontal axis.ASSEMBLY LANGUAGE IMPLEMENTATIONTwo implementations of the fuzzy robot controller were produced. The first was written in assembly language for the Intel cpu architecture under the Linux operating system, the second in C# under Windows to provide a visually intuitive interface for membership set design and public demonstration.Figure 6 shows an excerpt of pseudo-assembly language program. The actual program consists of approximately eight hundred lines of hand-coded assembly language. In the assembly language program subroutine calls are structured with parameters pushed onto the stack. Note that the code for pushing parameters has been edited from this example to conserve space and to illustrate the overall role of the controller. In this code-fragment the …open_pipes‟ routine establishes contact with the simulator or robot. Once communication is established, a continous loop obtains sensor values, encodes them as fuzzy inputs, interprets them through the rule base to linguistic output members which are then converted to control outputs which are sent to the robot. The bulk of the remaining code implements the fuzzy engine itself.FUZZY CONTROLLER MAIN LOOPMembership sets were manually defined to allow the robot to detect and track walls, avoid barriers, and negotiate void spaces in it field of operation. Using this controller, both the simulated robot and the actual Khepera successfully traversed a variety of maze configurations.ASSEMBLY LANGUAGE OBSERV ATIONSWhile implementing the input fuzzification and output defuzzification in assembly language was tedious compared with the same task in a high level language, the logic engine proved to be well suited to description in assembly language.The logic rules were defined in a type of psuedo-code using …and‟, …or‟, …not‟ as operators and using the fuzzy input and output membership sets as parameters. With the addition of input, output and flow control operators, the assembly language logic engine simply had to evaluate these psuedo-code expressions in order to map fuzzy inputs memberships to fuzzy output memberships.Other than storing the current membership fitness values from the inputfuzzyfication, the only data structure needed for the logic engine is a stack to hold intermediate calculations. This is convenient under assembly language since the CPUs stack is immediately available as well as the nescesary stack operators.There were seven commands implemented by the logic rule interpreter: IN, OUT, AND, OR, NOT, DONE, and EXIT.•IN – reads the current fitness from an input membership set and places the value on the stack.•OUT – assigns the value on the top of the stack as the fitness value of an output membership set if it is greater than the existing fitness value for that set.•AND – performs the intersection operation by replacing the top two elements on the stack with the minimum element.•OR – performs the union operation by replace the top two elements on the stack with their maximum.•NOT – replaces the top value on the stack with its compliment.•DONE – pops the top value off the stack to prepare for the next rule•EXIT – signals the end of the logic rule definition and exits the interpreter.As an example the logic rule “If left-sensor is too close and right sensor is too far then turn right”, might be define d by the following fuzzy logic psuedo-code: IN, left_sensor[ TOO_CLOSE ]IN, right_sensor[ TOO_FAR ] ANDOUT, left_wheel[ FWD ]OUT, right_wheel[ STOP ]DONEEXITBy utilizing the existing CPU stack and implementing the logic engine as anpsuedo-code interpreter, the assembly language version is capable of handling arbitrarily complicated fuzzy rules composed of the simple logical operators provided. IMPLEMENTATIONWhile the assembly language programming was the original focus of the project, ultimately we felt that a more polished user interface was desirable for membership set design, fuzzy rule definition, and controller response monitoring. To provide these facilities the fuzzy controller was reimplemented in C# under Windows. through 10 illustrate the capabilities of the resulting software. Specifically, Figure 7 illustrates user interface for membership defination, in this case …near‟. Figure 8 illustrates theinterface for defining the actual fuzzy rules. Figure 9 profiles the output response with respect to a series of simulated inputs. Finally, real-time monitoring of the system is also implemented as illustrated in 10 which shows the robot sensor input values.Since the Khepera simulator was operating system specific, the C# program controls the robot directly. Again, the robot was successful at navigating the maze using a controller specified with this interface.SUMMARYTo summarize, we have developed a student-centric development environment for teaching assembly language programming. As one illustration of its potential we profiled a project implementing a fuzzy-logic engine and controller, along with a subsequent implementation in the C# programming language. Together these projects help to illustrate the viability of a robot-enhanced environment for assembly language programming.REFERENCES[1] Wolfer, J &Rababaah, H. R. A., “Creating a Hands-On Robot Environment for Teaching Assembly Language Programming”, Global Conference on Engineering and Technology Education, 2005[2] Pattic R.E., Karel the Robot: a gentle introduction to the art of programming, 2nd edition. Wiley, 1994[3] Abelson H. and diSessa A., Turtle geometry: the computer as a medium for exploring mathematics. MIT Press, 1996[4] Amirijoo M., Tesanovic A., and Nadjm-Tehrani S., “Raising motivation in real-time laboratories: the soccer scenario” in SIGCSE Technical Symposium on Computer Sciences Education, pp. 265-269, 2004.[5] Epp E.C., “Robot control and embedded systems on inexpensive linux platforms workshop,” in SIGCSE Technical Symposium on Computer Science Education, p. 505, 2004[6] Fagin B. and Merkle L., “Measuring the effectiveness of robots in teaching computer science,” in SIGCSE Technical Symposium on Computer Science Education, PP. 307-311, 2003.[7] K-Team Khepera Robots, , accessed 09/06/05.[8] Michel O., “Khepera Simulator package version 2.0: Freeware mobile robot simulator written at the university of nice Sophia-Antipolis by Olivier Michel. Downloadable from the world wide web. http://diwww.epfl.ch/lami/team/michel/khep-sim, accessed 09/06/05.[9] Knoppix Official Site, , accessed 09/06/05.[10] Earl Cox., The Fuzzy Systems Handbook, Academic Press, New York, 1999.模糊逻辑控制机器人走迷宫James Wolfer Chad A. George摘要美国印第安纳大学南本德已部署在他们的计算机组织课程自主机器人，以方便学生介绍计算机科学逻辑的基础知识，嵌入式系统和汇编语言。
电气工程及其自动化外文翻译
A minimum electric power system is shown in Fig.1-1, the system consists of an energy source, a prime mover, a generator, and a load.The energy source may be coal, gas, or oil burned in a furnace to heat water and generate steam in a boiler; it may be fissionable material which, in a nuclear reactor, will heat water to produce steam; it may be water in a pond at an elevation above the generating station; or it may be oil or gas burned in an internal combustion engine.The prime mover may be a steam-driven turbine, a hydraulic turbine or water wheel, or an internal combustion engine. Each one of these prime movers has the ability to convert energy in the form of heat, falling water, or fuel into rotation of a shaft, which in turn will drive the generator.The electrical load on the generator may be lights, motors, heaters, or other devices, alone or in combination. Probably the load will vary from minute to minute as different demands occur.The control system functions (are) to keep the speed of the machines substantially constant and the voltage within prescribed limits, even though the load may change. To meet these load conditions, it is necessary for fuel input to change, for the prime mover input to vary, and for torque on the shaft from the prime mover to change in order that the generator may be kept at constant speed. In addition, the field current to the generator must be adjusted to maintain constant output voltage. The control system may include a man stationed in the power plant who watches a set of meters on the generator output terminals and makes the necessary adjustments manually. In a modern station, the control system is a servomechanism that senses generator-output conditions and automatically makes the necessary changes in energy input and field current to hold the electrical output within certain specifications.In most situations the load is not directly connected to the generator terminals. More commonly the load is some distance from the generator, requiring a power line connecting them. It is desirable to keep the electric power supply at the load within specifications. However, the controls are near the generator, which may be in another building, perhaps several miles away.If the distance from the generator to the load is considerable, it may be desirable to install transformers at the generator and at the load end, and to transmit the power over a high-voltage line (Fig.1-2). For the same power, the higher-voltage line carries less current, has lower losses for the same wire size, and provides more stable voltage.In some cases an overhead line may be unacceptable. Instead it may be advantageous to use an underground cable. With the power systems talked above, the power supply to the load must be interrupted if, for any reason, any component of the system must be moved from service for maintenance or repair. Additional system load may require more power than the generator can supply. Another generator with its associated transformers and high-voltage line might be added.It can be shown that there are some advantages in making ties between the generators (1) and at the end of the high-voltage lines (2 and 3), as shown in Fig.1-3. This system will operate satisfactorily as long as no trouble develops or no equipment needs to be taken out of service.The above system may be vastly improved by the introduction of circuit breakers, which may be opened and closed as needed. Circuit breakers added to the system, Fig.1-4, permit selected piece of equipment to switch out of service without disturbing the remainder of system. With this arrangement any element of the system may be deenergized for maintenance or repair by operation of circuit breakers.Of course, if any piece of equipment is taken out of service, then the total load mustbe carried by the remaining equipment. Attention must be given to avoid overloads during such circumstances. If possible, outages of equipment are scheduled at times when load requirements are below normal.Fig.1-5 shows a system in which three generators and three loads are tied together by three transmission lines. No circuit breakers are shown in this diagram, although many would be required in such a system.Part 3 Typical System LayoutThe generators, lines, and other equipment which form an electric system are arranged depending on the manner in which load grows in the area and may be rearranged from time to time.However, there are certain plans into which a particular system design may be classified. Three types are illustrated: the radial system, the loop system, and the network system. All of these are shown without the necessary circuit breakers. In eachof these systems, a single generator serves four loads.The radial system is shown in Fig.1-6. Here the lines form a “tree” spre t ing from the generator. Opening any line results in interruption of power to one or more of the loads.The loop system is illustrated in Fig.1-7. With this arrangement all loads may be served even though one line section is removed from service. In some instances during normal operation, the loop may be open at some point, such as A. In case a line section is to be taken out, the loop is first closed at A and then the line section removed. In this manner no service interruptions occur.Fig.1-8 shows the same loads being served by a network. With this arrangement each load has two or more circuits over which it is fed.Distribution circuits are commonly designed so that they may be classified as radial or loop circuits. The high-voltage transmission lines of most power systems are arranged as network. The interconnection of major power system results in networks made up by many line sections.Part 4 Auxiliary EquipmentCircuit breakers are necessary to deenergize equipment either for normal operation or on the occurrence of short circuits. Circuit breakers must be designed to carry normal-load currents continuously, to withstand the extremely high currents that occur during faults, and to separate contacts and clear a circuit in the presence of fault. Circuit breakers are rated in terms of these duties.When a circuit breaker opens to deenergize a piece of equipment, one side ofthe circuit breaker usually remains energized, as it is connected to operating equipment. Since it is sometimes necessary to work on the circuit breaker itself, it is also necessary to have means by which the circuit breaker may be completely disconnected from other energized equipment. For this purpose disconnect switches are placed in series with the circuit breakers. By opening these disconnectors, the circuit breaker may be completely deenergized, permitting work to be carried on in safety.Various instruments are necessary to monitor the operation of the electric power system. Usually each generator, each transformer bank, and each line has its own set of instruments, frequently consisting of voltmeters, ammeters, wattmeters, and varmeters.When a fault occurs on a system, conditions on the system undergo a sudden change. Voltages usually drop and currents increase. These changes are most noticeable in the immediate vicinity of fault. On-line analog computers, commonly called relays, monitor these changes of conditions, make a determination of which breaker should be opened to clear the fault, and energize the trip circuits of those appropriate breakers. With modern equipment, the relay action and breaker opening causes removal of fault within three or four cycles after its initiation.The instruments that show circuit conditions and the relays that protect the circuits are not mounted directly on the power lines but are placed on switchboards in a control house. Instrument transformers are installed on the high-voltage equipment, by means of which it is possible to pass on to the meters and relays representative samples of the conditions on the operating equipment. The primary of a potential transformer is connected directly to the high-voltage equipment. The secondary provides for the instruments and relays a voltage which is a constant fraction of voltage on the operating equipment and is in phase with it；similarly, a current transformer is connected with its primary in the high-current circuit. The secondary winding provides a current that is a known fraction of the power-equipment current and is in phase with it.Bushing potential devices and capacitor potential devices serve the same purpose as potential transformers but usually with less accuracy in regard to ratio and phase angle.中文翻译：电力系统的简介一个最小电力系统如图 1-1 所示，系统包含动力源，原动机，发机电和负载。
自动化专业外文翻译--Alicia3爬壁机器人的粘着控制
英语原文：Adhesion Control for the Alicia3 Climbing RobotD. Longo and G. MuscatoDipartimento di Ingegneria Elettrica Elettronica e dei Sistemi, Universit`a degliStudi di Catania, viale A. Doria 6, 95125 Catania ItalyAbstract.Climbing robots are useful devices that can be adopted in a variety of applications like maintenance, building, inspection and safety in the process and construction industries.The main target of the Alicia3 robot is to inspect non porous vertical wall with any regard for the material of the wall. To meet this target, a pneumatic-like adhesion for the system has been selected. Also the system can move over the surface with a suitable velocity by means of two DC motors and overcomesome obstacle thanks to a special cup sealing.This adhesion technology requires a suitable controller to improve system reliability. This is because small obstacles passing under the cup and wall irregularitycan vary the value of the internal pressure of the cup putting the robot in some anomalous working conditions. The methodologies used for deriving an accuratesystem model and controller will be explained and some result will be presented inthis work.1 IntroductionClimbing robots can be used to inspect vertical walls to search for potential damage or problems on external or internal surface of aboveground/underground etrochemical storage tanks, concrete walls and metallic structures[1–4]. By using this system as carrier, it will be possible to conduct anumber of NDI over the wall by carrying suitable instrumentation [5, 6].The main application of the proposed system is the automatic inspectionof the external surface of aboveground petrochemical storage tanks where it is very important to perform periodic inspections (rate of corrosion, risk of air or water pollution) at different rates, as standardized by the AmericanPetroleum Institute [7]. The system can be also adopted to inspect concrete dams.While these kinds of inspections are important to prevent ecological disasters and risks for the people working around the plant, these are very expensive because scaffolding is often required and can be very dangerousFig. 1. Typical operating environment and the Alicia3 robotfor technicians that have to perform these inspections. Moreover, for safety reasons, plant operations must be stopped and the tank must be emptied, cleaned and ventilated when human operators are conducting inspections. In Fig. 1(a) and 1(b) typical environments for climbing robots are shown. Figure 1c shows the Alicia3 robot prototype while attached to a concrete wall duringa system test.2 System DescriptionThe Alicia II system (the basic module for the Alicia3 system) is mainly composed by a cup, an aspirator, two actuated wheels that use two DC motors with encoders and gearboxes and four passive steel balls with clearance to guarantee plain contact of the cup to the wall. The cup can slide over a wall by means of a special sealing that allows maintaining a suitable vacuum inside the cup and at the same time creating the right amount of friction with respect system weight and a range of a target wall kind.The structure of the Alicia II module, shown in Fig. 2, currently comprises three concentric PVC rings held together by an aluminums disc. The bigger ring and the aluminums disc have a diameter of 30 cm. The sealing system is allocated in the first two external rings. Both the two rings and the sealing areFig. 2. Structure of the Alicia II moduledesigned to be easily replaceable, as they wear off while the robot is running. Moreover the sealing allows the robot passing over small obstacles (about 1 cm height) like screws or welding traces. The third ring (the smallest one) is usedas a base for a cylinder in which a centrifugal air aspirator and its electrical motor are mounted. The aspirator is used to depressurize the cup formed by the rings and the sealing, so the whole robot can adhere to the wall like a standard suction cup.The motor/aspirator set is very robust and is capable of working in harsh environments. The total weight of the module is 4 Kg.The Alicia3 robot is made with the three modules linked together by means of two rods and a special rotational joint. By using two pneumatic pistons it is possible to rise and to lower each module to overcome obstacles. Each module can be raised 15 cm with respect to the wall, so obstacles that are 10–12 cm height, can be easily overcame. The system is designed to be able to stay attached using only two cups while the third, any of the three, is raised up. The total weight of the system is about 20 Kg.3 Electro-Pneumatic System ModelBy using this kind of movement and sealing method, it is possible, due to unexpected small obstacles on the surface, to have some air leakage in the cup. This leakage can cause the internal negative pressure to rise up and in this situation the robot could fall down. On the other side if the internal pressure is too low (high Δp), a very big normal force is applied to the system. As a consequence, the friction can increase in such a way to not allow robot movements. This problem can be solved by introducing a control loop to regulate the pressure inside the chamber to a suitable value to sustain the system. The considered open loop system and the most easily accessible system variables has been schematized in Fig. 3; in this scheme the first block includes the electrical and the mechanical subsystem and the second block includes the pneumatic subsystem. The used variables are the Motor voltage reference (the input signal that fixes the motor power) and the Vacuum level (the negative pressure inside the chamber).Fig. 3. The open loop system consideredFig. 4. I/O variable acquisition schemeSince it is very difficult to have a reliable analytical model of that system, because of the big number of parameters involved, it has been decided to identify a black box dynamic model of the system by using input/output measurements. This model was designed with two purposes: to compute a suitable control strategy and to implement a simulator for tuning the control parameters.An experimental setup was realized, as represented in Fig. 4, by using the DS1102 DSP board from Dspace in order to generate and acquire the input/output variables. Since the aspirator is actuated by an AC motor, a power interface has been realized in order to translate in power the reference signal for the motor coming from a DAC channel of the DS1102 board. The output system variable has been measured with a piezoresistive pressure sensor with a suitable electronic conditioning block and acquired with one analog input of the DS1102. The software running on the DSpace DSP board, in this first phase simply generates an exciting motor voltage reference signal (pseudo random, ramp or step signals) and acquires the two analog inputs with a sampling time of 0.1 s, storing the data in its internal SRAM. Typical Input/Output measurements are represented in Fig. 5 and Fig. 6. In order to obtain better results in system modeling, the relationship between Input and Output needs to be considered as non-linear. A NARX model has been used is in the form of (1), where f is a non linear function [8, 9].y(k) = f(u(k), u(k −1), . . . ; y(k −1), y(k −2), . . .) (1) To implement this kind of non-linearity, some trials have been done using Neuro-Fuzzy and Artificial Neural Network (ANN) methodologies. Once that model has been trained to a suitable mean square error, it has been simulatedgiving it as input the real input measurement only (infinite step predictor) [8]. So (1) can be modified in order to obtain (2).˜y(k) = f(u(k), u(k −1), . . . ; ˜y(k −1), ˜y(k −2), . . .) (2)In (2), 4y is the estimated system output. In order to compare the simulation results, a number of descriptor has been defined and used. Among these are mean error, quadratic mean error and some correlation indexes. A first set of simulation for both methodologies has been done to find out the best I/O regression terms choice.3.1 Neuro-Fuzzy IdentificationUsing this kind of methodology, the best model structure was found to be in the form of (3).y(t) = f(u(t), y(t −1))(3) Once the best model structure has been found, some trials have been performed modifying the number of membership functions. The best results, comparing the indexes described above, have been obtained with 3 functions and in Fig. 7 the simulation results has been reported. The structure of the Neuro-Fuzzy model is the ANFIS-Sugeno [10].3.2 ANN IdentificationUsing this kind of methodology, the best model structure was found to be in the form of (4).y(t) = f(u(t), u(t −1), u(t −2), y(t −1), y(t −2)) (4)A single layer perceptron network has been used. The training algorithm is the standard Levenberg–Marquardt.Once the best model structure has been found, some trials have been performed modifying the number of hidden neurons. The best results, comparing the indexes described above, have been obtained with 7 hidden neurons and in Fig. 8 the simulation results has been reported.From a comparison between the two models and their related indexes, it can be seen that the Neuro-Fuzzy model has best approximation performance and use less input information. In the next section, this model will be used as system emulator to tune and test the required regulator.4 Pressure Control AlgorithmOnce a system model has been obtained, a closed loop configuration like that in Fig. 9, has been considered.The target of the control algorithm is to regulate the internal vacuum level to a suitable value (from some trials, it was fixed to about 10 kPa) to sustain the whole system and its payload; the maximum steady state error allowed was fixed to less than 200Pa. Moreover the time constant of the real system (about 10 s) has to be considered. A first simulation trial has been done with a fuzzy controller while during a second trial a PID controller has been tuned over the system emulator to meet the controller target. All these simulations have been performed by using Simulink from Mathworks.4.1 Fuzzy ControllerDuring this simulation, a fuzzy controller that uses as input only the system error has been used. This controller has three membership function (triangular and trapezoidal) and three output crisp membership functions.The reference was set to 10 kPa and the noise signal on the pressure level is a series of steps. In Fig. 10 a plot of the noise, reference and closed loop pressure signal is represented[11].4.2 PID ControllerA second simulation has been done tuning a PID controller over the Neuro- Fuzzy system emulator. As the system model is non-linear, trial and error technique has been used. The controller has been tested in the same condition of the fuzzy controller. From the Fig. 12 it is possible to see that now the closed loop system has little more overshooting (see Fig. 13 for detail) but the same steady state error. It has to be noted that overshooting is higher that the maximum error allowed but is faster with respect the system time constant.5 ConclusionIn this work the Alicia3 climbing robot was presented. Due to its special adhesion mechanism, a controller for the vacuum level inside the cup is required. First of all, a system emulator has been designed by using black box identification methodologies. Among all the performed trial, Artificial Neural Networks and Neuro-Fuzzy are the two best models found and the Neuro- Fuzzy one has been selected as system emulator. A set of indexes has been introduced in order to make a comparison and to select the best system model. Once a system emulator has been become available, some Simulink simulations have been performed in order to tune a controller. In that case a Fuzzy and a PID controller have been compared. Between the two, the Fuzzy controllerworks better than the PID but this is much simpler in its implementation and its performances are not so worst; in any case, it is compatibles with system dynamics.中文原文Alicia3爬壁机器人的粘着控制摘要.爬壁机器人用途广泛，可以在许多不同的环境中应用，如维修、建设、检查安全的过程和建筑业。
智云翻译文献
智云翻译文献概述翻译文献是一项挑战性高且需要专业技能的任务。
智云是一款基于人工智能技术的翻译工具，它通过自动化和智能化的方式，提供高质量的文献翻译服务。
本文将就智云翻译文献的背景和特点、使用方法和优势以及可能面临的挑战进行探讨。
背景随着全球化的迅速发展和信息交流的加剧，文献翻译的需求日益增长。
传统的文献翻译方式通常依赖人工翻译，这不仅耗时耗力，而且效率低下。
为了解决这个问题，人工智能技术应运而生。
特点智云翻译文献具有以下特点： 1. 自动化：智云利用人工智能技术，自动对文献进行翻译，无需人工干预。
2. 效率高：智云具备快速处理大量文献的能力，大大提高了翻译的效率。
3. 高质量：智云通过多模型融合的方式，提供高质量的翻译结果，准确度较高。
使用方法使用智云翻译文献非常简单，只需按照以下步骤进行操作： 1. 登录智云平台：在浏览器中输入智云平台的网址，然后使用您的账号和密码登录。
2. 上传文献：在智云平台的界面上找到文献翻译功能入口，点击进入后选择要翻译的文献文件，然后点击上传按钮。
3. 翻译文献：智云会自动对上传的文献进行翻译，并显示翻译结果。
优势智云翻译文献相比传统的翻译方式具有明显的优势，主要体现在以下几个方面： 1. 高效快速：智云利用人工智能技术，能够快速处理大量文献，大大节省了时间和人力成本。
2. 多语种支持：智云支持多种语言的翻译，能够满足不同用户的需求。
3. 高质量翻译：智云通过多模型融合的方式，提供高质量的翻译结果，准确度较高。
4. 保护知识产权：智云采用安全加密技术，确保用户上传的文献数据的安全和隐私。
5. 界面友好：智云平台界面简洁直观，操作方便，无需复杂的使用步骤。
挑战虽然智云翻译文献具备多种优势，但仍然面临一些挑战： 1. 专业领域翻译：一些领域的文献较为专业，需要特定领域知识的支持，这对于智云来说是一个挑战。
2. 文化差异：不同国家和地区之间存在文化差异，这对于翻译工作来说是一个难题。
自动化专业英语原文和翻译
自动化专业英语原文和翻译引言概述：自动化专业是现代工程技术领域中的重要学科，涵盖了自动控制系统、机器人技术、工业自动化等多个方面。
在学习和实践中，掌握和理解自动化专业的英文术语和翻译是非常重要的。
本文将从五个大点出发，详细阐述自动化专业英语原文和翻译的相关内容。
正文内容：1. 自动控制系统（Automatic Control System）1.1 控制器（Controller）1.2 传感器（Sensor）1.3 执行器（Actuator）1.4 反馈（Feedback）1.5 稳定性（Stability）2. 机器人技术（Robotics）2.1 机器人（Robot）2.2 机械臂（Manipulator）2.3 传感器（Sensor）2.4 视觉系统（Vision System）2.5 自主导航（Autonomous Navigation）3. 工业自动化（Industrial Automation）3.1 自动化生产线（Automated Production Line）3.2 人机界面（Human-Machine Interface）3.3 传感器网络（Sensor Network）3.4 电气控制（Electrical Control）3.5 数据采集（Data Acquisition）4. 自动化软件（Automation Software）4.1 PLC编程（PLC Programming）4.2 HMI设计（HMI Design）4.3 数据分析（Data Analysis）4.4 模拟仿真（Simulation）4.5 系统集成（System Integration）5. 自动化工程（Automation Engineering）5.1 项目管理（Project Management）5.2 自动化设计（Automation Design）5.3 系统调试（System Debugging）5.4 故障诊断（Fault Diagnosis）5.5 性能优化（Performance Optimization）总结：综上所述，自动化专业英语原文和翻译是自动化工程师必备的技能之一。
自动化专业毕业设计外文翻译--现地控制单元在水电厂自动化中的应用
英文资料及翻译Location Control Unit In Hydroelectric PowerPlant Automation Application1. ForewordThe hydraulic electricity generation compares with burns coal, the fuel oil, the nuclear power electricity generation, the energy is renewable, the never exhaustible clean energy. The country gives priority to development the hydraulic electricity generation achievement to do well at present the energy balance the strategic measure, and appeared a row measure to encourage to advance the hydroelectric power plant construction vigorously. In the water and electricity profession, was on duty " along with hydroelectric power plant " nobody (few person value to defend) and the condition overhaul work thoroughly develops unceasingly, adds water the power plant production to move and to manage set a higher request; “Separated take the factory net, competes the price to access the net” also adds water as the foundation electric power system reform the power plant automation technology to set the new request. Computer technology, information technology, networking, industry control technology rapid development, for hydroelectric power plant synthesis automated system regardless of in the structure in the function, has all provided a broad development space.The 70's intermediate stages, the overseas hydroelectric power plant starts the advanced computer technology to apply in the hydro-electric power station industrial control, raised the hydroelectric power plant automated level greatly, has obtained the good economic efficiency. At the end of the 70's, the original electric power department science and technology committee managed held “the national hydroelectric power plant automation technical background meeting”, formulated the hydroelectric power plant automation science and technology to develop 7 years plan, our country starts to introduce and the domestic independent research and development hydroelectric power plant computer supervisory system technology and to obtain the huge success. Through many year endeavors, the domestic independent development hydroelectric power plant automation technology development experienced had tried to find out, the experiment site, the promotion, enhanced these four stages, has obtained the very big result. In the recent 20 years, the domestic hydroelectric power plant automation level development are specially rapid, at present entered the world advanced ranks.The hydroelectric power plant computer supervisory system usually may divide into two major parts, one is carries on the common control to the entire factory equipment the part, calls it the factory level or the factory station level supervisory system; Another part is located the water wheel electricity generation level, the switching house and so on the equipment nearby control sections, is called the location control system. The location control system main constituent is location control unit LCU (Local Control Unit), the early on once has used with electrical network dispatch remote terminal RTU (Remote Terminal Unit) the similar name, considered LCU the meaning is more accurate, since 1991 “location control unit academic conference”, basically unifies calls it LCU. Now makes several discussions on LCU in Our country Hydroelectric powerplant automated system application and the development.2. LCU applicationIn the hydroelectric power plant computer supervisory system LCU with the power plant production process connection, is directly in the system most has the object-oriented distribution characteristic the control device. The location control unit controlled member mainly includes following several parts:(1) power plant generating set, mainly has the hydraulic turbine, the generator, the auxiliary engine, the transformer and so on;(2) switching house, mainly has the generatrix, the circuit breaker, the isolator, the earth knife switch and so on;(3) public utility, mainly has the factory to use electricity the system, the oil system, the aqueous system, the direct current system and so on;(4) strobe, mainly has the water inlet strobe, the flood discharge strobe and so on.The LCU general arrangement nearby the power plant production equipment, to is accused the object movement operating mode to carry on the real-time surveillance and the control, is the power plant computer supervisory system compares the first floor control section. The primary data carries on gathering and the pretreatment in this, each kind of control adjustment order all sends out and completes the control closed loop through it, it is in the entire supervisory system very important, to the reliable request very high control device. Uses in the hydroelectric power plant LCU may divide into unit LCU, public LCU, switching house LCU according to the monitoring object and the installment position and so on. But and disposes according to the LCU itself structure divides, then may divide into the single trigger --linear structure LCU, take programmable controller (PLC) as foundation LCU, the intelligent location controller and so on three kinds. First kind of LCU many for hydroelectric power plant automation initial period product, at present basic no longer has used in the new system. Moreover still had few small hydroelectric power plants to use based on industry PC machine (called labor controlled machine IPC) the control system, below only discussed is in the mainstream status PLC and the intelligent location controller (the recent several years still had is called PCC (Programmable Computer Controller), PAC (Programmable Automation Controller) product, should also be possible to classify).2.1 programmable controller (PLC)The PLC definition has many kinds. International electrician committee (IEC) to PLC the definition is: The programmable controller is one kind of digital operation electronic system, for designs specially in the industry environment application. It uses the programmable the memory, uses in its internally stored program, carries out the logic operation, the sequential control, fixed time, counts with the arithmetic operation and so on face user's instruction, and through digital, the simulation input and the output, controls each kind of type the machinery or the production process. The programmable controller and the related equipment, all should according to easy form a whole with the industry control system, easy to expand its function the principle design.At first, needed to produce as a result of the American automobile industry has been possible to say was primitive PLC. Although the PLC being published time does not calculate long too, but along with the microprocessor appearance, large-scale, the ultra large scale integrated circuit technique of manufacture and the data communication technology rapid development, the PLC application and the technology also obtained the rapid development, its developing processapproximately separable three stages:(1) early time PLC (at the end of 60's -70's intermediate stages): Early PLC is called the programmable logical controller generally.(2) intermediate stage PLC (in 70's intermediate stage - 80's, later period): Starts in the 70's to use the microprocessor to take PLC the central processing element (CPU). Thus, causes PLC to result in the function big enhancement. In the software aspect, in the original logic operation, fixed time, counted and so on in the function foundations to increase functions and so on arithmetic operation, data processing and data communication, from diagnosis. In the hardware aspect, has developed the simulation quantity module, the long-distance I/O module as well as each kind of special function module, enables PLC the application scope to expand rapidly to needs the automatic control very many professions.(3) near future PLC (in the 80's, later period until now) enters in for the 80's, the later period, because the microprocessor hardware technique of manufacture rapid development, simultaneously the market price large scale drop, will cause each PLC manufacturer to be possible to use a higher scale the microprocessor. In order to further enhance PLC the processing speed, the very many manufacture manufacturer also developed has developed the special-purpose logical processing chip. Afterwards PLC has also integrated Ethernet, technologies and so on Web Server, has provided the function rich necessary software, causes the user community to use handily.On the century 80's to the 90's intermediate stages, are PLC develops the quickest time, the yearly rate continuously maintenance is 30%~40%. In this time, the PLC data acquisition handling ability, the numeral operational capability, the man-machine connection and network traffic capacity all obtains the large scale enhancement, PLC enters the process control domain gradually, unified after the partial industry control device substitutes gradually in certain applications has been at the dominant position in the process control domain the DCS system. Because PLC has the versatility strongly, the reliability high, the easy to operate, the programming simple, the adaptation surface broad and so on the characteristics, caused it is specially in the sequential control obtained the extremely widespread application in the industrial automation control.Applies PLC in the hydroelectric power plant production equipment monitoring begins in on the century 80's, because PLC defers to the industry use environment the standard to carry on the design generally, the reliability high, antijamming ability strong, the programming simple practical, met inserts the performance good very quickly accepts by the power plant user and system integration business, obtained the good application. At present includes in Our country Hydroelectric power plant use widespread PLC: GE Fanuc Corporation's GE Fanuc 90 series, German Siemens Corporation's S5, S7 series, French Schneider Corporation's Modicon Premium, Atrium and Quantum, American Rockwell Corporation PLC5, Control Logix, Japanese OMRON Corporation's SU-5, SU-6, SU-8, Japanese MITSUBISHI Corporation's FX2 series and so on. Because each kind of PLC principle of design difference is big, the product function, the performance as well as may constitute the location system scale to have the very big difference. Generally speaking, according to the different power plant in the security performance (including reliability, maintainable and so on), aspect and so on application function, control scale, system structure actual demands carries on the choice, may find appropriate PLC. At present there is big part of power plants the automated system all uses the PLC constitution location control section, and matches through the reasonable disposition, they basically all can shoulder the corresponding responsibility in the system, completes the corresponding function.But PLC took but one kind of general automated installment, is by no means designs specially for the hydroelectric power plant automation, this has in the special request profession application in the water and electricity automation also to be able to have some not suitable place inevitably, presently lists following several points:(1) PLC by “scanning”the way work, cannot satisfy the event resolution and the system clock synchronization request. The hydroelectric power plant computer supervisory system all is a multi-computer system, in order to guarantee the event resolution should have certain event besides PLC itself to respond ability and the high accuracy clock, but also requests in the overall system between various part of main equipment clock synthesis precision also to have to guarantee in a millisecond level. But take PLC as the foundation location control device if does not take the special measure, is unable to guarantee the hydroelectric power plant safe operation to the event resolution and the system clock synchronization request.(2) general PLC origin mainly aims at the machine-finishing profession, later gradually will expand all the various trades and occupations. Although present PLC has strongly from diagnosis function, but regarding the input, the output unit, it only from diagnoses the module level. This produces this kind of emphasis regarding our country electric power “the safety first” the profession said that, has certain being short of, often needs to add seperately the special security measure.(3) general PLC all has certain surge suppression ability generally, basically may suit the majority of profession application. But says regarding the hydroelectric power plant automated system, as a result of the equipment working conditions particularity, three level of surge suppression ability which the general PLC surge suppression ability and the technology standard request also has some disparities.2.2 intelligent location controllerApplies the many another kind of location control unit in Hydroelectric power plant automated system to be supposed to be the intelligent location controller, like ABB Corporation AC450, south auspicious group's SJ-600 series, Elin Corporation's SAT1703 and so on.AC450 is being suitable which ABB Corporation produces in industry environment Advant Controller series location control unit one kind, mainly applies in other profession DCS. It has included the module which by Motorola 68040 primarily processor CPU modules and I/O, MasterBus and so on many kinds of may elect, supports centralized I/O and distributional I/O, may act according to the different application demand to use the different module to constitute the suitable location subsystem.SAT1703 is the multi-processor system which Austrian Elin Corporation produces, it is loaded with different connection processor subsystem AK1703, AME1703 and AM1703 including 3. Each sub-system by the host processor, the connection template (module), constitutions and so on connection module, can realize the data processing, the control and the correspondence function, uses SMI in the LCU interior (Serial Module Interconnector) to carry on the correspondence. SAT1703 location control unit uses OS/2 operating system, the movement control software is ToolBox.SJ-600 series is on the international telegram automation research institute the century at the end of 90's for the domestically produced intelligence distributional location control unit which moves under the bad industry environment produces, by the master control module, the intelligent I/O module, the power source module as well as connects various modules and the master controlmodule scene bus network is composed. Moved reliably in the national dozens of large and middle scale hydroelectric power plants. Below SJ-600 has the main characteristic:(1), the master control module uses conforms to IEEE1996.1's embedded module standard PC104, has the reliability high, the scene environment compatibility strong and so on the characteristics. Uses low power loss embedded CPU, may choose the CPU model from 486 to the Pentium series.(2) 32 intelligence I/O module. All modules use 32 embedded CPU, this CPU designs specially for the embedded control, on the software uses the board level real-time operating system and the unification procedure code, only is different moves the corresponding duty according to the module. Has used large-scale programmable logic chip (EPLD) and the Flash memory, simplified the system design, enhanced the reliability. The intellectualized I/O module except may complete the data acquisition and the pretreatment independently, but also has very strongly from the diagnosis function, has provided the reliable control security and the convenience breakdown localization ability.(3) has the field bus network system structure, the system uses two network architectures, first is the factory cascade control network, connects LCU and the factory level computer, constitutes the distributed computer supervisory system; Second is I/O main line network, the connection master control module and the intelligent I/O module (location or long-distance), constitutes the distributional location control subsystem. All I/O module provides two field bus network connection, these modules all may disperse the arrangement, forms the redundant reliable distributional redundant system.(4) LCU direct connection high speed network. The network has become in the computer supervisory system the important part, it involves to the power plant control strategy and the movement way. Beforehand location controller many is the use private network carries on the connection with on position machine system, but conforms to the open standard network. If AC450 uses MB300 network with on position machine system connection, but with uses TCP/IP agreement the system connection only to be able to carry on through the special-purpose module by the VIP way the data transmission which limits.(5) has provided the direct GPS synchronized clock connection, does not need to program and the establishment. GPS to when may go directly to the module level, satisfied had the special request situation to the clock, like SOE and so on.(6) provides based on IEC61131-3 standard control language, in retained trapezoidal programming language in and so on the chart, structure text, instruction list foundations, developed the use “to see namely obtained”the technical design visualization flow chart programming language. The support control flow online debugging and playbacking, suits the complex control flow extremely the production and the maintenance.(7) in view of hydroelectric power plant automation specialized application development special-purpose function module.现地控制单元在水电厂自动化中的应用1. 前言水力发电与燃煤、燃油、核能发电相比，能源是可再生的、永不枯竭的清洁能源。
自动化专业_毕业_外文翻译
外文翻译原文：NC switching power supply designForwardEvery new electronic product, except those that are battery powered, requires converting off–line 115 Vac or 230 Vac power to some dc voltage for powering the electronics. The availability of design and application information and highly integrated semiconductor control ICs for switching power supplies allows the designer to complete this portion of the system design quickly and easily. Whether you are an experienced power supply designer, designing your first switching power supply or responsible for a make or buy decision for power supplies, the variety of informational the SWITCHMODE Power Supplies Reference Manual and Design Guide should prove useful.ON Semiconductor has been a key supplier of semiconductor products for switching power supplies since we introduced bipolar power transistors and rectifiers designed specifically for switching power supplies in the mid–70. We identified these as SWITCHMODE products.A switching power supply designed using ON Semiconductor components can rightfully be called a SWITCHMODE power supply or SMPS.This brochure contains useful background information on switching power supplies for those who want to have more meaningful discussions and are not necessarily experts on power supplies. It also provides real SMPS examples, and identifies several application notes and additional design resources available from ON Semiconductor, as well as helpful books available from various publishers and useful web sites for those who are experts and want to increase their expertise.Introduction:Efficient conversion of electrical power is becoming a primary concern to companies and to society as a whole. Switching power supplies offer not only higher efficiencies but also offer greater flexibility to the designer. Recent advances in semiconductor, magnetic and passivetechnologies make the switching power supply an ever more popular choice in the power conversion arena today.This Guide is designed to give the prospective designer an overview of all the issues involved in designing switch mode power supplies. It describes the basic operation of the more popular topologies of switching power supplies, their relevant parameters, provides circuit design tips, and information on how to select the most appropriate semiconductor and passive components. This Guide lists the ON Semiconductor components expressly built for use in switching power supplies.Basic ConvertersThe most elementary forward-mode converter is the Buck or Step-down Converter. Its operation can be seen as having two distinct time periods which occur when the series power switch is on and off. When the power switch is on, the input voltage is connected to the input of the inductor. The output of the inductor is the output voltage, and the rectifier is back-biased. During this period, since there is a constant voltage source connected across the inductor, the inductor current begins to linearly ramp upwardDuring the “on” period, energy is being stored within the core material of the inductor in the form of flux. There is sufficient energy stored to carry the requirements of the load during the next off period.The next period is the “off” period of the power switch. When the power switch turns off, the input voltage of the inductor flies below ground and is clamped at one diode drop below ground by the catch diode. Current now begins to flow through the catch diode thus maintaining the load current loop. This removes the stored energy from the inductor.This period ends when the power switch is once again turnedon. Regulation is accomplished by varying the on-to-off duty cycle of the power switch.The buck converter is capable of kilowatts of output power, but suffers from one serious shortcoming which would occur if the power switch were to fail short-circuited, the input power source is connected directly to the load circuitry with usually produces catastrophic results. To avoid this situation, a crowbar is placed across the output. A crowbar is alatching SCR which is fired when the output is sensed as entering an overvoltage condition. The buck converter should only be used for board-level regulation.The most elementary fly back-mode converter is the Boost or Step-up Converter. Its schematic can be seen in Figure 2. Its operation can also be broken into two distinct periods where the power switch is on and off. When the power switch turns on, the input voltage source is placed directly across the inductor. This causes the current to begin linearly ramping upwards from zero。
有关电力系统自动化中英文翻译资料
外文资料翻译Power System AutomationPower system integration is the act of communication data to, or among IED s in the I&C system and remote users. Substation integration refers to combining data from the IED′s local to a substation so that there is a s ingle point of contact in the substation for all of the I&C data. Poletop devices often communicate to the substation via wireless or fiber connections. Remote and local substation and feeder control is passed through the substation controller acting as a single point of contact. Some systems bypass the substation controller by using direct connections to the poletop devices, such as RTU s, protective relays, and controllers.Power system automation is the act of automatically controlling the power system via I&C devices. Substation automation refers to using IED data, control and automation capabilities within the substation, and control commands from remote users to control power system devices. Since true substation automation relies on substation integration, the terms are often used interchangeably.Power system automation includes processes associated with generation and delivery of power. A subset of the process deal with delivery of power at transmission and distribution levels, which is power delivery automation. Together, monitoring and control of power delivery system in the substation and on the poletop reduce the occurrence of outages and shorten the duration of outages that do occur. The IED′s, communications protocols, and communications methods described in previous sections, work together as a system to perform power system automation.Though each utility is unique, most consider power delivery automation of transmission and distribution substation and feeders to include :Supervisory Control and Data Acquisition(SCADA)-operatorsupervision and control;Distribution Automation-fault location, auto-isolation, auto-sectionalizing, and auto-restoration;Substation Automation-breaker failure, reclosing, battery monitoring, dead substation transfer, and substation load transfer;Energy Management System (EMS)-load flow, VAR and voltage monitoring and control, generation control, transformer and feeder load balancing;Fault analysis and device maintenance.System without automated control still have the advantages of remote monitoring and operator control of power system devices, which includes: Remote monitoring and control of circuit breakers and automated switches;Remote monitoring of non-automated switches and fuses;Remote monitoring and control of capacitor banks;Remote monitoring and voltage control;Remote power quality monitoring and control.IED s described in the overview are used to perform power system integration and automation. Most designs require that the one IED act as the substation controller and perform data acquisition and control of the other IED s. The substation controllers is often called upon to support system automation tasks as well. The communications industry uses the term client/server for a device that acts as a master, or client, retrieving data from some devices and then acts as a slaver, a server, sending this data to other devices. The client/server collecting and concentrating dynamically. A data concentrator creates a substation databases by collecting and concentrating dynamic data from several devices. In this fashion, essential subsets of data from each IED are forwarded to a master through one data transfer. The concentrator databases is used to pass data between IED s that are not directly connected.A substation archive client/server collects and archives data from several devices. The archive data is retrieved when it is convenient for the userto do so.The age of the IED s now in substations varies widely. Many of these IED s are still useful but lack the most recent protocols. A communications processor that can communicate with each IED via a unique baud rate and protocol extends the time that each IED is useful. Using a communications processor for substation integration also easily accommodates future IED s. It is rare for all existing IED s to be discarded during a substation integration upgrade project.The benefits of monitoring, remote control, and automation of power delivery include improved employee and public safety, and deferment of the cost of purchasing new equipment. Also, reduced operation and maintenance costs are realized through improved use of existing facilities and optimized performance of the power system through reduced losses associated with outages and improved voltage profile. Collection of information can result in better planning and system design, and increased customer satisfaction will result from improved responsiveness, service reliability, and power quality.Power system automation includes a variety of equipment. The principal items are listed and briefly described below.Instrument transformers are used to sense power system current and voltage. They are physically connected to power system apparatus and convert the actual power system signals, which includes high voltage and current magnitudes, down to lower signal levels.Transducers convert the analog output of an instrument transformer from one magnitude to another or from one value type to another, such as from an ac current to dc voltage.As the name implies, a remote terminal device, RTU, is an IED that can be installed in a remote location, and acts as a termination point for filed contacts. A dedicated pair of copper conductors are used to sense every contract and transducer value. These conductors originated at the power system device, are installed in trenches or overhead cable trays, and are then terminated on panels within the RTU. The RTU can transfer collected data to other devices andreceive data and control commands from other device through a serial port. User programmable RTUs are referred to as “smart RTUs.”A communication switch is a device that switches between several serial ports when it is told to do so. The remote user initiates communications with the port switch via a connection to the substation , typically a leased line or dial-up telephone connection. Once connected, the user can route their communication through the port switch to one of the connected substation IEDs. The port switch merely “passes through” the IED communication.A meter is an IED that is used to create accurate measurement of power system current, voltage, and power values. Metering values such as demand and peak are saved within the meter to create historical information about the activity of the power system.A digital fault recorder ,is an IED that records information about power system disturbances. It is capable of storing data in digital format when triggered by conditions detected on the power system. Harmonics, frequency, and voltage are examples of data captured by DFRs.Load tap changer are devices used to change the tap position on transformers. These devices work automatically or can be controlled via another local IED or form a remote operator or process.Recloser controllers remotely control the operation of automated reclosers and switches. These devices monitor and store power system conditions and determine when to perform control actions. They also accept commands form a remote operator or process.电力系统自动化电力系统集成是在I&C系统中的IED和远程用户之间进行数据通信的操作。