Parameter Calibration on Replacement Manipulator for UHV Valve-Side Bushing Based on Spinor Theory

In this paper, a structure design scheme of intelligent replacement device for the ultrahigh voltage (UHV) converter transformer valve-side bushing is put forward, and its size is determined according to the actual size of domestic converter station valve hall and UHV converter transformer valve-side bushing. Moreover, the weak links in its working state are analyzed by finite element method to ensure the safety and reliability of the structure. Based on the spinor theory, the forward kinematics and Jacobian matrix model of the manipulator are established, and the analytical solution of inverse kinematics is derived. In order to analyze the accuracy of the intelligent replacement manipulator for the UHV converter transformer valve-side bushing, considering that the end actuator of the robot arm is under heavy load, the absolute positioning accuracy and repeated positioning accuracy are analyzed. In addition, the corresponding error model is established, the least square method is proposed to identify the error model, and the influence of the error caused by the load on the repetition accuracy is analyzed. Finally, the whole process simulation in ROS provides data support for the calculation of repetitive precision and verifies the feasibility of the intelligent replacement device for the UHV converter valve-side bushing.

3270 Patient Attitudes Survey to Guide Development of a Cell Replacement Device for the Management of Type 1 Diabetes

OBJECTIVES/SPECIFIC AIMS: This study aims to estimate patient attitudes and receptiveness towards stem cell-based cell replacement devices to management Type 1 Diabetes. The primary outcomes of this study are mean response values to questions interrogating patient attitudes, knowledge, and receptiveness. METHODS/STUDY POPULATION: A RedCap survey was generated for this study. 100 participants will be drawn from Mayo Clinic Rochester, MN patients living with Type 1 Diabetes. RESULTS/ANTICIPATED RESULTS: Response values will be used to estimate broader patient attitudes. DISCUSSION/SIGNIFICANCE OF IMPACT: The response values of this survey will help inform future directions of cell replacement device development. Additionally, understanding patient attitudes may be useful in crafting more effective education strategies.