Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745648
Luc Provencher, Serge Sarraillon
Hydro-Québec operates 63 hydroelectric power plants and owns 668 dams, as well as 98 control structures. In order to ensure their safety and proper operation, Hydro-Québec's Research Institute (IREQ) develops robotic technologies that can perform diagnosis and intervention tasks underwater. Over the last 20 years, several generations of underwater Remotely Operated Vehicles (ROVs) have been developed to address the challenges of dam inspection in fresh water. The newest generation is called MASKI+. This paper describes the history of the predecessors of MASKI+ and presents the advantages of this new generation of fresh water ROV.
{"title":"The MASKI+ underwater inspection robot: A new generation ahead","authors":"Luc Provencher, Serge Sarraillon","doi":"10.1109/CARPI.2016.7745648","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745648","url":null,"abstract":"Hydro-Québec operates 63 hydroelectric power plants and owns 668 dams, as well as 98 control structures. In order to ensure their safety and proper operation, Hydro-Québec's Research Institute (IREQ) develops robotic technologies that can perform diagnosis and intervention tasks underwater. Over the last 20 years, several generations of underwater Remotely Operated Vehicles (ROVs) have been developed to address the challenges of dam inspection in fresh water. The newest generation is called MASKI+. This paper describes the history of the predecessors of MASKI+ and presents the advantages of this new generation of fresh water ROV.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131247746","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745616
Xin Zhang, Ronghui Huang, Senjing Yao, Xu Dong
Substation insulator strings which exposed to the outdoor environment need to be cleaned the industrial contamination and natural contamination regularly in order to prevent the flashover phenomenon that occurs in rain and fog and other inclement weather because of the accumulation of contamination and then cause power outages and other incidents. The Substation Charged Maintenance Robot is used for cleaning the substation equipment in 110kV-220kV AIS Substation. The vibration characteristics of the robot's chassis and operating platform cannot be ignored to ensure the accuracy of the job. Statics simulation analysis and modal analysis are conducted according to the job characteristics of the robot. Stress distribution of operating platform and low-order vibration frequencies and mode shapes of telescopic arms are obtained and then vibration control schemes are proposed based on the simulation results.
{"title":"Finite element analysis and vibration control of the Substation Charged Maintenance Robot","authors":"Xin Zhang, Ronghui Huang, Senjing Yao, Xu Dong","doi":"10.1109/CARPI.2016.7745616","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745616","url":null,"abstract":"Substation insulator strings which exposed to the outdoor environment need to be cleaned the industrial contamination and natural contamination regularly in order to prevent the flashover phenomenon that occurs in rain and fog and other inclement weather because of the accumulation of contamination and then cause power outages and other incidents. The Substation Charged Maintenance Robot is used for cleaning the substation equipment in 110kV-220kV AIS Substation. The vibration characteristics of the robot's chassis and operating platform cannot be ignored to ensure the accuracy of the job. Statics simulation analysis and modal analysis are conducted according to the job characteristics of the robot. Stress distribution of operating platform and low-order vibration frequencies and mode shapes of telescopic arms are obtained and then vibration control schemes are proposed based on the simulation results.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133322042","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745626
Yi Zhang, Zhigang Ren, Liang Liu, Chuanhu Wei, Chaoyuan Yin
Unmanned aerial vehicle (in this paper, it is referred to as UAV) is widely used in the field of electric power emergency relief. The route planning time of traditional UAV emergency relief system is too long to deliver the disaster delay, and its inaccurate image feedback lead to blind command. In this paper, a fast high precision UAV power emergency relief system has been successfully designed, mainly including route map fast planning system, automatic high-precision UAV flight platform and ground monitoring command system. The route map fast planning system has been designed based on the C language, GIS Data development technology and image recognition technology. Automatic high-precision UAV flight platform mainly include UAV flight platform, multiple picture Video segmentation processor and camera fixed device. UAV route planning can be finished fast, nearly 60% of the planning map time has been saved than traditional UAV system.
{"title":"Design for a fast high precision UAV power emergency relief system","authors":"Yi Zhang, Zhigang Ren, Liang Liu, Chuanhu Wei, Chaoyuan Yin","doi":"10.1109/CARPI.2016.7745626","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745626","url":null,"abstract":"Unmanned aerial vehicle (in this paper, it is referred to as UAV) is widely used in the field of electric power emergency relief. The route planning time of traditional UAV emergency relief system is too long to deliver the disaster delay, and its inaccurate image feedback lead to blind command. In this paper, a fast high precision UAV power emergency relief system has been successfully designed, mainly including route map fast planning system, automatic high-precision UAV flight platform and ground monitoring command system. The route map fast planning system has been designed based on the C language, GIS Data development technology and image recognition technology. Automatic high-precision UAV flight platform mainly include UAV flight platform, multiple picture Video segmentation processor and camera fixed device. UAV route planning can be finished fast, nearly 60% of the planning map time has been saved than traditional UAV system.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129078164","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745630
Yue Liu, Jun Yong, Liang Liu, Jinlong Zhao, Zongyu Li
The insulator is an import part of transmission line, and the defects detection of insulator rely deeply on the insulators' position. Traditional methods about insulator recognition task are depend on color features and geometric features, those methods would be influenced by lots of factors, such as illumination and background in result getting poor generalization ability. In this paper, we propose a method to recognize insulator based on deep learning algorithm. Firstly, we construct the training dataset which includes insulator, background and tower three categories. Secondly, we initialize the convolution neural networks as a six-level network, and adjust training parameters to train the model. Lastly, the trained model is used to predict the candidate insulator position. With the help of non-maximum suppression algorithm and line fitting method, we can get the exactly location of insulator. The experiment results on UAV dataset show the proposed method can effective localize the insulator and improve generalization ability significantly.
{"title":"The method of insulator recognition based on deep learning","authors":"Yue Liu, Jun Yong, Liang Liu, Jinlong Zhao, Zongyu Li","doi":"10.1109/CARPI.2016.7745630","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745630","url":null,"abstract":"The insulator is an import part of transmission line, and the defects detection of insulator rely deeply on the insulators' position. Traditional methods about insulator recognition task are depend on color features and geometric features, those methods would be influenced by lots of factors, such as illumination and background in result getting poor generalization ability. In this paper, we propose a method to recognize insulator based on deep learning algorithm. Firstly, we construct the training dataset which includes insulator, background and tower three categories. Secondly, we initialize the convolution neural networks as a six-level network, and adjust training parameters to train the model. Lastly, the trained model is used to predict the candidate insulator position. With the help of non-maximum suppression algorithm and line fitting method, we can get the exactly location of insulator. The experiment results on UAV dataset show the proposed method can effective localize the insulator and improve generalization ability significantly.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121088830","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745635
Alisson Ribeiro, João Oliveira, R. Abdo
This paper claims to show a new concept of a robot, that uses joints of accessories, helping its displacement along transmission lines, also presenting low cost maintenance and easy operation. There were developed some series of accessories, which turn the robot into a simple engine, capable of moving along transmission lines, moving over suspension and anchoring devices, throughout the ground wire. With the use of those accessories it was possible to achieve a lot of mechanical simplicity and relatively greater weight capacity for batteries, compared to a robot that also uses devices with servo mechanism and arms for obstacle transposition. The robot is expected to inspect long transmission lines, throughout some adverse conditions, such as: severe climate, difficult topography, lack of access roads etc. So, it is shown in this paper the prototype of this robot, its field tests and the analysis of its potential use for transmission lines inspection.
{"title":"New concept of a robot for transmission lines inspection","authors":"Alisson Ribeiro, João Oliveira, R. Abdo","doi":"10.1109/CARPI.2016.7745635","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745635","url":null,"abstract":"This paper claims to show a new concept of a robot, that uses joints of accessories, helping its displacement along transmission lines, also presenting low cost maintenance and easy operation. There were developed some series of accessories, which turn the robot into a simple engine, capable of moving along transmission lines, moving over suspension and anchoring devices, throughout the ground wire. With the use of those accessories it was possible to achieve a lot of mechanical simplicity and relatively greater weight capacity for batteries, compared to a robot that also uses devices with servo mechanism and arms for obstacle transposition. The robot is expected to inspect long transmission lines, throughout some adverse conditions, such as: severe climate, difficult topography, lack of access roads etc. So, it is shown in this paper the prototype of this robot, its field tests and the analysis of its potential use for transmission lines inspection.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123613331","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745632
Fan Zhang, Yabo Zhao, W. Wang, Peng Li, Qiaoyun Lin, Lingao Jiang
The abnormalities and detects of transmission line based on UAV is an important part of transmission line detection. In order to improve the efficiency of detection, the detection system is introduced. Firstly, the method of histogram specification is proposed to eliminate the influence of flog weather. And image stitching is used to get the whole tower. Secondly, with the help of Gestalt perceptual algorithm, the tower, insulator and transmission lines can be detected efficiently and the defection of those parts would be detected based on parts' features. Lastly, the report presents automatically after detection process. The experimental results show the system is able to powerful to implement the items of transmission line diagnosis and tremendously improve the efficiency.
{"title":"Automatic diagnosis system of transmission line abnormalities and defects based on UAV","authors":"Fan Zhang, Yabo Zhao, W. Wang, Peng Li, Qiaoyun Lin, Lingao Jiang","doi":"10.1109/CARPI.2016.7745632","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745632","url":null,"abstract":"The abnormalities and detects of transmission line based on UAV is an important part of transmission line detection. In order to improve the efficiency of detection, the detection system is introduced. Firstly, the method of histogram specification is proposed to eliminate the influence of flog weather. And image stitching is used to get the whole tower. Secondly, with the help of Gestalt perceptual algorithm, the tower, insulator and transmission lines can be detected efficiently and the defection of those parts would be detected based on parts' features. Lastly, the report presents automatically after detection process. The experimental results show the system is able to powerful to implement the items of transmission line diagnosis and tremendously improve the efficiency.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126072894","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745622
Xiaolu Tian, Fang Hua, Tao Wang
This paper proposes a novel, laser-based localization method for the autonomous mobile robot in transformer substations. Iterative closet point (ICP) algorithm has been widely used in current laser localization system for locating the mobile robot. However, after initialization, current localization system cannot finish positioning without human assistance. There is a growing interest in finding an effective way to improve the stability and correctness of laser system. We describe a method that combines the pattern recognition with laser localization system. Robot positioning in feature map is to search the relative distance and orientation to landmarks.
{"title":"An innovative localization system of transformer substation automation robots based on pattern recognition and ICP algorithm","authors":"Xiaolu Tian, Fang Hua, Tao Wang","doi":"10.1109/CARPI.2016.7745622","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745622","url":null,"abstract":"This paper proposes a novel, laser-based localization method for the autonomous mobile robot in transformer substations. Iterative closet point (ICP) algorithm has been widely used in current laser localization system for locating the mobile robot. However, after initialization, current localization system cannot finish positioning without human assistance. There is a growing interest in finding an effective way to improve the stability and correctness of laser system. We describe a method that combines the pattern recognition with laser localization system. Robot positioning in feature map is to search the relative distance and orientation to landmarks.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131078219","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745654
Jina Cao, Chao-Chao Li, D. Huang, Huadong Zhang, Yongbo Liu, Xiao Yang
As the power source of robot, the temperature characteristics of the lithium-ion battery directly affect the robot working performance. The thermal characteristics of lithium-ion battery have been intensively studied through both temperature rise tests and the discharging tests, and the PTC thermal management system of power battery was designed to enhance the performance of robot. Battery surface heat distribution demonstrated that battery surface temperature difference was less than 0.5°C because of aluminum thermal conductivity, and the discharging test showed that the PTC thermal management system could heat the lithium-ion battery pack effectively, which could deliver a capacity of 47Ah at -20°C, about 93% at 20°C.
{"title":"Research of thermal management technology for battery of robot working in alpine region","authors":"Jina Cao, Chao-Chao Li, D. Huang, Huadong Zhang, Yongbo Liu, Xiao Yang","doi":"10.1109/CARPI.2016.7745654","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745654","url":null,"abstract":"As the power source of robot, the temperature characteristics of the lithium-ion battery directly affect the robot working performance. The thermal characteristics of lithium-ion battery have been intensively studied through both temperature rise tests and the discharging tests, and the PTC thermal management system of power battery was designed to enhance the performance of robot. Battery surface heat distribution demonstrated that battery surface temperature difference was less than 0.5°C because of aluminum thermal conductivity, and the discharging test showed that the PTC thermal management system could heat the lithium-ion battery pack effectively, which could deliver a capacity of 47Ah at -20°C, about 93% at 20°C.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114517575","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745637
Guanghong Tao, L. Fang, Xuxin Lin
Regarding the problems that multi-unit serial inspection robot based on parallelogram mechanism(PM) has more driving motors and larger structure size, a novel driving PM method with single motor and cables is proposed based on the kinetic characteristic of parallelogram. Comprehensively concerning the single motor driving method of PM, procedure of crossing obstacle and obstacle size, optimization design results of the robot mechanism parameters were solved out with multi-objective optimization algorithm. The comparison results demonstrate that the optimized robot has less driving motors and its size is reduced clearly.
{"title":"Optimization design of the multi-unit serial inspection robot for power transmission line","authors":"Guanghong Tao, L. Fang, Xuxin Lin","doi":"10.1109/CARPI.2016.7745637","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745637","url":null,"abstract":"Regarding the problems that multi-unit serial inspection robot based on parallelogram mechanism(PM) has more driving motors and larger structure size, a novel driving PM method with single motor and cables is proposed based on the kinetic characteristic of parallelogram. Comprehensively concerning the single motor driving method of PM, procedure of crossing obstacle and obstacle size, optimization design results of the robot mechanism parameters were solved out with multi-objective optimization algorithm. The comparison results demonstrate that the optimized robot has less driving motors and its size is reduced clearly.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121773097","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745618
Chao-Chao Li, Li Li, Guanbin Wu, Naiyuan Xu, Hang Gao, Guowen Tang
The inspection robot is an autonomous robotic system for inspecting substation equipment to help or replace workers. In order to do the navigation and obstacle negotiating autonomously instead remote control, a stereo vision based 3D mapping system for the measurement of the environment is development. An original mapping and location system by lacer has applied on the robot for the location the robot's pose and navigation in the global frame. We construct a local 3D grid map of the robot's current pose also in the limited distance range. The vision system could capture the level ground, inclined ramp, and the obstacle providing enough information for the autonomous negotiation by the new tracked inspection robot in substation.
{"title":"A visrual 3D modelling system for the robot autonomous obstacle negotiation in substation","authors":"Chao-Chao Li, Li Li, Guanbin Wu, Naiyuan Xu, Hang Gao, Guowen Tang","doi":"10.1109/CARPI.2016.7745618","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745618","url":null,"abstract":"The inspection robot is an autonomous robotic system for inspecting substation equipment to help or replace workers. In order to do the navigation and obstacle negotiating autonomously instead remote control, a stereo vision based 3D mapping system for the measurement of the environment is development. An original mapping and location system by lacer has applied on the robot for the location the robot's pose and navigation in the global frame. We construct a local 3D grid map of the robot's current pose also in the limited distance range. The vision system could capture the level ground, inclined ramp, and the obstacle providing enough information for the autonomous negotiation by the new tracked inspection robot in substation.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123958135","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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