Pub Date : 2014-10-01DOI: 10.1109/CARPI.2014.7030056
Sammy Omari, Pascal Gohl, M. Burri, Markus Achtelik, R. Siegwart
The use of unmanned aerial vehicles (UAV) offers a unique possibility to capture visual information in areas which are hard to reach or dangerous for humans. For UAVs to become a standard tool in visual inspection, it is of utmost importance that the aerial robot can be operated efficiently by a non-expert UAV pilot and that the navigation system is robust enough to remain operational in rough, industrial conditions. To this end, we present a UAV navigation system setup that uses visual-inertial sensor cues to estimate the UAV pose as well as to create a dense 3D map of the environment in real-time onboard the UAV, completely independent of GPS. The proposed navigation system enables the operator to directly interface the UAV using high-level commands such as waypoints or velocity commands while the navigation system ensures a stable and collision-free flight.
{"title":"Visual industrial inspection using aerial robots","authors":"Sammy Omari, Pascal Gohl, M. Burri, Markus Achtelik, R. Siegwart","doi":"10.1109/CARPI.2014.7030056","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030056","url":null,"abstract":"The use of unmanned aerial vehicles (UAV) offers a unique possibility to capture visual information in areas which are hard to reach or dangerous for humans. For UAVs to become a standard tool in visual inspection, it is of utmost importance that the aerial robot can be operated efficiently by a non-expert UAV pilot and that the navigation system is robust enough to remain operational in rough, industrial conditions. To this end, we present a UAV navigation system setup that uses visual-inertial sensor cues to estimate the UAV pose as well as to create a dense 3D map of the environment in real-time onboard the UAV, completely independent of GPS. The proposed navigation system enables the operator to directly interface the UAV using high-level commands such as waypoints or velocity commands while the navigation system ensures a stable and collision-free flight.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125071358","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 : 2014-10-01DOI: 10.1109/CARPI.2014.7030069
N. Pouliot, E. Lavoie, G. Rousseau, Serge Montambault
Commonly used methods to inspect power line consist of visual camera, infrared camera, and binoculars. In the recent years, power line robotics has come to play a role for very detailed visual inspections and other tasks. These methods are adequate to detect damage caused by lightning strikes or exterior damages. Nothing is detected that the eyes cannot see. In order to probe under the surface of conductors, inspection methods with a certain degree of penetrating power are required. This paper lists some of the most relevant ACSR's ageing mechanism and proposes applicable sensor technologies to assess them. Then, since mid-term objectives include deploying these sensors via power line mobile robots such as LineScout, integration consideration are discussed. Finally, the paper presents preliminary results obtained with three different types of sensors and shows the current stage of development of NDT technologies aimed at inspecting the core of the ACSR conductors.
{"title":"An integrated approach for non-destructive testing of ACSR conductors: Early deployments of robotized sensors","authors":"N. Pouliot, E. Lavoie, G. Rousseau, Serge Montambault","doi":"10.1109/CARPI.2014.7030069","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030069","url":null,"abstract":"Commonly used methods to inspect power line consist of visual camera, infrared camera, and binoculars. In the recent years, power line robotics has come to play a role for very detailed visual inspections and other tasks. These methods are adequate to detect damage caused by lightning strikes or exterior damages. Nothing is detected that the eyes cannot see. In order to probe under the surface of conductors, inspection methods with a certain degree of penetrating power are required. This paper lists some of the most relevant ACSR's ageing mechanism and proposes applicable sensor technologies to assess them. Then, since mid-term objectives include deploying these sensors via power line mobile robots such as LineScout, integration consideration are discussed. Finally, the paper presents preliminary results obtained with three different types of sensors and shows the current stage of development of NDT technologies aimed at inspecting the core of the ACSR conductors.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131949971","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 : 2014-10-01DOI: 10.1109/CARPI.2014.7030049
J. Allan, J. Beaudry
This paper presents a state-of-the-art survey of robotic systems applied to power substations. Bibliographic research for this paper identified some 75 scientific publications and 39 patents dating from the late 1980s to 2013. Aside from recent work at Hydro-Québec (IREQ) in Canada on a field robot for power substations, almost all the R&D work identified comes from Asia, especially during the last decade, with the main research developments involving a mobile robot named SmartGuard from State Grid Corporation of China (SGCC). The first section of the paper presents robotic systems dedicated to inspection and security in power substations, while the second part of the paper looks at robots for operation and maintenance tasks in substations. A list of patents for robots for substations is also provided.
{"title":"Robotic systems applied to power substations - A state-of-the-art survey","authors":"J. Allan, J. Beaudry","doi":"10.1109/CARPI.2014.7030049","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030049","url":null,"abstract":"This paper presents a state-of-the-art survey of robotic systems applied to power substations. Bibliographic research for this paper identified some 75 scientific publications and 39 patents dating from the late 1980s to 2013. Aside from recent work at Hydro-Québec (IREQ) in Canada on a field robot for power substations, almost all the R&D work identified comes from Asia, especially during the last decade, with the main research developments involving a mobile robot named SmartGuard from State Grid Corporation of China (SGCC). The first section of the paper presents robotic systems dedicated to inspection and security in power substations, while the second part of the paper looks at robots for operation and maintenance tasks in substations. A list of patents for robots for substations is also provided.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"132 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124228262","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 : 2014-10-01DOI: 10.1109/CARPI.2014.7030038
W. Scaff, R. A. Pavani, A. Riyuiti Hirakawa, O. Horikawa, Alexandre Chamas Filho
The maintenance of public lightning equipments is an important and frequent activity of power utility company in Brazil. This service is usually executed using a truck with aerial bucket or a manual ladder. Despite the bucket truck being consolidated as a versatile device for several tasks across the electricity network, it still presents disadvantages such as the difficult on using it in urban areas or due to its high initial cost. The use of manual ladder, on the other hand, presents serious ergonomic problems, like, heavy weight carrying and increased risk of accidents to the electrician. Aiming to develop a solution able of aggregating the advantages of the aerial bucket and the ladder, studies were developed at the Escola Politécnica of São Paulo University, in partnership with the CPFL utility company. This resulted in a device named Automatic Elevator, which is a mechatronic computer controlled device, equipped by electrical / hydraulic actuators and sensors, that is able of carrying the electrician to the level of the lamps and provide mobility to access the majority of equipments installed in a pole. In a past work, mechanical aspects of the latest version of the Elevator were presented. Here, the control system is presented.
{"title":"Automatic elevator for assisting maintenance of distribution power line - Control system","authors":"W. Scaff, R. A. Pavani, A. Riyuiti Hirakawa, O. Horikawa, Alexandre Chamas Filho","doi":"10.1109/CARPI.2014.7030038","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030038","url":null,"abstract":"The maintenance of public lightning equipments is an important and frequent activity of power utility company in Brazil. This service is usually executed using a truck with aerial bucket or a manual ladder. Despite the bucket truck being consolidated as a versatile device for several tasks across the electricity network, it still presents disadvantages such as the difficult on using it in urban areas or due to its high initial cost. The use of manual ladder, on the other hand, presents serious ergonomic problems, like, heavy weight carrying and increased risk of accidents to the electrician. Aiming to develop a solution able of aggregating the advantages of the aerial bucket and the ladder, studies were developed at the Escola Politécnica of São Paulo University, in partnership with the CPFL utility company. This resulted in a device named Automatic Elevator, which is a mechatronic computer controlled device, equipped by electrical / hydraulic actuators and sensors, that is able of carrying the electrician to the level of the lamps and provide mobility to access the majority of equipments installed in a pole. In a past work, mechanical aspects of the latest version of the Elevator were presented. Here, the control system is presented.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122417058","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 : 2014-10-01DOI: 10.1109/CARPI.2014.7030047
Sandro Battistella, Max Hering de Queiroz
This paper presents a simulation environment for testing and validation of a Mission Control System (MCS) of autonomous underwater vehicles (AUV) operating in environments with characteristics found in lakes of hydroelectric dams. The Supervisory Control Theory (SCT) is used as formalism for the analysis and modelling of the event-driven dynamics of the AUV, but also as the basis for the development and implementation of the MCS architecture, enabling the decoupling of the hybrid dynamics of the AUV in its continuous and event-driven components. The MCS and the simulation environment are developed for the ROS (robot operating system) middleware and integrated with Matlab/Simulink software, simulating the AUV continuous dynamics and its control loops, and with a Human-Machine Interface (HMI) developed in Java, emulating fault and errors events.
{"title":"Simulation environment of an architecture for mission control system of AUVs operating in lakes of hydroelectric dams","authors":"Sandro Battistella, Max Hering de Queiroz","doi":"10.1109/CARPI.2014.7030047","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030047","url":null,"abstract":"This paper presents a simulation environment for testing and validation of a Mission Control System (MCS) of autonomous underwater vehicles (AUV) operating in environments with characteristics found in lakes of hydroelectric dams. The Supervisory Control Theory (SCT) is used as formalism for the analysis and modelling of the event-driven dynamics of the AUV, but also as the basis for the development and implementation of the MCS architecture, enabling the decoupling of the hybrid dynamics of the AUV in its continuous and event-driven components. The MCS and the simulation environment are developed for the ROS (robot operating system) middleware and integrated with Matlab/Simulink software, simulating the AUV continuous dynamics and its control loops, and with a Human-Machine Interface (HMI) developed in Java, emulating fault and errors events.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"18 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116580441","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 : 2014-10-01DOI: 10.1109/CARPI.2014.7030063
J. Beaudry, J. Allan
Aging infrastructures bring major challenges to electric utilities. Despite important resources invested in maintenance and replacement of assets, transmission networks continue to age. Substations day-to-day operations are consequently facing constraints due to personnel safety and security. Asset management is also becoming increasingly challenging. At the same time, recent advances in terrestrial mobile robotics, embedded computing, sensing and robotic manipulation allows for faster integration of subsystems into new robotic systems, at lower costs. Using robots in electrical substations has been studied and demonstrated by some utilities worldwide. Given this context and within a really short timeframe, a team of researchers at IREQ developed and field demonstrated a robot system that allows personnel to remotely accomplish multi-sensor inspections and live operations on numerous substation equipments. Robotic teleoperation therefore alleviates dangerous conditions for personnel and paves the way for valuable systematic inspection of equipments. The video shows various aspects of the system operated within substations.
{"title":"Electrical substation inspection and intervention robot, field experiments","authors":"J. Beaudry, J. Allan","doi":"10.1109/CARPI.2014.7030063","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030063","url":null,"abstract":"Aging infrastructures bring major challenges to electric utilities. Despite important resources invested in maintenance and replacement of assets, transmission networks continue to age. Substations day-to-day operations are consequently facing constraints due to personnel safety and security. Asset management is also becoming increasingly challenging. At the same time, recent advances in terrestrial mobile robotics, embedded computing, sensing and robotic manipulation allows for faster integration of subsystems into new robotic systems, at lower costs. Using robots in electrical substations has been studied and demonstrated by some utilities worldwide. Given this context and within a really short timeframe, a team of researchers at IREQ developed and field demonstrated a robot system that allows personnel to remotely accomplish multi-sensor inspections and live operations on numerous substation equipments. Robotic teleoperation therefore alleviates dangerous conditions for personnel and paves the way for valuable systematic inspection of equipments. The video shows various aspects of the system operated within substations.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"88 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116126005","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 : 2014-10-01DOI: 10.1109/CARPI.2014.7030045
S. Pedre, Alexandre Semine, Tobias Quispe Mamani, Alejandro Nunia, Enrique Boroni, Alexander Leano, Chars Trujillo Sheider, L. Rovere
The use of robotics and automation as means for increasing safety in Nuclear Power Plants is a recommended practice by the IAEA. One of the driving motivations is to avoid human exposure to hazarduous environments and tasks during inspection, maintenance, operation, decommission and accident response activities. In recent years, several robotic systems have been proposed for each of these stages in the life cycle of NPPs. One critical maintenance activity is the inspection of Steam Generator (SG) tubes. In this work, we present a robotic system for SG tube inspection and maintenance under development for a new 4th generation Small Modular Reactor in Argentina. The proposed system includes the use of a commercially available robotic manipulator, together with tailored programming, custom-designed tools and a rail transportation system inside the contention. The leading notion is to take advantage of the precision, repeatability, security standards and reliability achieved in the field of industrial robotic arms, while custom-designing the necessary elements to obtain a solution applicable to the particular field of maintenance in an NPP.
{"title":"Robotics for maintenance of Steam Generators in a Small Modular Reactor","authors":"S. Pedre, Alexandre Semine, Tobias Quispe Mamani, Alejandro Nunia, Enrique Boroni, Alexander Leano, Chars Trujillo Sheider, L. Rovere","doi":"10.1109/CARPI.2014.7030045","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030045","url":null,"abstract":"The use of robotics and automation as means for increasing safety in Nuclear Power Plants is a recommended practice by the IAEA. One of the driving motivations is to avoid human exposure to hazarduous environments and tasks during inspection, maintenance, operation, decommission and accident response activities. In recent years, several robotic systems have been proposed for each of these stages in the life cycle of NPPs. One critical maintenance activity is the inspection of Steam Generator (SG) tubes. In this work, we present a robotic system for SG tube inspection and maintenance under development for a new 4th generation Small Modular Reactor in Argentina. The proposed system includes the use of a commercially available robotic manipulator, together with tailored programming, custom-designed tools and a rail transportation system inside the contention. The leading notion is to take advantage of the precision, repeatability, security standards and reliability achieved in the field of industrial robotic arms, while custom-designing the necessary elements to obtain a solution applicable to the particular field of maintenance in an NPP.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123924594","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 : 2014-10-01DOI: 10.1109/CARPI.2014.7030039
E. Boje
This paper investigates the modelling and controller design for the power supply of a power line inspection robot. The power supply is unusual because it is based on a current transformer principle, may operate at low secondary voltages, and must cope with very large changes in the line current. A proportional and integral (PI) controller is able to control the charging current via modulating the apparent resistance presented on the transformer secondary. Derivative action may be used to counter phase lag from moving average filtering of measured values. The contributions of the paper include a novel bridge configuration, insight into modeling and digital controller design for a current-fed convertor and further engineering insight into the development of a power line inspection robot.
{"title":"Modelling and control of a power supply for a power line inspection robot","authors":"E. Boje","doi":"10.1109/CARPI.2014.7030039","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030039","url":null,"abstract":"This paper investigates the modelling and controller design for the power supply of a power line inspection robot. The power supply is unusual because it is based on a current transformer principle, may operate at low secondary voltages, and must cope with very large changes in the line current. A proportional and integral (PI) controller is able to control the charging current via modulating the apparent resistance presented on the transformer secondary. Derivative action may be used to counter phase lag from moving average filtering of measured values. The contributions of the paper include a novel bridge configuration, insight into modeling and digital controller design for a current-fed convertor and further engineering insight into the development of a power line inspection robot.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"289 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129144842","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 : 2014-10-01DOI: 10.1109/CARPI.2014.7030072
V. Delalande, Pierre-Henri Sauzeat
Removing material by grinding in damage areas is one task manage for hydraulics equipment maintenance. These operations are currently carried out manually and are difficult in the long run. EDF R&D analyzes the need and demonstrates the feasibility of mechanizing the machining operations done in the workshops. EDF R&D experience of hard material high speed machining with a 6-axis anthropomorphic robot has been utilized. Feasibility studies have been carried out in several steps, and coordinated with final users needs. The first one was dedicated to define the size of a system being compatible with components to be repaired. Accessibilities to areas to be maintained were studied using Computer Assisted Design models. The second step consisted in having feasibility demonstrations on representative components. Feasibility of high speed milling with robot on stainless steel Kaplan turbine blade and on copper-aluminum alloy Francis turbine runner were managed to validate milling parameters and accessibility.
{"title":"High speed machining with a robot for hydraulics turbine maintenance","authors":"V. Delalande, Pierre-Henri Sauzeat","doi":"10.1109/CARPI.2014.7030072","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030072","url":null,"abstract":"Removing material by grinding in damage areas is one task manage for hydraulics equipment maintenance. These operations are currently carried out manually and are difficult in the long run. EDF R&D analyzes the need and demonstrates the feasibility of mechanizing the machining operations done in the workshops. EDF R&D experience of hard material high speed machining with a 6-axis anthropomorphic robot has been utilized. Feasibility studies have been carried out in several steps, and coordinated with final users needs. The first one was dedicated to define the size of a system being compatible with components to be repaired. Accessibilities to areas to be maintained were studied using Computer Assisted Design models. The second step consisted in having feasibility demonstrations on representative components. Feasibility of high speed milling with robot on stainless steel Kaplan turbine blade and on copper-aluminum alloy Francis turbine runner were managed to validate milling parameters and accessibility.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115789730","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 : 2014-10-01DOI: 10.1109/CARPI.2014.7030044
Daniel Sampaio, Victor G. S. Sousa, R. Glatt, Daniel Rubbo, Alan F. Costa
Infrared thermal cameras can be used to detect early-stage thermal anomalies in electrical or mechanical equipment and structures, before they lead to the interruption of their operation. In this work, we present a system to control the positioning and movement of a thermographic camera, mounted on a mechanical support with six degrees of freedom, employing the low cost microcontroller board Arduino. The proposed system moves the camera to positions set and configured a priori, and provides an automatic diagnosis of target elements on the camera's field of view, based on thermographic images by applying image processing and artificial neural network techniques. The surrounding region of a step-up transformer located in the outer area of a hydroelectric power plant was selected to validate the system. The system also allows custom remote inspections within the camera's field of view since it can be accessed online and be operated in manual mode.
{"title":"Thermographic inspection using a microcontroller-based camera positioning system","authors":"Daniel Sampaio, Victor G. S. Sousa, R. Glatt, Daniel Rubbo, Alan F. Costa","doi":"10.1109/CARPI.2014.7030044","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030044","url":null,"abstract":"Infrared thermal cameras can be used to detect early-stage thermal anomalies in electrical or mechanical equipment and structures, before they lead to the interruption of their operation. In this work, we present a system to control the positioning and movement of a thermographic camera, mounted on a mechanical support with six degrees of freedom, employing the low cost microcontroller board Arduino. The proposed system moves the camera to positions set and configured a priori, and provides an automatic diagnosis of target elements on the camera's field of view, based on thermographic images by applying image processing and artificial neural network techniques. The surrounding region of a step-up transformer located in the outer area of a hydroelectric power plant was selected to validate the system. The system also allows custom remote inspections within the camera's field of view since it can be accessed online and be operated in manual mode.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124673035","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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