Pub Date : 2014-10-01DOI: 10.1109/CARPI.2014.7030043
J. Patel, E. Boje
This paper discusses the mechanical design considerations for the development of a brachiating power line inspection robot. The paper outlines the motivation for selecting brachiating as a mode of locomotion and then develops the mechanical user specifications for the design of an industrially useful inspection robot. The robot configuration, swinging behavior and initial gripper design are presented.
{"title":"Brachiating power line inspection robot","authors":"J. Patel, E. Boje","doi":"10.1109/CARPI.2014.7030043","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030043","url":null,"abstract":"This paper discusses the mechanical design considerations for the development of a brachiating power line inspection robot. The paper outlines the motivation for selecting brachiating as a mode of locomotion and then develops the mechanical user specifications for the design of an industrially useful inspection robot. The robot configuration, swinging behavior and initial gripper design are presented.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"15 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":"125103003","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.2014.7030059
Celio Fonseca Barbosa, F. E. Nallin
This paper describes a corrosion detection robot that operates on energized power lines. The robot is installed on a live overhead conductor and it is controlled by the ground-based operator using a portable computer and a radio link. The sensor carried by the robot is capable of detecting the remaining thickness of the zinc layer over the steel wires that make the core of the aluminum conductor steel reinforced (ACSR) commonly used in power lines. The sensor is made of a contactless coil that encircles the conductor and applies an alternating longitudinal magnetic field along the conductor. This field induces eddy currents in the zinc layer that changes the coil impedance, which is used to obtain the zinc layer thickness. The robot can be installed on the line conductor using a hot stick, so that it is necessary a minimum equipment and personnel to perform an inspection.
{"title":"Corrosion detection robot for energized power lines","authors":"Celio Fonseca Barbosa, F. E. Nallin","doi":"10.1109/CARPI.2014.7030059","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030059","url":null,"abstract":"This paper describes a corrosion detection robot that operates on energized power lines. The robot is installed on a live overhead conductor and it is controlled by the ground-based operator using a portable computer and a radio link. The sensor carried by the robot is capable of detecting the remaining thickness of the zinc layer over the steel wires that make the core of the aluminum conductor steel reinforced (ACSR) commonly used in power lines. The sensor is made of a contactless coil that encircles the conductor and applies an alternating longitudinal magnetic field along the conductor. This field induces eddy currents in the zinc layer that changes the coil impedance, which is used to obtain the zinc layer thickness. The robot can be installed on the line conductor using a hot stick, so that it is necessary a minimum equipment and personnel to perform an inspection.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"13 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":"133531083","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.2014.7030054
Guo Rui, Zhang Feng, Cao Lei, Yong Jun
A new mobile robot prototype for inspection of overhead transmission lines is proposed. The mobile platform is composed of 3 arms. And there is a motorized rubber wheel on the end of each arm. On the two end arms, a gripper is designed to clamp firmly onto the conductors from below to secure the robot. Each arm has a motor to achieve 2 degrees of freedom which is realized by moving along a curve. It could roll over some obstacles (compression splices, vibration dampers, etc). And the robot could clear other types of obstacles (spacers, suspension clamps, etc).
{"title":"A mobile robot for inspection of overhead transmission lines","authors":"Guo Rui, Zhang Feng, Cao Lei, Yong Jun","doi":"10.1109/CARPI.2014.7030054","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030054","url":null,"abstract":"A new mobile robot prototype for inspection of overhead transmission lines is proposed. The mobile platform is composed of 3 arms. And there is a motorized rubber wheel on the end of each arm. On the two end arms, a gripper is designed to clamp firmly onto the conductors from below to secure the robot. Each arm has a motor to achieve 2 degrees of freedom which is realized by moving along a curve. It could roll over some obstacles (compression splices, vibration dampers, etc). And the robot could clear other types of obstacles (spacers, suspension clamps, etc).","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"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":"131149246","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.2014.7030068
F. Mirallès, N. Pouliot, Serge Montambault
A review of the current state-of-the-art computer vision applied to the management of power transmission lines is presented. It covers the highest value applications for electric utilities, with a specific interest for applications dedicated on the cable system. Although robotics provides additional means of data collection, this review is not centered on specific platforms. Strategic steps that could favor the efficient introduction of computer vision in the power transmission industry are also discussed.
{"title":"State-of-the-art review of computer vision for the management of power transmission lines","authors":"F. Mirallès, N. Pouliot, Serge Montambault","doi":"10.1109/CARPI.2014.7030068","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030068","url":null,"abstract":"A review of the current state-of-the-art computer vision applied to the management of power transmission lines is presented. It covers the highest value applications for electric utilities, with a specific interest for applications dedicated on the cable system. Although robotics provides additional means of data collection, this review is not centered on specific platforms. Strategic steps that could favor the efficient introduction of computer vision in the power transmission industry are also discussed.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"11 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":"125511310","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.2014.7030064
Jinglin Li, J. Xiao, R. Grizzi, J. Lindberg
Access to components in nuclear power plants for inspection is often difficult due to cluttered environments. A continuum robotic manipulator is very flexible and can maneuver its way in narrow and winding space to reach a target spot. The video demonstrates how a continuum manipulator carrying an inspection device at its tip can be used for inspection of the entire surface of a pipe-like structure in a cluttered environment in raster scans.
{"title":"Inspection in cluttered space with a continuum manipulator","authors":"Jinglin Li, J. Xiao, R. Grizzi, J. Lindberg","doi":"10.1109/CARPI.2014.7030064","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030064","url":null,"abstract":"Access to components in nuclear power plants for inspection is often difficult due to cluttered environments. A continuum robotic manipulator is very flexible and can maneuver its way in narrow and winding space to reach a target spot. The video demonstrates how a continuum manipulator carrying an inspection device at its tip can be used for inspection of the entire surface of a pipe-like structure in a cluttered environment in raster scans.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"670 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":"134487027","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.2014.7030070
L. C. Siebert, L. F. Toledo, P. A. B. Block, Diogo B. Bahlke, R. Roncolatto, Dailton P. Cerqueira
This paper presents a review of several robotic tools applied to the activity of pruning near power distribution lines. Power utilities prune trees to minimize the tree-caused power outages, because they are the greatest single cause of outages for power utilities in overhead distribution systems. Pruning trees around overhead power lines is considered a dangerous task due to many factors such as the risk of fall, electrical shock, accidents with the pruning tools and insect attack. Therefore robotic systems may provide a significant increase not only in productivity but also may provide a safe environment to perform the task. The article discusses both airborne and ground-based robots. Since most existing works in the literature are related to rural areas, this paper discusses some requirements to enable this kind of technology in urban areas.
{"title":"A survey of applied robotics for tree pruning near overhead power lines","authors":"L. C. Siebert, L. F. Toledo, P. A. B. Block, Diogo B. Bahlke, R. Roncolatto, Dailton P. Cerqueira","doi":"10.1109/CARPI.2014.7030070","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030070","url":null,"abstract":"This paper presents a review of several robotic tools applied to the activity of pruning near power distribution lines. Power utilities prune trees to minimize the tree-caused power outages, because they are the greatest single cause of outages for power utilities in overhead distribution systems. Pruning trees around overhead power lines is considered a dangerous task due to many factors such as the risk of fall, electrical shock, accidents with the pruning tools and insect attack. Therefore robotic systems may provide a significant increase not only in productivity but also may provide a safe environment to perform the task. The article discusses both airborne and ground-based robots. Since most existing works in the literature are related to rural areas, this paper discusses some requirements to enable this kind of technology in urban areas.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"61 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":"122488153","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.2014.7030048
M. Guimaraes, J. Lindberg
Long term operation and maintenance of steam and hydropower driven electric power plants requires periodic inspection of the concrete cooling, containment and impoundment structures to assure safety, and reliability. Currently, inspections of large, vertical concrete structures are performed manually which is time-consuming, costly, and exposes workers to potentially dangerous work environments. To address this inspection technology gap, EPRI researched and evaluated various types of robotic technologies; and developed a crawler device that could be adapted to perform a multitude of concrete inspection tasks. Its payload of advanced NDE instrumentation, computer encoded data and imaging provide unprecedented capabilities to interrogate the interior of concrete structures; and locate and characterize voids, rebar corrosion, and other internal defects. The concrete crawler obviates the need to use scaffolding and supports long-term operation of generating assets by enabling automated, safe, and comprehensive inspections of structures such as cooling towers, hydro dams, and reactor containments.
{"title":"Remote controlled vehicle for inspection of vertical concrete structures","authors":"M. Guimaraes, J. Lindberg","doi":"10.1109/CARPI.2014.7030048","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030048","url":null,"abstract":"Long term operation and maintenance of steam and hydropower driven electric power plants requires periodic inspection of the concrete cooling, containment and impoundment structures to assure safety, and reliability. Currently, inspections of large, vertical concrete structures are performed manually which is time-consuming, costly, and exposes workers to potentially dangerous work environments. To address this inspection technology gap, EPRI researched and evaluated various types of robotic technologies; and developed a crawler device that could be adapted to perform a multitude of concrete inspection tasks. Its payload of advanced NDE instrumentation, computer encoded data and imaging provide unprecedented capabilities to interrogate the interior of concrete structures; and locate and characterize voids, rebar corrosion, and other internal defects. The concrete crawler obviates the need to use scaffolding and supports long-term operation of generating assets by enabling automated, safe, and comprehensive inspections of structures such as cooling towers, hydro dams, and reactor containments.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"43 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":"129064282","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.2014.7030050
R. A. Pavani, W. Scaff, D. S. Miguel, Celso T. Matsumura, A. Hirakawa, O. Horikawa, J. F. Resende da Silva
There are several proposals of robots for inspection of overhead power network, and most of them make use of UAVs (Unmanned Aerial Vehicle). Such proposals present disadvantages like, low controllability, small payload capability and short operation range. On this scenario, this work presents a robot that can move over the power line and has as features: three driven wheels, distributed control system and self-configuration frame. The robot can overpass all power line devices taking the advantage of its wheel's shape that provides a self-steering capability. The communications between each motor controller is done by IEEE 802.15.4 wireless communication standard. The robot can be controlled by an electrician to proceeds the inspection from the ground level or in an autonomous way. A prototype was constructed and was tested, in both, laboratory and field environment. The test results shown the effectiveness of the robot proposed.
{"title":"Double conical wheels based mobile robot for aerial power distribution lines inspection","authors":"R. A. Pavani, W. Scaff, D. S. Miguel, Celso T. Matsumura, A. Hirakawa, O. Horikawa, J. F. Resende da Silva","doi":"10.1109/CARPI.2014.7030050","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030050","url":null,"abstract":"There are several proposals of robots for inspection of overhead power network, and most of them make use of UAVs (Unmanned Aerial Vehicle). Such proposals present disadvantages like, low controllability, small payload capability and short operation range. On this scenario, this work presents a robot that can move over the power line and has as features: three driven wheels, distributed control system and self-configuration frame. The robot can overpass all power line devices taking the advantage of its wheel's shape that provides a self-steering capability. The communications between each motor controller is done by IEEE 802.15.4 wireless communication standard. The robot can be controlled by an electrician to proceeds the inspection from the ground level or in an autonomous way. A prototype was constructed and was tested, in both, laboratory and field environment. The test results shown the effectiveness of the robot proposed.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"77 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":"127290161","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.2014.7030065
Serge Montambault, N. Pouliot
This paper summarizes the work related to power line robotics over the past 15 years at Hydro-Québec's research institute (IREQ). Robotic platforms are presented as well as the inspection and maintenance systems equipping them. The paper also presents a new organizational unit recently established at IREQ and called the “Power Line Robotics Program” (PLRP). This novel structure's objective is to leverage the benefits of external collaboration and international interest in power line robotics, in order to provide Hydro-Québec with professional inspection services, manufacturing capacity and strategic funding for new developments. More recent activities related to non-destructive probes are also discussed. Examples of PLRP tasks and responsibilities are given, stating why this structure is relevant within a power utility and how it accelerates the use and benefit of robotics in the power industry.
{"title":"Hydro-Québec's Power Line Robotics Program: 15 years of development, implementation and partnerships","authors":"Serge Montambault, N. Pouliot","doi":"10.1109/CARPI.2014.7030065","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030065","url":null,"abstract":"This paper summarizes the work related to power line robotics over the past 15 years at Hydro-Québec's research institute (IREQ). Robotic platforms are presented as well as the inspection and maintenance systems equipping them. The paper also presents a new organizational unit recently established at IREQ and called the “Power Line Robotics Program” (PLRP). This novel structure's objective is to leverage the benefits of external collaboration and international interest in power line robotics, in order to provide Hydro-Québec with professional inspection services, manufacturing capacity and strategic funding for new developments. More recent activities related to non-destructive probes are also discussed. Examples of PLRP tasks and responsibilities are given, stating why this structure is relevant within a power utility and how it accelerates the use and benefit of robotics in the power industry.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"62 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":"126513300","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.2014.7030046
F. Mirallès, G. Boivin
In the past years, a laser scanning system to measure hydraulic gate frames with high precision was developed by Hydro-Québec. Inspired by this first design, a new compact and lower cost platform was developed. The WireScan technology is actually applicable to measure the geometry of any structure that is vertical and underwater. The applicability of this technology was further extended with improvements to the localization algorithm of the laser scanner. Its robustness to marine snow was increased by taking advantage of the newly available computing power of general purpose graphical processing units. Four case study related to hydro plant (water intake gate and spillway stoplogs), and navigation locks (balancing gates and channel width) are presented.
{"title":"A new compact solution for the rapid measurement of underwater gate guides","authors":"F. Mirallès, G. Boivin","doi":"10.1109/CARPI.2014.7030046","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030046","url":null,"abstract":"In the past years, a laser scanning system to measure hydraulic gate frames with high precision was developed by Hydro-Québec. Inspired by this first design, a new compact and lower cost platform was developed. The WireScan technology is actually applicable to measure the geometry of any structure that is vertical and underwater. The applicability of this technology was further extended with improvements to the localization algorithm of the laser scanner. Its robustness to marine snow was increased by taking advantage of the newly available computing power of general purpose graphical processing units. Four case study related to hydro plant (water intake gate and spillway stoplogs), and navigation locks (balancing gates and channel width) are presented.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"39 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":"126584074","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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