Pub Date : 2012-09-01DOI: 10.1109/CARPI.2012.6473343
A. Phillips, E. Engdahl, D. McGuire, M. Major, G. Bartlett
This paper describes a video submission that provides an update on the development of a robot that autonomously inspects high voltage transmission lines. The robot is being developed by the Electric Power Research Institute with collaborative partners American Electric Power, Southern Company, and Southwest Research Institute. The robot will navigate along the shield wire and will be able to perform many types of measurement along the line, bypass obstacles, and harvest power from the shield wire.
{"title":"Autonomous overhead transmission line inspection robot (TI) development and demonstration","authors":"A. Phillips, E. Engdahl, D. McGuire, M. Major, G. Bartlett","doi":"10.1109/CARPI.2012.6473343","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473343","url":null,"abstract":"This paper describes a video submission that provides an update on the development of a robot that autonomously inspects high voltage transmission lines. The robot is being developed by the Electric Power Research Institute with collaborative partners American Electric Power, Southern Company, and Southwest Research Institute. The robot will navigate along the shield wire and will be able to perform many types of measurement along the line, bypass obstacles, and harvest power from the shield wire.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121088160","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 : 2012-09-01DOI: 10.1109/CARPI.2012.6473361
Lorenzo Marconi, Francesco Basile, Gilles Caprari, R. Carloni, P. Chiacchio, Christoph Hürzeler, V. Lippiello, R. Naldi, Janosch Nikolic, Bruno Siciliano, S. Stramigioli, E. Zwicker
This paper presents the main vision and research activities of the ongoing European project AIRobots (Innovative Aerial Service Robot for Remote Inspection by Contact, www.airobots.eu). The goal of AIRobots is to develop a new generation of aerial service robots capable of supporting human beings in all those activities that require the ability to interact actively and safely with environments not constrained on ground but, indeed, airborne. Besides presenting the main ideas and the research activities within the three-year project, the paper shows the first technological outcomes obtained during the first year and a half of activity.
{"title":"Aerial service robotics: The AIRobots perspective","authors":"Lorenzo Marconi, Francesco Basile, Gilles Caprari, R. Carloni, P. Chiacchio, Christoph Hürzeler, V. Lippiello, R. Naldi, Janosch Nikolic, Bruno Siciliano, S. Stramigioli, E. Zwicker","doi":"10.1109/CARPI.2012.6473361","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473361","url":null,"abstract":"This paper presents the main vision and research activities of the ongoing European project AIRobots (Innovative Aerial Service Robot for Remote Inspection by Contact, www.airobots.eu). The goal of AIRobots is to develop a new generation of aerial service robots capable of supporting human beings in all those activities that require the ability to interact actively and safely with environments not constrained on ground but, indeed, airborne. Besides presenting the main ideas and the research activities within the three-year project, the paper shows the first technological outcomes obtained during the first year and a half of activity.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114613418","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 : 2012-09-01DOI: 10.1109/CARPI.2012.6473346
M. Hida, Yingxin He, Y. Yamamoto, N. Maekawa, K. Tatsuno, Y. Kunii
We are conducting a feasibility study on a semi-autonomous maintenance robot for power distribution lines that works using task instructions. We are analyzing the task of “switch gear installation” in power distribution lines maintenance and describing a task scenario for it. We are also designing a controller for the robot system. In the controller, the tasks are described using robot motion commands in databases and the robot motion commands are executed by agents.
{"title":"A task analysis and a controller system design for a power distribution line maintenance robot","authors":"M. Hida, Yingxin He, Y. Yamamoto, N. Maekawa, K. Tatsuno, Y. Kunii","doi":"10.1109/CARPI.2012.6473346","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473346","url":null,"abstract":"We are conducting a feasibility study on a semi-autonomous maintenance robot for power distribution lines that works using task instructions. We are analyzing the task of “switch gear installation” in power distribution lines maintenance and describing a task scenario for it. We are also designing a controller for the robot system. In the controller, the tasks are described using robot motion commands in databases and the robot motion commands are executed by agents.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121730298","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 : 2012-09-01DOI: 10.1109/CARPI.2012.6473341
N. Pouliot, D. Mussard, Serge Montambault
Over the past few years, a considerable amount of data has been collected during several field deployments of LineScout Technology for the inspection and maintenance of power line infrastructure. A number of lessons have been learned during this time, more specifically regarding the problem of localizing the findings and archiving them for quick future reference. First, the authors discuss the influence of wheel odometer precision and how enforcing constraints from the known position of towers and the expected theoretical catenary curve of the power line reduce the errors introduced by GPS. Second, a simple three-step file process is presented to properly plan, conduct and report inspection missions. Camera enhancement parameters and file format for storing the data collected are also presented.
{"title":"Localization and archiving of inspection data collected on power lines using LineScout Technology","authors":"N. Pouliot, D. Mussard, Serge Montambault","doi":"10.1109/CARPI.2012.6473341","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473341","url":null,"abstract":"Over the past few years, a considerable amount of data has been collected during several field deployments of LineScout Technology for the inspection and maintenance of power line infrastructure. A number of lessons have been learned during this time, more specifically regarding the problem of localizing the findings and archiving them for quick future reference. First, the authors discuss the influence of wheel odometer precision and how enforcing constraints from the known position of towers and the expected theoretical catenary curve of the power line reduce the errors introduced by GPS. Second, a simple three-step file process is presented to properly plan, conduct and report inspection missions. Camera enhancement parameters and file format for storing the data collected are also presented.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128663256","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 : 2012-09-01DOI: 10.3929/ETHZ-A-010034943
A. Breitenmoser, R. Siegwart
Inspection and maintenance tasks in the power industry often require tools to be moved smoothly in direct contact or close proximity over surfaces of curved tube-like structures. This paper addresses the problem of navigating robotic devices, namely a wheeled climbing robot carrying an inspection tool, on surfaces as they typically appear in steam chests of power plants. The surfaces are modeled by triangle meshes. Several state-of-the-art surface reconstruction methods are evaluated, and meshes are constructed for 3D point clouds taken with different laser scanners and for tube structures varying in shape, dimension and surface property. Each mesh represents an embedded graph, and thus directly enables graph search methods to plan paths of triangle strips over the surface. Discrete path planning and continuous robot control are combined to a hybrid system, which steers the robot smoothly along the triangle strip to the target regions on the surface. The navigation approach applies to robotic surface inspection, and is verified in simulation experiments by moving a robot on triangle meshes reconstructed from real data.
{"title":"Surface reconstruction and path planning for industrial inspection with a climbing robot","authors":"A. Breitenmoser, R. Siegwart","doi":"10.3929/ETHZ-A-010034943","DOIUrl":"https://doi.org/10.3929/ETHZ-A-010034943","url":null,"abstract":"Inspection and maintenance tasks in the power industry often require tools to be moved smoothly in direct contact or close proximity over surfaces of curved tube-like structures. This paper addresses the problem of navigating robotic devices, namely a wheeled climbing robot carrying an inspection tool, on surfaces as they typically appear in steam chests of power plants. The surfaces are modeled by triangle meshes. Several state-of-the-art surface reconstruction methods are evaluated, and meshes are constructed for 3D point clouds taken with different laser scanners and for tube structures varying in shape, dimension and surface property. Each mesh represents an embedded graph, and thus directly enables graph search methods to plan paths of triangle strips over the surface. Discrete path planning and continuous robot control are combined to a hybrid system, which steers the robot smoothly along the triangle strip to the target regions on the surface. The navigation approach applies to robotic surface inspection, and is verified in simulation experiments by moving a robot on triangle meshes reconstructed from real data.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130909861","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 : 2012-09-01DOI: 10.1109/CARPI.2012.6473353
W. F. Lages, Vinı́cius Scheeren
This paper deals with an embedded module for automation of thermographic inspection. The module captures video streams from an infrared camera and from a visible image camera and performs an image processing to detect faults. The protocols used to capture the image streams and the image processing are discussed. The results, with the faults highlighted, are sent through an synthetic image stream to a supervision station.
{"title":"An embedded module for robotized inspection of power lines by using thermographic and visual images","authors":"W. F. Lages, Vinı́cius Scheeren","doi":"10.1109/CARPI.2012.6473353","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473353","url":null,"abstract":"This paper deals with an embedded module for automation of thermographic inspection. The module captures video streams from an infrared camera and from a visible image camera and performs an image processing to detect faults. The protocols used to capture the image streams and the image processing are discussed. The results, with the faults highlighted, are sent through an synthetic image stream to a supervision station.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133068994","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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