Development of smart quadcopter for autonomous overhead power transmission line inspections

Ahmed, Faiyaz; Mohanta, J. C.; Zafar, Mohd.

doi:10.1016/j.matpr.2021.05.271

Cited by 17 publications

(6 citation statements)

References 11 publications

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“…In equations ( 6) and ( 7), 𝛽 represents the bit vector at the boundary point, 𝑟 represents the value taken at infinity and ℎ represents the direct resistance of the wire. Therefore, for the field around the transmission line where emergency inspection needs exist, the constraints must be treated as physically unique solutions and the finite value of the boundary at infinity in the field must be specified [6][7][8]. Over time, when there is no coupling between the electric and magnetic fields of the transmission line, then a single electric field effect or magnetic field effect will not be able to simultaneously satisfy the need for a directional distribution of positive and negative charges in space.…”

Section: Calculation Of Electromagnetic Field Parameters For Large-sc...mentioning

confidence: 99%

Optimal path planning for emergency inspection of large-scale transmission lines considering complex terrain

Feng

Rao

Guo

2023

Eighth International Conference on Energy Materials and Electrical Engineering (ICEMEE 2022)

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In practice, some large-scale transmission line emergency inspection optimal path planning methods have the drawback of too high percentage of failed nodes. A large-scale transmission line emergency inspection optimal path planning method considering complex terrain is designed. The electromagnetic field parameters of large-scale transmission lines are calculated, combined with the generalized equation and the corresponding constraints to obtain the full current law of transmission lines, construct an obstacle ranging model based on complex terrain, adopt a redefinition of the electric field safety threshold to achieve the purpose of transmission conductor obstacle avoidance, assign discrete points centrally in a simulated manner, and design an optimal path planning method for emergency patrol. Simulation experiment results: the optimal path planning method for large-scale transmission line emergency inspection in the paper, and the other two optimal path planning methods for large-scale transmission line emergency inspection have inspection route distances of 107.064m, 139.795m and 133.105m respectively. This indicates that the optimal path planning method for large-scale transmission line emergency patrol, designed after taking into full consideration the complex terrain, and is more practical.

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Section: Calculation Of Electromagnetic Field Parameters For Large-sc...mentioning

confidence: 99%

Optimal path planning for emergency inspection of large-scale transmission lines considering complex terrain

Feng

Rao

Guo

2023

Eighth International Conference on Energy Materials and Electrical Engineering (ICEMEE 2022)

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“…The datasheet for a BLDC motor frequently includes the motor's thrust. Important information such as Kv ratings (RPM per supplied volt) and current ratings (maximum current drawable safely) are also included in the datasheet [17]. Additionally, to maximize motor efficiency, most BLDC motors recommend a propeller size and design.…”

Section: Mechanical Part -Propulsion Systemmentioning

confidence: 99%

3d Collision Avoidance System for Unmanned Aerial Vehicle (Uav) With Decentralized Approach

Harun¹,

Abdullah²,

Aras

et al. 2023

IIUMEJ

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Unmanned aerial vehicles UAVs have been developed and refined for decades. Using an integrated software system, autonomous unmanned aerial vehicles (UAVs) perform missions automatically and return to a pre-programmed point. Malaysia has a lot of unoccupied airspace, yet autonomous UAV applications and research are still rare. In critical conditions, autonomous UAVs must deal with a variety of environmental and flight issues. This project involves a decentralized 3D collision avoidance system for an autonomous UAV. Ultrasonic, infrared, and laser rangefinders were chosen for the 3D collision avoidance system. The UAV's obstacle recognition and collision avoidance performance are also tested in four experiments. In various flight conditions, the 3D collision avoidance system can identify several material types and opacities by integrating selected rangefinders. Finally, the 3D collision avoidance system quickly reacts to obstacles in the X, Y, and Z axes. ABSTRAK: Kenderaan udara tanpa pemandu (UAV) telah dibangunkan dan diperhalusi selama beberapa dekad. Menggunakan sistem perisian bersepadu, kenderaan udara tanpa pemandu (UAV) autonomi melaksanakan misi secara automatik dan kembali ke titik pra-diprogramkan. Malaysia mempunyai banyak ruang udara yang tidak berpenghuni, namun aplikasi dan penyelidikan UAV autonomi masih jarang berlaku. Dalam keadaan kritikal, UAV autonomi mesti menangani pelbagai isu alam sekitar dan penerbangan. Projek ini melibatkan sistem pengelakan perlanggaran 3D terpencar untuk UAV autonomi. Pencari jarak ultrasonik, inframerah dan laser telah dipilih untuk sistem pengelakan perlanggaran 3D. Prestasi pengecaman halangan dan pengelakan perlanggaran UAV juga diuji dalam empat eksperimen. Dalam pelbagai keadaan penerbangan, sistem pengelakan perlanggaran 3D boleh mengenal pasti beberapa jenis bahan dan kelegapan dengan menyepadukan pencari jarak terpilih. Akhir sekali, sistem pengelakan perlanggaran 3D bertindak balas dengan cepat terhadap halangan dalam paksi X, Y dan Z.

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“…Uranus 31) as shown in Fig. 15 was the first OMR with mecanum wheels sensors and controllers, developed and fabricated in Carnegie Mellon University [32][33] . This robot was built to enhance the research in indoor robot navigation.…”

Section: Field Of Educationmentioning

confidence: 99%

A Theoretical Review of Mobile Robot Locomotion based on Mecanum Wheels

Yadav¹,

Agrawal²,

Mohanta³

et al. 2022

Evergreen

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The motivation behind this paper is to introduce a broad survey identified with pragmatic applications for portable robot stages dependent on specific wheels. In today's technology of mobile robots, Omni-directional wheels are trending in almost every field such as flying robot, swarm robotics and humanoid applications etc. Among them, Omni-Directional Mobile Robot (OMR) with mecanum wheels are mostly preferred due to their versatility, limited space, low cost and endurance. They can undoubtedly navigate in a jam-packed environment with dynamic imperatives, or parochial regions. This paper describes the highlights of the practical application of the mecanum wheel in different fields with their classifications, methodologies and comparison with the conventional wheels. Their merits and demerits and future utilities in the application of mobile robot navigation are also proposed in this paper.

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Development of smart quadcopter for autonomous overhead power transmission line inspections

Cited by 17 publications

References 11 publications

Optimal path planning for emergency inspection of large-scale transmission lines considering complex terrain

Optimal path planning for emergency inspection of large-scale transmission lines considering complex terrain

3d Collision Avoidance System for Unmanned Aerial Vehicle (Uav) With Decentralized Approach

A Theoretical Review of Mobile Robot Locomotion based on Mecanum Wheels

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