Systems integration in telerobotics: case study: maintenance of electric power lines

Boyer, M.

doi:10.1109/robot.1996.506846

Cited by 25 publications

(8 citation statements)

References 5 publications

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“…Mobility of sensor-carrying grippers makes possible perturbation position control, which provide additional sensitivity and selectivity improvement. The classic differential uncertainty analysis suggests that in a multiparameter measurement of dielectric permittivity , the measurement uncertainty is (5) where are individual sensor output variables (not parameters of interest, but intermediate variables). The dependence of on is determined using numerical modeling or through analytical expressions.…”

Section: Parameter Estimation Algorithmsmentioning

confidence: 99%

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Robotic Monitoring of Power Systems

Jiang

Mamishev

2004

IEEE Trans. Power Delivery

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Monitoring of electric power systems in real time for reliability, aging status, and presence of incipient faults requires distributed and centralized processing of large amounts of data from distributed sensor networks. To solve this task, cohesive multidisciplinary efforts are needed from such fields as sensing, signal processing, control, communications, optimization theory, and, more recently, robotics. This review paper focuses on one trend of power system monitoring, namely, mobile monitoring. The developments in robotic maintenance for power systems indicate significant potential of this technological approach. Authors discuss integration of several important relevant sensor technologies that are used to monitor power systems, including acoustic sensing, fringing electric field sensing, and infrared sensing.

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Section: Parameter Estimation Algorithmsmentioning

confidence: 99%

“…It was shown that the systems are fully capable of performing distribution line construction work using stereoscopic TV camera system. Several other teleoperated robots have been developed for live-line maintenance in Japan [3], [4], Canada [5], Spain [6], and other locations.…”

Section: Introductionmentioning

confidence: 99%

Robotic Monitoring of Power Systems

Jiang

Mamishev

2004

IEEE Trans. Power Delivery

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“…Most robot systems for power distribution developed have not substantially progressed past their R&D stages, with a very limited place in the work practices of electric utilities [1]. One of the more famous robot systems for the maintenance of overhead distribution lines is the remote control robot system of Hydro Quebec [2]. This robot system is made up of two hydraulic robots teleoperated from an aerial cabin placed on the top of a boom and an auxiliary arm capable of very long access [3].…”

Section: Introductionmentioning

confidence: 99%

Autonomous Live-Line Maintenance Robot for a 10 kV Overhead Line

Feng

Zhang

2021

IEEE Access

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Live work is a dangerous and complex operation that endangers the lives of operators. This paper presents an autonomous live-line maintenance robot (ALMR), which is applied to 10 kV overhead lines. The ALMR can complete most of the operations automatically, requiring only a small amount of correction and operation. The paper briefly introduces the overall design of the ALMR. The main part of the paper describes the work carried out to realize automatic operation: (1) Propose a dynamic hierarchical task planning method that can decompose complex operations into a sequence of instructions that the robot can directly execute and can effectively deal with unexpected situations during operation; (2) solve the problem of recognition and positioning of cables under outdoor sunlight interference and complex backgrounds;(3) realize the robot's motion planning in the live-line scene; (4) build a virtual environment to solve the telepresence problem of remote operation. Field experiments show that the ALMR can replace manual operations such as connecting and disconnecting lead-flow lines, and the operating efficiency is close to that of manual operations.

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“…Early robotic systems for live-line maintenance include the remote-controlled robot system of Quebec Hydropower in Canada [2,3], the Spanish remote robot system ROBTET [4], and the Japanese robot phase series [5]. These robot systems are all operated remotely, and an operator manually controls a robot arm to perform complicated tasks.…”

Section: Introductionmentioning

confidence: 99%

An Efficient RRT Algorithm for Motion Planning of Live-Line Maintenance Robots

Feng

Wei-jun

2021

Applied Sciences

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The application of robots to replace manual work in live-line working scenes can effectively guarantee the safety of personnel. To improve the operation efficiency and reduce the difficulties in operating a live-line working robot, this paper proposes a multi-DOF robot motion planning method based on RRT and extended algorithms. The planning results of traditional RRT and extended algorithms are random, and obtaining sub-optimal results requires a lot of calculations. In this study, a sparse offline tree filling the planning space are generated offline through the growing–withering method. In the process of expanding the tree, by removing small branches, the tree can fully wiring in the planning space with a small number of nodes. Optimize wiring through a large number of offline calculations, which can improve the progressive optimality of the algorithm. Through dynamic sampling and pruning, the growth of trees in undesired areas is reduced and undesired planning results are avoided. Based on the offline tree, this article introduces the method of online motion planning. Experiments show that this method can quickly complete the robot motion planning and obtain efficient and low-uncertainty paths.

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Systems integration in telerobotics: case study: maintenance of electric power lines

Cited by 25 publications

References 5 publications

Robotic Monitoring of Power Systems

Robotic Monitoring of Power Systems

Autonomous Live-Line Maintenance Robot for a 10 kV Overhead Line

An Efficient RRT Algorithm for Motion Planning of Live-Line Maintenance Robots

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