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Haptic-enabled control of hydraulic manipulators applied to power line maintenance: Concept & implementation 用于电力线维护的液压机械手触觉控制:概念与实现
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624416
Kurosh Zarei-nia, N. Sepehri, Tim Olson, W. Mueller
{"title":"Haptic-enabled control of hydraulic manipulators applied to power line maintenance: Concept & implementation","authors":"Kurosh Zarei-nia, N. Sepehri, Tim Olson, W. Mueller","doi":"10.1109/CARPI.2010.5624416","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624416","url":null,"abstract":"In this paper, we present development of a scheme enabling a commercially available hydraulic robot to work with a haptic device performing live-line maintenance tasks. Presently live line maintenance is done manually by operators working in locations high above the ground and near high voltage power lines. Ground-level teleoperation of a hydraulic manipulator using a haptic device can potentially increase safety and productivity. The proposed hapto-robotic system is built upon the concept of virtual fixtures. Impedance-type forbidden region virtual fixture is used to help the robot to perform tasks. The control system configures virtual fixtures in the workspace based on the required task. The effectiveness of the system is shown by emulating several live power line maintenance tasks in the laboratory. It is shown that many tasks can be done even by an unskilled operator using the proposed haptically-enabled teleoperation system, which uses intelligence of the human operator along with the accuracy of the manipulator.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"215 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124247335","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}
引用次数: 6
The specific requirements of applied robots for the power utility 电力工业对应用机器人的具体要求
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624421
Binhai Wang, Lei Han, Bingqiang Li
{"title":"The specific requirements of applied robots for the power utility","authors":"Binhai Wang, Lei Han, Bingqiang Li","doi":"10.1109/CARPI.2010.5624421","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624421","url":null,"abstract":"This paper is not to describe any new designs or theories. However, we would like to share some field experience in applied engineering. The applied robotics is not only designs or theories but the field experience as well. From the engineering-oriented and applying-oriented views, however, it was found that there was a long way to go from the lab design to the field application. In this paper, four specific requirements of applied robots are presented, including power supplying, communication, security and safety, and installation and running. The practical cases are described afterwards. We hope that the addressed issues can help the researchers in electric power robotics in their researches.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120951425","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}
引用次数: 6
Development of an autonomous helicopter for aerial powerline inspections 用于空中电力线检查的自主直升机的开发
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624432
S. Hrabar, T. Merz, Dennis Frousheger
{"title":"Development of an autonomous helicopter for aerial powerline inspections","authors":"S. Hrabar, T. Merz, Dennis Frousheger","doi":"10.1109/CARPI.2010.5624432","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624432","url":null,"abstract":"Autonomous mini-helicopters have been seen as a viable option for aerial-based powerline inspections, however there are numerous research and engineering challenges in developing a system capable of achieving this task in a dependable manner. We have developed an autonomous helicopter as a research platform which will allow us to demonstrate proof-of-concept capabilities for powerline inspections. Through numerous development cycles and from flight test experience we have gained insights into the key challenges in this area. We discuss these insights, describe the helicopter platform and present our research progress in the area of obstacle avoidance for mini-helicopters.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124861394","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}
引用次数: 41
Smart view for a smart grid — Unmanned Aerial Vehicles for transmission lines 智能电网的智能视图——输电线路的无人机
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624465
J. Tóth, A. Gilpin-Jackson
{"title":"Smart view for a smart grid — Unmanned Aerial Vehicles for transmission lines","authors":"J. Tóth, A. Gilpin-Jackson","doi":"10.1109/CARPI.2010.5624465","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624465","url":null,"abstract":"British Columbia Transmission Corporation (BCTC) operates high voltage transmission lines over mountainous terrain and remote locations, relying heavily on helicopters to maintain the system. This is inherently dangerous, expensive and has a negative impact on the company's Green House Gas emissions. Unmanned Aircraft Systems (UAS) are already a proven asset for military operations globally and with some modifications can be deployed along electric transmission lines as platforms for various sensors and multi-spectral camera systems. This paper reviews some of the possible applications of UAS in BCTC for routine and emergency line inspections and discusses the required system features based on internal research and needs assessments. A high level review of public literature also introduces some commercially available UAS with varying capacity, sophistication and autonomy. As pointed out in this paper, feature standardization as well as collaboration with regulators is required if UAS are to achieve widespread civilian commercial use.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126971349","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}
引用次数: 40
Over head line real-time tracking for automatic inspection or user interface enhancement 在头线实时跟踪自动检查或用户界面增强
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624473
J. Gomes-Mota, Tiago Gusmao
{"title":"Over head line real-time tracking for automatic inspection or user interface enhancement","authors":"J. Gomes-Mota, Tiago Gusmao","doi":"10.1109/CARPI.2010.5624473","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624473","url":null,"abstract":"Power line maintenance inspection builds around real time signal processing and mobile robotics techniques. The authors show how to take advantage of hardware and software dedicated to inspection to improve the process. Hardware solutions are first developed on the ground and later transferred to airborne systems when airworthiness compliance is verified. Over-head line tracking is based on a two stage procedure: a coarse LiDAR tracking followed by a refined video tracking. Automatic tracking allows for surveys to be carried autonomously while inspectors focus on higher level issues. Real time is essential to assist the airborne inspection crew and to improve safety. Investigation of helicopter accidents directed the research towards practical tools that minimise inspection risk. Also, real time is an effective feature to build confidence in the robotics system, improve human efficiency and reciprocally, to improve the robotics with human know-how.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116535763","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}
引用次数: 1
Underactuated versatile gripper for the cleaning of nuclear sites 用于核设施清洁的欠驱动多用途夹持器
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624464
C. Gosselin, T. Laliberté
{"title":"Underactuated versatile gripper for the cleaning of nuclear sites","authors":"C. Gosselin, T. Laliberté","doi":"10.1109/CARPI.2010.5624464","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624464","url":null,"abstract":"This paper presents a ten-degree-of-freedom robotic gripper developed for the cleaning of nuclear sites. First, the principle of underactuation is briefly recalled. The contingencies of the application are exposed and the possible geometric arrangements of the fingers are investigated. The design of the underactuated 3-phalanx fingers is then presented. The mechanisms and transmissions used to drive the fingers are also discussed. Finally, a prototype and a functional gripper are shown and test results clearly demonstrate the capabilities of the robotic gripper.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123657232","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}
引用次数: 11
Robotic removal of high-activity debris from a nuclear primary heat transfer system 机器人从核主热传递系统中去除高活性碎片
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624480
A. Hamilton, S. Burany, S. B. Peralta, Lindsay Greenland
{"title":"Robotic removal of high-activity debris from a nuclear primary heat transfer system","authors":"A. Hamilton, S. Burany, S. B. Peralta, Lindsay Greenland","doi":"10.1109/CARPI.2010.5624480","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624480","url":null,"abstract":"A unique remote robotic solution, consisting of four single-purpose robots utilized in series, was used to successfully address the extraction of a high-activity source in the drain line of a nuclear generating station heat exchanger. The source activity was such that safety could be compromised in a manual extraction. In addition, the source was located in a confined space, necessitating design of a compact, radiation-hard, remotely-controlled solution. This paper reviews the strategy for extraction, design considerations, testing and execution, with a view to providing operational experience for future.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114346314","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}
引用次数: 5
Robotic approach to improve turbine surface finish 提高涡轮表面光洁度的机器人方法
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624446
M. Sabourin, F. Paquet, B. Hazel, J. Côté, P. Mongenot
{"title":"Robotic approach to improve turbine surface finish","authors":"M. Sabourin, F. Paquet, B. Hazel, J. Côté, P. Mongenot","doi":"10.1109/CARPI.2010.5624446","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624446","url":null,"abstract":"This paper describes the approach taken by Alstom and Hydro-Quebec (HQ) in the development of robotic polishing to improve turbine efficiency by reducing surface roughness. Modern, large hydraulic turbines are profiled by a 5-axis milling machine and are polished manually. By robotizing the polishing, it becomes possible to obtain a better surface finish at a reasonable cost, and to reduce hydrodynamic friction loss. HQ's portable robot Scompi was used to perform the polishing. Recent developments made by the supplier of the abrasives have resulted in their increased durability and improved productivity. A technique was developed to select the polishing process parameters best suited to a given surface waviness and roughness. A polishing test was carried out on a full-scale Francis turbine blade. The surface finish was lowered from Ra=15µm to Ra=0.1µm and the waviness (scallop 0.2mm tall and 30mm wide) was grinded away at a rate of 5 hour/m2.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121805454","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}
引用次数: 22
Longitudinal dynamics modeling of the RIOL robot RIOL机器人纵向动力学建模
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624463
J. Sequeira
{"title":"Longitudinal dynamics modeling of the RIOL robot","authors":"J. Sequeira","doi":"10.1109/CARPI.2010.5624463","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624463","url":null,"abstract":"This paper describes the longitudinal dynamics modeling of the RIOL robot. This robot is designed to move hanging on a suspended cable in applications such as the inspection of electric power lines and aerial monitoring/surveillance. The main characteristics of the robot are described along with simulation results for full and reduced models of the longitudinal dynamics and respective comparison using L2 gain estimates.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132259635","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}
引用次数: 2
Research of power transmission line maintenance robots in SIACAS SIACAS输电线路维护机器人的研究
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624428
Wan HongGuang, Jiang Yong, L. Aihua, Fang Lijin, Ling Lie
{"title":"Research of power transmission line maintenance robots in SIACAS","authors":"Wan HongGuang, Jiang Yong, L. Aihua, Fang Lijin, Ling Lie","doi":"10.1109/CARPI.2010.5624428","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624428","url":null,"abstract":"To monitor the running conditions and find out the damages of the power grids, the robotic technologies have been applied to conduct the inspection tasks of power transmission lines (PTLs) instead of worker or helicopter. Supported by the national high technology research and development program of China from 2002, the state key laboratory of robotics, Shenyang institute of automation, Chinese academy of sciences (SIACAS), has been focusing on the development of the inspection robot for 500kV extra high voltage (EHV) PTLs. Up to now, three generations of the inspection robot prototypes have been developed. In this paper, an overview of the research for these prototypes by SIACAS is given. Then, two latest developments which include a PTLs inspection robot and an insulator detection robot are introduced, respectively. The key technologies such as mechanism, control system, and operation modes, are described in detail. Field experimental results show that the robot prototypes can carry out the practical inspection tasks for 500kV EHV PTLs.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127061169","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}
引用次数: 31
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