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2010 1st International Conference on Applied Robotics for the Power Industry最新文献

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Overview of robotic applications for energized transmission line work — Technologies, field projects and future developments 机器人在输电线工作中的应用综述——技术、现场工程和未来发展
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624478
D. Elizondo, T. Gentile, Hans Candia, G. Bell
{"title":"Overview of robotic applications for energized transmission line work — Technologies, field projects and future developments","authors":"D. Elizondo, T. Gentile, Hans Candia, G. Bell","doi":"10.1109/CARPI.2010.5624478","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624478","url":null,"abstract":"The increase in live-line work procedures has stimulated the development and use of robotic devices to minimize risk to field personnel safety and to power system reliability when performing live-line work. This paper provides an overview of the current state-of-the-art and an assessment of the future directions for transmission line robotics and includes automation and robotics technologies for transmission line maintenance, assessment/monitoring, and repair. Furthermore, the focus is on applications, real world experiences and detailed technology descriptions of robots for energized transmission line work. This paper presents partial results from a project performed by Quanta Technology for the Transmission Line Asset Management Group of CEATI International and includes three main phases: robotic technologies, results of utility surveys and results from interviews with utilities and robot service providers.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"30 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":"125713091","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: 21
Automated abrasive water jet pin cutting system 自动磨料水射流销切割系统
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624467
V. de Vries, R. Moser, P. Roth
{"title":"Automated abrasive water jet pin cutting system","authors":"V. de Vries, R. Moser, P. Roth","doi":"10.1109/CARPI.2010.5624467","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624467","url":null,"abstract":"After a long operation time, steam turbine blades need to be removed, inspected and/or replaced. Numerous steam turbine fleets feature blades that are attached to the rotor discs by the means of pins. To change these blades, the pins have to be removed. At the time being, the pins are removed using a hydraulic jack. Roughly ten percent of the pins of a steam turbine rotor need to be drilled out due to strains and deformation of the pin. The drilling process is very time consuming and implicates a high risk of damaging the disc. ALSTOM has developed a new system for steam turbine pin removal using abrasive water jet cutting technology with respect to the geometrical and process requirements. The new system can therefore be applied to nearly any large steam turbine rotor. The system basically consists of a robotic tool including a precise camera, a cutting nozzle and a catcher, a pump system and a control unit. The main aim of the application of the new water jet cutting system is to weaken the pin as far as it can be pushed out using a hydraulic jack.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"8 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":"124999595","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
Robot for rotor blade inspection 用于转子叶片检测的机器人
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624444
N. Elkmann, T. Felsch, Tilo Forster
{"title":"Robot for rotor blade inspection","authors":"N. Elkmann, T. Felsch, Tilo Forster","doi":"10.1109/CARPI.2010.5624444","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624444","url":null,"abstract":"Rotor blades of wind energy converters are highly stressed components subject to constant load cycles. Regular inspections of rotor blades are indispensible for reliable operation and cost effective production without longer downtimes. Insurers and lenders demand routine inspection of rotor blades every two years. The wide range of damage that occurs on rotor blades greatly depends on the construction of the blades. Inspection must primarily detect damage caused by delamination, bonding defects, lightning strikes, air inclusions and cracks. Automated inspection of rotor blades with service robots is one of the Robotic Systems Business Unit's interesting fields of research. This paper presents the results of the joint project RIWEA. The Fraunhofer IFF developed a concept for a robot system that automatically inspects rotor blades.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"66 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":"128370172","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: 34
Transmission line inspection robot and deicing robot: Key technologies, prototypes and applications 输电线路巡检机器人、除冰机器人:关键技术、原型及应用
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624452
Gongping Wu, Hua Xiao, Xiaohui Xiao, Z. Huang, Yingsong Li
{"title":"Transmission line inspection robot and deicing robot: Key technologies, prototypes and applications","authors":"Gongping Wu, Hua Xiao, Xiaohui Xiao, Z. Huang, Yingsong Li","doi":"10.1109/CARPI.2010.5624452","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624452","url":null,"abstract":"This paper proposes four types of mobile robots for transmission line, namely, three types of inspection robots and one type of deicing robot, which were developed by Wuhan University since 2001 in China. The mobile robots equipped with inspection sensors/instruments, deicing manipulator, and communication devices, are able to automatically perform on-line detection/inspection of mechanical/electrical failures or deicing in disaster via self-navigation without suspending power supply. The key technologies, including the combined mechanism of robot body and manipulators, obstacles' identify and robot's pose self-detection, power supply and energy monitoring, and control system are discussed. Finally four types of prototypes and their application tests are performed to valid the effectiveness of proposed technologies and the integrated robot system.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"96 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":"126885457","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: 24
Research on the motion system of the inspection robot for 500kV power transmission lines 500kV输电线路巡检机器人运动系统研究
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624440
L. Fang, H. G. Wang
{"title":"Research on the motion system of the inspection robot for 500kV power transmission lines","authors":"L. Fang, H. G. Wang","doi":"10.1109/CARPI.2010.5624440","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624440","url":null,"abstract":"This paper presents a motion system design of the mobile robot of 500kV power transmission lines. Based on analyses of the influence of the working environment, the robot motion properties, centroid adjustment process, and typical obstacle-clearing processes are presented in this paper. And the robot motion mechanism, component structure, and motion control method are also discussed in the paper.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"184 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":"123066889","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: 10
Vision-aided inertial navigation for power line inspection 电力线检测用视觉辅助惯性导航
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624435
J. Tardif, M. George, Michel Laverne, A. Kelly, A. Stentz
{"title":"Vision-aided inertial navigation for power line inspection","authors":"J. Tardif, M. George, Michel Laverne, A. Kelly, A. Stentz","doi":"10.1109/CARPI.2010.5624435","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624435","url":null,"abstract":"We present a stereo vision-aided inertial navigation system and demonstrate its potential in power line inspection at close range using an unmaned aerial vehicle. This is made possible by recent developments in visual odometry and a newly proposed algorithm for the loose coupling of an inertial measurement unit and visual odometry. Our experiments show promising results.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"41 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":"123098437","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
Application of robotics for the nuclear power plants in Korea 机器人技术在韩国核电站的应用
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624417
Seungho Kim, Seungho Jung, S. Lee, Chang Hoi Kim, Hocheol Shin, Yongchil Seo, N. H. Lee, Kyung-Min Jung
{"title":"Application of robotics for the nuclear power plants in Korea","authors":"Seungho Kim, Seungho Jung, S. Lee, Chang Hoi Kim, Hocheol Shin, Yongchil Seo, N. H. Lee, Kyung-Min Jung","doi":"10.1109/CARPI.2010.5624417","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624417","url":null,"abstract":"Nuclear energy has become a major energy source to worldwide, even though we are still debating the environmental and safety aspects. In order to cope with that safety issues related to the nuclear power plants, the uncertain human factors needs to be minimized by automating the inspection and maintenance work done by human workers. The demands of a robotic system in the nuclear industry have been growing to ensure the safety of nuclear facilities, to detect early an unusual condition of it through an inspection, to protect the human workers from an irradiation, and to maintain it efficiently.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"151 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":"121456556","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: 23
Climbing and pole line hardware installation robot for construction of distribution lines 配电线路施工爬杆线硬件安装机器人
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624474
J. Allan, S. Lavoie, S. Reiher, G. Lambert
{"title":"Climbing and pole line hardware installation robot for construction of distribution lines","authors":"J. Allan, S. Lavoie, S. Reiher, G. Lambert","doi":"10.1109/CARPI.2010.5624474","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624474","url":null,"abstract":"This paper presents a new robot prototype for the construction of Hydro-Québec's overhead distribution lines. It details the main sub-systems of the robot, such as the climbing system (for climbing poles), the crossarm manipulation system (which handles crossarms and selects tools for drilling holes and inserting bolts), and the bolting system (for fixing crossarms and braces on poles). The robot is made to ascend and descend a pole by teleoperation, and the installation of a pre-assembled crossarm (with brace, pins, insulators and clamps) at the top of a 40-foot pole is performed in full automatic mode. Tests have demonstrated the efficiency of this robotized construction method in installing the line hardware of a three-phase distribution line on a 40-foot pole in 25 minutes.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"71 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":"115065211","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: 15
On the application of VTOL UAVs to the inspection of power utility assets 浅谈垂直起降无人机在电力资产巡检中的应用
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624443
Serge Montambault, J. Beaudry, Kristopher Toussaint, N. Pouliot
{"title":"On the application of VTOL UAVs to the inspection of power utility assets","authors":"Serge Montambault, J. Beaudry, Kristopher Toussaint, N. Pouliot","doi":"10.1109/CARPI.2010.5624443","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624443","url":null,"abstract":"This paper presents a review of the state of the art and a discussion on vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) applied to the inspection of power utility assets and other similar civil applications. The first part of the paper presents the authors' view on specific benefits and operation constraints associated with the use of UAVs in power industry applications. The second part cites more than 70 recent publications related to this field of application. Among them, some present complete technologies while others deal with specific subsystems relevant to the application of such mobile platforms to power line inspection. The authors close with a discussion of key factors for successful application of VTOL UAVs to power industry infrastructure inspection.","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":"114137360","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: 71
Dedicated and standard industrial robots used as force-feedback telemaintenance remote devices at the AREVA recycling plant 专用的标准工业机器人在阿海珐回收厂用作力反馈远程维护远程设备
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624418
G. Piolain, F. Geffard, A. Coudray, P. Garrec, J. Thro, Y. Perrot
{"title":"Dedicated and standard industrial robots used as force-feedback telemaintenance remote devices at the AREVA recycling plant","authors":"G. Piolain, F. Geffard, A. Coudray, P. Garrec, J. Thro, Y. Perrot","doi":"10.1109/CARPI.2010.5624418","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624418","url":null,"abstract":"CEA LIST and AREVA have been developing remote operations devices, also called telerobotics for 15 years. These tools were designed for interventions in the AREVA nuclear spent fuel facilities hot cells. From these 15 years of joint research and development, several technological bricks have been industrialized and used at the AREVA La Hague facilities. This article presents some of these bricks and their industrial developments. The “TAO2000” CEA LIST telerobotics generic software controller will be first discussed. This controller has been used to teleoperate dedicated slave arms like the MT200 TAO (an evolution of the conventional wall-transmission mechanical telemanipulator (MSM) [3]) as well as industrial robotic arms like the Stäubli RX robots. Both the MT200 TAO and Stäubli RX TAO telerobotics systems provide force-feedback and are now ready to be used as telemaintenance tools at the AREVA La Hague facilities. Two recent maintenance operations using these tools will be detailed at the end of this paper.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"38 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":"114616220","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: 18
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