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

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A parallel link scanner for inspection of bores and tubes 一种平行连杆扫描器，用于检查孔和管
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624427
W. Zesch, E. Zwicker, M. Wiesendanger, James F Knowles
{"title":"A parallel link scanner for inspection of bores and tubes","authors":"W. Zesch, E. Zwicker, M. Wiesendanger, James F Knowles","doi":"10.1109/CARPI.2010.5624427","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624427","url":null,"abstract":"This paper shows a novel scanner to inspect hollow components such as tubes, hollow bolts or rotors with a central bore using ultrasound technology (UT). It uses a flexible lance which can be bent to get around obstacles such as tube elbows or turbine housings. A parallel link drive consisting of 2 motor-driven disks with inclined rollers drives the lance. As the coordinate system of the 2 motors is not Cartesian, a coordinate transformation is to be applied between the motor/encoder positions and the position information to be send to the measurement device. For this reason a microcontroller is built into the scanner. As an additional benefit, a cumbersome and heavy external motor controller, most often used today, is no longer needed. The system is operated via an easy-to-understand graphical user interface from a standard laptop PC or similar.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"20 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":"117166139","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: 0
Underwater robotized high speed machining for maintenance 水下机器人高速维修加工
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624451
N. Jardin, V. Delalande, B. Delaunay
{"title":"Underwater robotized high speed machining for maintenance","authors":"N. Jardin, V. Delalande, B. Delaunay","doi":"10.1109/CARPI.2010.5624451","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624451","url":null,"abstract":"EDF studies the maintenance of its main nuclear components. Until now, maintenance strategies need to operate in air, after draining water from the component. A great benefit is identified to perform its operation underwater. This paper deals with the study of one of the main processes used for maintenance, milling, implemented underwater. The study demonstrated the feasibility of underwater robotized high speed machining for maintenance and prove there is no significant difference with the same process in air.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"15 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":"115109676","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
Control of a brachiating robot for inspection of aerial power lines 架空电力线巡检用摆动机器人的控制
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624469
V. D. de Oliveira, W. F. Lages
{"title":"Control of a brachiating robot for inspection of aerial power lines","authors":"V. D. de Oliveira, W. F. Lages","doi":"10.1109/CARPI.2010.5624469","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624469","url":null,"abstract":"The present work addresses the problem of realtime predictive control of a brachiating robot. The robot is constrained (underactuated, limited torque) and a multivariable system, which implies a very difficult problem due to the large amount of on-line computation that is required. Previous works demonstrated that it is not possible to consider the nonlinear model-based MPC under real-time constraints. To overcome this problem we present a linearized model-based MPC, which is able to be handled under real-time constraints.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"59 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":"121777329","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
High performance teleoperation for industrial work robots 用于工业工作机器人的高性能遥操作
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624472
Bill Ross, D. LaRose, Hank Wilde, L. D. Baker
{"title":"High performance teleoperation for industrial work robots","authors":"Bill Ross, D. LaRose, Hank Wilde, L. D. Baker","doi":"10.1109/CARPI.2010.5624472","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624472","url":null,"abstract":"We have developed a set of perception and control technologies to support practical and effective teleoperation of industrial work robots for use in a variety of industries and tasks. This system is suitable for control of remote mobile robots and manipulators in industrial settings, contaminated or hazardous areas, and on remote platforms over low-bandwidth communications links and would be especially well suited to a variety of applications in power generation and transmission. Our approach combines high-quality, bandwidth-adaptable, 360 degree video, a persistent virtual 3D view of the workspace which is built on the fly, and a robust operator control system to provide a highly effective teleoperation system. This system provides good operator performance over a wide range of available bandwidths, enhanced operator situational awareness, and is resistant to the adverse effects of communications interruptions and slow-downs.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"56 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":"127672411","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: 3
A prototype of a specialized robotic system for repairing hydraulic turbine blades 用于修复水力涡轮机叶片的专用机器人系统的原型
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624449
J. M. Motta, C. Llanos, G. C. Carvalho, S. A. Alfaro
{"title":"A prototype of a specialized robotic system for repairing hydraulic turbine blades","authors":"J. M. Motta, C. Llanos, G. C. Carvalho, S. A. Alfaro","doi":"10.1109/CARPI.2010.5624449","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624449","url":null,"abstract":"This article presents an ongoing R&D project aiming at designing and constructing a specialized welding robotic system for repairing hydraulic turbine blades eroded by cavitation pitting, reducing human risks and increasing the efficiency of the process. The robotic system has a spherical topology with 5 degrees of freedom, electric stepper motors and a 2.5m-diameter workspace. The system has an embedded measurement system with a vision sensor built to produce range images by scanning laser beams on the blade surface. The range images are used to construct 3-D models of the blade surface and locate the damaged spots to be recorded into the robot controller in 3-D coordinates, enabling the robot to repair the flaws automatically by welding in layers. The robot controller and measurement system are built in an FPGA based reconfigurable system. The welding process is the GMAW with a tubular metal cored electrode with a pulsed GMA welding machine.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"114 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":"127126552","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: 9
About the future of power line robotics 关于电力线机器人的未来
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624466
Serge Montambault, N. Pouliot
{"title":"About the future of power line robotics","authors":"Serge Montambault, N. Pouliot","doi":"10.1109/CARPI.2010.5624466","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624466","url":null,"abstract":"This paper presents the authors' view on how mobile robotics should evolve to maximize its impact on power line inspection and maintenance practices. Key factors to be considered for successful implementation in maintenance operations on transmission systems are discussed. High-value applications to be targeted are presented. Fields of research to be investigated for high-performance robotic device design are suggested, as they will eventually lead to autonomous systems, capable of accomplishing high-dexterity maintenance tasks. Lastly, the authors share their thoughts on how robotics is clearly part of the solution to developing a smart transmission grid.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"20 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":"132396229","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
Development of a novel power transmission line inspection robot 新型输电线路巡检机器人的研制
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624450
Ludan Wang, Fei Liu, Zhen Wang, S. Xu, Sheng Cheng, Jianwei Zhang
{"title":"Development of a novel power transmission line inspection robot","authors":"Ludan Wang, Fei Liu, Zhen Wang, S. Xu, Sheng Cheng, Jianwei Zhang","doi":"10.1109/CARPI.2010.5624450","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624450","url":null,"abstract":"A mobile robot based on novel line-walking mechanism is proposed for inspecting power transmission lines. The novel mechanism enables the centroid of the robot to concentrate on the hip joint to minimize the drive torque of the hip joint and keep the robot stable when only on leg is hung on line. After reviewing of the line-walking mechanism, power line inspection robot is described in detail. The pose adjustment analysis is carried out to make sure that the robot will keep in stable state when rolling on the power transmission line which forms a catenary curve. The obstacle-navigation cycle of the designed inspection robot is composed of a single-support phase and a double-support phase. The centroid of the robot will be adjusted to shift to the other leg to start a new single-support phase. The feasibility of this concept is then confirmed by performing experiments with a simulated line environment.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"12 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":"121146384","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
Research on a new crawler type inspection robot for power transmission lines 一种新型履带式输电线路巡检机器人研究
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624471
Jidai Wang, Aiqin Sun, Candong Zheng, Jihong Wang
{"title":"Research on a new crawler type inspection robot for power transmission lines","authors":"Jidai Wang, Aiqin Sun, Candong Zheng, Jihong Wang","doi":"10.1109/CARPI.2010.5624471","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624471","url":null,"abstract":"The mechanical structure and control system for a new crawler type of robots is presented in this paper. The type of the robot is designed for power transmission line inspections. The new crawler type of the robot is composed of three arms and a balance mechanism, which are all joined together through a base. The distributed and hierarchical control strategy for this new robot is proposed in combination with a rule based expert system for optimal decision making. The proposed control strategy has been organized into three levels hierarchically. Compared with other robot structures, this new type of robot has a simpler structure. It has been proved that this type of new robot has higher efficiency in obstacle crossing through the simulation and experiments operating with the prototype of the model machine. Its intelligent control strategy has demonstrated its competitive advantages. The crawler type inspection robot is a attempt for developing a new robot structure to be used for high voltage power transmission line inspection.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"9 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":"129383232","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
Reachability analysis of the RIOL robot RIOL机器人的可达性分析
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624459
J. Sequeira
{"title":"Reachability analysis of the RIOL robot","authors":"J. Sequeira","doi":"10.1109/CARPI.2010.5624459","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624459","url":null,"abstract":"The paper presents the reachability analysis for the RIOL robot prototype for power line inspection. The robot is a 5-dof articulated multibody with three claws able to move with statically stable gaits. The claws are assumed to grasp the line with some compliance and hence the reachable positions by each the claws are those that compensate for torques induced by gravity.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"273 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":"115279449","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
System development of a Robotic Pole Manipulator 机器人极点机械手的系统开发
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624420
A. Turner, Derek C. Wilson
{"title":"System development of a Robotic Pole Manipulator","authors":"A. Turner, Derek C. Wilson","doi":"10.1109/CARPI.2010.5624420","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624420","url":null,"abstract":"A design concept for a Robotic Pole Manipulator equipped with an advanced, intelligent controller is presented. The concept was developed for wooden poles up to 55 ft length, but is scalable for use with poles of larger dimensions and different materials. The concept is based on a truck-mounted articulating crane with hydraulic gripper. The crane and gripper are equipped with position sensors to provide closed loop position control feedback to an inverse kinematics controller. The primary human-machine interface is through one or two hand controllers. The system is also equipped with an integrated pole jack and an insulated winch boom to be used to hoist transformers and other equipment for installation within a power distribution network.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"51 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":"127214706","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
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