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Design of ROVs for the Mexican power and oil industries 墨西哥电力和石油工业的rov设计
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624437
T. Salgado-Jiménez, J. L. Gonzalez-Lopez, J. Pedraza-Ortega, L. García-Valdovinos, L. F. Martinez-Soto, P. A. Resendiz-Gonzalez
{"title":"Design of ROVs for the Mexican power and oil industries","authors":"T. Salgado-Jiménez, J. L. Gonzalez-Lopez, J. Pedraza-Ortega, L. García-Valdovinos, L. F. Martinez-Soto, P. A. Resendiz-Gonzalez","doi":"10.1109/CARPI.2010.5624437","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624437","url":null,"abstract":"Underwater robots have had a significant contribution in the inspection, maintenance and repair of underwater structures related to the power and oil industry. Underwater robots have a big potential application in Mexico due to, the two federal Mexican companies related with the power and oil are in constant expansion. CIDESI is working in two projects (Shadow water ROV and Deep water ROV) related to visual inspection ROVs applied to the power and oil industries. Visual inspection is the essential application for a ROV, and it is used into the tasks; underwater structure inspection (dams included), underwater oil production system inspection and underwater pipeline inspection. This applied research paper firstly gives a brief instruction of the two Mexican companies related with the power and oil. Subsequently a description of the objectives and main characteristics of the developed hallow and deep water ROVs are presented and finally a general conclusions and future work is listed.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"88 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":"124708274","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: 13
Advances in vegetation management for power line corridor monitoring using aerial remote sensing techniques 基于航空遥感技术的电力线走廊植被管理研究进展
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624431
Zhengrong Li, R. Walker, R. Hayward, L. Mejias
{"title":"Advances in vegetation management for power line corridor monitoring using aerial remote sensing techniques","authors":"Zhengrong Li, R. Walker, R. Hayward, L. Mejias","doi":"10.1109/CARPI.2010.5624431","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624431","url":null,"abstract":"This paper presents a comprehensive discussion of vegetation management approaches in power line corridors based on aerial remote sensing techniques. We address three issues 1) strategies for risk management in power line corridors, 2) selection of suitable platforms and sensor suite for data collection and 3) the progress in automated data processing techniques for vegetation management. We present initial results from a series of experiments and, challenges and lessons learnt from our project.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"70 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":"124237671","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: 25
In-situ robotic interventions in hydraulic turbines 水轮机现场机器人干预
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624460
B. Hazel, J. Côté, Y. Laroche, P. Mongenot
{"title":"In-situ robotic interventions in hydraulic turbines","authors":"B. Hazel, J. Côté, Y. Laroche, P. Mongenot","doi":"10.1109/CARPI.2010.5624460","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624460","url":null,"abstract":"This paper presents the development and implementation of a robotic technology designed to perform in-situ interventions in hydroelectric turbines. A new manipulator was designed with a unique, track-based kinematics well suited to access turbine blades in a confined space. As most work is done on curved surfaces, the robot relies on a curvilinear space model for trajectory generation. Several processes such as gouging, welding, grinding and hammer-peening have been integrated into the robot to facilitate the maintenance of turbines. The robots have been extensively employed by Hydro-Québec (HQ) for cavitation and crack repairs in its turbines. Recently, the robots were used to perform interventions in turbines based on fluid flow numerical analysis. For these new applications, a technology capable of reshaping the surface's profile with high precision was developed. More than 30 successful field interventions involving up to three robots working simultaneously have been performed in HQ turbines over the last 15 years.","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":"121881444","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: 12
Robotic systems for cleaning and inspection of large concrete pipes 用于清洁和检查大型混凝土管道的机器人系统
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624448
José Saenz, N. Elkmann, Thomas Stuerze, Sven Kutzner, H. Althoff
{"title":"Robotic systems for cleaning and inspection of large concrete pipes","authors":"José Saenz, N. Elkmann, Thomas Stuerze, Sven Kutzner, H. Althoff","doi":"10.1109/CARPI.2010.5624448","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624448","url":null,"abstract":"Concrete pipes are used in a variety of areas for conducting media underground (e.g. wastewater, cooling water, etc.) or for transportation purposes. Regular cleaning and inspection is required to ensure the static integrity of the pipe and to insure against the problems associated with failure of the pipe. In this paper, the SVM-RS system for cleaning and inspecting large concrete pipes will be presented. Various aspects of the robot including its kinematics, the cleaning system, the sensor system, the media supply, communications, as well as the control system and operator interface will be discussed in detail. The use of robust robotics for accurate positioning of high-pressure water nozzles in combination with non-destructive sensing techniques for navigation and inspection during normal pipe operation allows for a new standard in high-quality pipe cleaning and inspection. The latest cleaning and inspection results from tests in real sewers will be presented.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"16 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":"131852184","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
Master-slave servo manipulator system for the PRIDE facility PRIDE设备的主从伺服机械手系统
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624414
J. K. Lee, B. Park, H. Lee, Kiho Kim, Ho-dong Kim
{"title":"Master-slave servo manipulator system for the PRIDE facility","authors":"J. K. Lee, B. Park, H. Lee, Kiho Kim, Ho-dong Kim","doi":"10.1109/CARPI.2010.5624414","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624414","url":null,"abstract":"A prototype of a master-slave servo manipulator system has been developed for the use in the PRIDE (PyRoprocess Integrated inactive DEmonstration) facility. The PRIDE facility is designed to have an argon-atmosphere cell which prohibits direct access by human operators. Therefore, all the operation and maintenance of the process equipment is performed remotely through a master-slave manipulation. In this paper, we describe a motion-decoupled joint design of a cable-driven mechanism, a weight balancing analysis, and an interface system. The prototype manipulator system has been installed at a mock-up facility and the performance test of the manipulator system is currently carried out.","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":"132646036","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
Dynamic model and simulation of an inspection robot for power transmission lines: Preliminary results 输电线路巡检机器人的动力学模型与仿真:初步结果
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624479
L. García-Valdovinos, Arturo Velarde-Sanchez, L. del Llano-Vizcaya, T. Salgado-Jiménez, F. Hernandez-Rosales, Felipe Martinez-Soto
{"title":"Dynamic model and simulation of an inspection robot for power transmission lines: Preliminary results","authors":"L. García-Valdovinos, Arturo Velarde-Sanchez, L. del Llano-Vizcaya, T. Salgado-Jiménez, F. Hernandez-Rosales, Felipe Martinez-Soto","doi":"10.1109/CARPI.2010.5624479","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624479","url":null,"abstract":"Power line inspection and maintenance are fields of application where robotics has yet to be introduced. This paper presents the dynamic model and control of a 5 dof (degrees of freedom) dual-arm hanging robot manipulator. Prior to the construction of a prototype, it is worthwhile and necessary to model and analyze the robot performance, by means of numerical simulation, under conditions closer to reality, such as wind currents, joint and contact friction, sampling time, train gear and actuator dynamics, control strategies, among others. For the sake of simplicity, and without loss of generality, the inspection robot is considered as an open kinematics chain, wherein one of its extremities is fixed to the line and the other one is free to move. Based on the Euler-Lagrange formalism, the accomplished model is non-linear, fully actuated, and nonredundant, with rigid links and joints. Validity of the dynamic model is verified through numerical simulations by using Matlab-Simulink.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"19 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":"133214909","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
Expliner — From prototype towards a practical robot for inspection of high-voltage lines 解释器-从原型到一个实用的机器人检查高压线路
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624434
P. Debenest, M. Guarnieri
{"title":"Expliner — From prototype towards a practical robot for inspection of high-voltage lines","authors":"P. Debenest, M. Guarnieri","doi":"10.1109/CARPI.2010.5624434","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624434","url":null,"abstract":"Transmission of electricity depends on high-voltage lines, crossing thousands of kilometers in mountainous areas, deserts and forests. The preventive maintenance of these lines is of extreme importance. However, this requires the temporary interruption of transmission of energy, which is not always possible. In this paper, the authors present Expliner, a new concept to move on live transmission lines, negotiating obstacles and performing detailed inspection of the conductors, with reduced risks to the operators and no need to interrupt the transmission of electricity. This paper presents not only details of the concept, but also of its implementation and operational procedures that were developed for the use of a robot in such demanding conditions.","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":"133353590","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: 82
Robotized inspection of power lines with infrared vision 红外视觉电力线的自动化检测
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624468
Jonathan Henrique Efigenio de Oliveira, W. F. Lages
{"title":"Robotized inspection of power lines with infrared vision","authors":"Jonathan Henrique Efigenio de Oliveira, W. F. Lages","doi":"10.1109/CARPI.2010.5624468","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624468","url":null,"abstract":"This paper presents a method to automatically detect faults in transmission lines by using thermographie images. It involves the acquisition of infrared images over a network and its processing. Since the method is intented to be used embedded in a robot, low demands on processing power are required, in order to enable inspection on large extensions of transmission lines. The automatic inspection of power lines, allows for inspections over a longer period of time and with a decreased risk for the professionals involved. Experimental results show that the proposed method is able to detect cables with problems.","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":"128402098","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
Improvement of LineROVer: A mobile robot for de-icing of transmission lines LineROVer的改进:一种用于输电线路除冰的移动机器人
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624458
Jinlong Zhao, R. Guo, Lei Cao, Feng Zhang
{"title":"Improvement of LineROVer: A mobile robot for de-icing of transmission lines","authors":"Jinlong Zhao, R. Guo, Lei Cao, Feng Zhang","doi":"10.1109/CARPI.2010.5624458","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624458","url":null,"abstract":"This paper describes the improvements of LineROVer, a mobile robot for de-icing of overhead transmission lines. A low-voltage DC motor and a Lithiumion battery are used which increase the duration time without increasing the weight of the robot. A wireless transmission module that can be expanded arbitrarily with bidirectional transmission is applied. The electrical control box and battery are specially dealt and a new kind of water resistant joint is used. All these measures improve the waterproofness of the robot and enhance its reliability. Outdoor de-icing experiments were carried out, and the de-icing tools were then modified according to the results. An improvement of the performance was measured.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"23 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":"134408203","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: 20
Robotics applied to work conditions improvement in power distribution lines maintenance 机器人技术在改善配电线路维护工作条件中的应用
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624436
R. Roncolatto, N. Romanelli, A. Hirakawa, O. Horikawa, D. M. Vieira, R. Yamamoto, V. Finotto, V. Sverzuti, I. P. Lopes
{"title":"Robotics applied to work conditions improvement in power distribution lines maintenance","authors":"R. Roncolatto, N. Romanelli, A. Hirakawa, O. Horikawa, D. M. Vieira, R. Yamamoto, V. Finotto, V. Sverzuti, I. P. Lopes","doi":"10.1109/CARPI.2010.5624436","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624436","url":null,"abstract":"Based on the analysis of the tasks concerning maintenance of power distribution networks from the Ergonomics point of view, Paulista Power & Light Company (CPFL, Brazil) and the University of Sao Paulo (USP, Brazil) started a project focused on the application of Mechatronics and Robotics techniques and knowledge to improve the maintenance activity, also establishing a roadmap of developments to be conducted. As a pioneer research & development on that, four devices are proposed and described herein: (a) A computer-controlled automatic elevator attached to a pickup type lightweight vehicle that helps electricians to reach high positions replacing the conventional ladder; (b) A flexible telescopic robot for inspecting the wood cross arm from the ground; (c) A weight balancer to help electricians to execute tree trimming around distribution lines, by reducing the physical effort required for holding and manipulating the trimming equipment; (d) And a mechatronics version of the weight balancer able to automatically adapt to different loads.","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":"126990480","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: 8
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