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

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Development of a force reflecting Tele-robot for remote handling in nuclear installations 用于核设施远程处理的力反射远程机器人的研制
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624456
D. Ray, M. Singh
{"title":"Development of a force reflecting Tele-robot for remote handling in nuclear installations","authors":"D. Ray, M. Singh","doi":"10.1109/CARPI.2010.5624456","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624456","url":null,"abstract":"Remotisation plays a vital role in all nuclear installations. Availability of reliable remote handling gadgets in nuclear installations ensures higher productivity as well as safety. Bhabha Atomic Research Centre(BARC), Mumbai is currently developing a Tele-robot based on a recently developed Force Reflecting Servo Manipulator(FSM). The Tele-robot represents a new generation of remote handling technology with advanced features like scaling of slave motion, tremor removal, constrained motion, teach and playback mode, interactive robot mode etc. This paper discusses about the design and implementation of the control system for the Tele-robot. This system is based on a tightly coupled distributed digital micro-processing technique. The Tele-robot will ensure higher safety, productivity, as well as better operator assistance in the autonomous mode.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"68 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":"124222712","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
A mobile robot for inspection of substation equipments 一种用于变电站设备巡检的移动机器人
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624455
Rui Guo, Lei Han, Yong Sun, Mingrui Wang
{"title":"A mobile robot for inspection of substation equipments","authors":"Rui Guo, Lei Han, Yong Sun, Mingrui Wang","doi":"10.1109/CARPI.2010.5624455","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624455","url":null,"abstract":"Substation inspection has already benefited from developments in mobile robotics. Since 2002, over 10 substation inspection robots have been developed at Shandong Electric Power Institute. These robots carry visible light cameras and infrared thermographs which are used to detect invaders and equipments fault respectively. They move inside the substation and position for collecting images of possible critical points. This paper presents a review of some key techniques of these robots, such as autonomous navigation, autonomous battery charging and autonomous equipment recognition.","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":"132528072","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
Robotic penstock welding 机器人压力管焊接
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624481
B. Hazel, J. Côté
{"title":"Robotic penstock welding","authors":"B. Hazel, J. Côté","doi":"10.1109/CARPI.2010.5624481","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624481","url":null,"abstract":"In the hydraulic business, the steel penstock liner sections involved in construction projects are typically welded manually on site. Confronted with a scheduling conflict with a critical project, Hydro-Quebec (HQ) teamed up with LAR Machinerie (LAR) to robotize the penstock welding. HQ's SCOMPI® portable robots were put to the task. The robot's curved track provides good accessibility to the entire joint. A welding procedure was developed that allows the joint to be welded completely from the inside. To obtain satisfactory joint preparations, a unique cutting system was designed that uses a pair of oxyacetylene torches, coupled with a pair of 2D laser cameras for seam tracking. The resulting high-precision preparation allows the root pass to be performed from the inside without back gouging. This robotized technique has been employed in five different construction projects involving penstocks.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"21 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":"127001121","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
Development of a bridge transport system with telescopic motion 具有伸缩运动的桥梁运输系统的研制
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624457
H. Lee, J. K. Lee, B. Park, Kiho Kim, Ho Dong Kim
{"title":"Development of a bridge transport system with telescopic motion","authors":"H. Lee, J. K. Lee, B. Park, Kiho Kim, Ho Dong Kim","doi":"10.1109/CARPI.2010.5624457","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624457","url":null,"abstract":"A bridge transport system with telescopic motion was developed to transport servo-manipulator for remote handling tasks in PyRoprocess Integrated inactive DEmonstration facility (PRIDE). The bridge transport system consists of telescope, trolley system, cabling management system, girder and rotation interface. The telescope of the bridge transport system was designed as a cylindrical pipe-based tube type in order to increase bending and twisting rigidity and it has a long extended length and short retracted length. The cabling management system was design to have compact size but to accommodate changed cable length according to telescopic motion. All drive modules were designed to have spare modules to prepare for emergency. As design verification process, structural analysis was performed on some important modules. Currently, the bridge transport system with telescopic motion is installed at a test bay in KAERI, and it is being tested.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"108 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":"122509999","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
Robotic system for diagnosis of large underwater hydroelectric structures 大型水下水电构筑物诊断机器人系统
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624475
B. Dube, Simon Pelletier-Thibeault
{"title":"Robotic system for diagnosis of large underwater hydroelectric structures","authors":"B. Dube, Simon Pelletier-Thibeault","doi":"10.1109/CARPI.2010.5624475","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624475","url":null,"abstract":"In partnership with Automation Machine Design RC Inc. (AMD), Hydro-Québec developed a new robotic laser scanning system for the inspection of large underwater hydroelectric structures. The inspections are performed with a laser scanner that generates dense 3D maps globally localized. The diagnosis system went through several field trials in different facilities as it was being developed.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"219 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":"122633188","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
Research on the infrared and visible Power-Equipment image fusion for inspection robots 检测机器人红外与可见光动力设备图像融合研究
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624441
Hongwei Li, Binhai Wang, Li Li
{"title":"Research on the infrared and visible Power-Equipment image fusion for inspection robots","authors":"Hongwei Li, Binhai Wang, Li Li","doi":"10.1109/CARPI.2010.5624441","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624441","url":null,"abstract":"In this paper we present a novel and robust fusion algorithm for the infrared and visible Power-Equipment image, which is invariant to large-scale changes and illumination changes in the real operating environment of Power Equipments. Firstly, the Scale-Invariant Feature Transform (SIFT) algorithm is used to extract and describe the feature points from the infrared and visible images. Secondly, the best feature matching for each feature point of visible images is found by identifying its nearest neighbor in the database of feature points from infrared images. Thirdly, the Random Sample Consensus (RANSAC) technology is chose to select the appropriate geometric transformation model and estimate the transformation parameters of this geometric model. Finally, the bicubic interpolation method is employed to implement grayscale interpolation and coordinate transformation, then obtain the fusion image of visible and infrared images. Extensive experimental results on the Power-Equipment dataset demonstrate that our method has high stability and excellent performance.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"412 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":"125479386","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: 16
Visual live-line condition monitoring of composite insulators 复合绝缘子在线状态可视化监测
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624439
C. A. Veerappan, P. Green, S. Rowland
{"title":"Visual live-line condition monitoring of composite insulators","authors":"C. A. Veerappan, P. Green, S. Rowland","doi":"10.1109/CARPI.2010.5624439","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624439","url":null,"abstract":"Today's society has an ever increasing demand for electrical energy. The UK's core electrical infrastructure is approximately 60 years old and is reaching the end of its originally intended lifespan. However it is not economically viable to completely replace aging components; a better solution being to actively monitor infrastructure components and perform maintenance as required. This paper focuses on the monitoring of transmission line insulators. It reports on the initial stages of the development of a system for visually inspecting exposed surfaces of composite insulators under live-line conditions, whilst mounted to the insulator itself. Various image capture mechanisms are discussed and detail is provided on chosen solution. Data transmission experimentation is presented from the viewpoint of ASCII data, which can be subsequently replaced with digital images. Results presented indicate that a moderate wireless communication channel is perfectly viable under high field strength conditions and indicate no reason why higher bandwidth communication mechanisms should not also function effectively.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"62 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":"127706626","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
Wind turbine control using a gearless epicyclic transmission 风力涡轮机控制采用无齿轮周转传动
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624423
X. Ma, V. Chopra, S. Zargarbashi, J. Angeles
{"title":"Wind turbine control using a gearless epicyclic transmission","authors":"X. Ma, V. Chopra, S. Zargarbashi, J. Angeles","doi":"10.1109/CARPI.2010.5624423","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624423","url":null,"abstract":"A recurrent problem in energy production by means of wind turbines is how to keep a constant angular velocity at the shaft driving the alternator in the presence of a randomly varying turbine angular velocity. The latter is caused by the random nature of the wind velocity. Proposed in this paper is an innovative two-degree-of-freedom mechanism, with the morphology of a differential gear train, but without gears. The latter are replaced by cam-roller pairs, which offer many advantages over gears: low friction, low backlash and much higher stiffness. The mechanism, dubbed pitch-roll wrist, was originally developed as a robotic wrist for pitch-roll generation. It is shown in the paper that the mechanism can effectively control its pitch velocity in the presence of a randomly varying angular velocity, which emulates that produced by wind on the shaft of a wind turbine. The pitch velocity, in turn, emulates that of the shaft driving the alternator. The control algorithm, based on a PID controller, was tested on an experimental testbed. Results show an effective angular velocity control.","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":"130234459","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
MagneBike: Compact magnetic wheeled robot for power plant inspection MagneBike:用于电厂巡检的紧凑型磁力轮式机器人
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624442
F. Tâche, F. Pomerleau, W. Fischer, G. Caprari, F. Mondada, R. Moser, R. Siegwart
{"title":"MagneBike: Compact magnetic wheeled robot for power plant inspection","authors":"F. Tâche, F. Pomerleau, W. Fischer, G. Caprari, F. Mondada, R. Moser, R. Siegwart","doi":"10.1109/CARPI.2010.5624442","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624442","url":null,"abstract":"The MagneBike robot is a magnetic wheeled robot designed for the inspection of ferromagnetic structures in power plants, especially steam chests. This video first presents the robot's locomotion concept, i.e. two aligned magnetic wheels integrating lateral lever arms, that allow the robot to pass over complex combinations of obstacles. Laboratory and field experiments show the high mobility of the robot. This video also describes the localization and mapping strategy that consists in combining 3D odometry with 3D scanning and scan registration. An animation of the 3D reconstruction of the environment shows that the localization procedure allows to provide the necessary 3D visual feedback for the remote user or for inspection mission planning.","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":"120938018","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: 16
Field experiences using LineScout Technology on large BC transmission crossings 使用LineScout技术在大型BC传输交叉路口的现场经验
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624413
J. Tóth, N. Pouliot, Serge Montambault
{"title":"Field experiences using LineScout Technology on large BC transmission crossings","authors":"J. Tóth, N. Pouliot, Serge Montambault","doi":"10.1109/CARPI.2010.5624413","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624413","url":null,"abstract":"A shared dedication to safety, transmission reliability, and the use of innovative technologies to improve business practices brought together Hydro-Québec and British Columbia Transmission Corporation (BCTC) in the field deployment and enhancement of a high-performance power line inspection robot. Since 2003, Hydro-Québec's research institute (IREQ) has been developing LineScout Technology (LST), a mobile robot capable of crossing many of the obstacles found on live transmission lines, which consists of a modular platform onto which various sensors and tools can be deployed. Consequently, BCTC Research and Development Department (BCTC R&D) engaged discussions with the IREQ team in 2006 and developed over the years a very fruitful collaboration in deploying and improving this technology. Field experiences in British Columbia with the LST demonstrate that it is ready for deployment in inspection practices on different transmission networks around the world. Furthermore, this paper shows how collaboration between utilities can leverage the assets of each partner and lessen several obstacles likely to be found in the path of introducing robotics for transmission line inspection and maintenance.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"65 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":"116678939","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: 28
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