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

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A modular inspection robot platform for power plant applications 一种适用于电厂的模块化巡检机器人平台
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624429
E. Zwicker, W. Zesch, R. Moser
{"title":"A modular inspection robot platform for power plant applications","authors":"E. Zwicker, W. Zesch, R. Moser","doi":"10.1109/CARPI.2010.5624429","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624429","url":null,"abstract":"This paper presents a novel approach for a modular robotic platform to support power plant inspection. In a first part the paper gives an overview over the challenges and benefits of robotic inspection on power generation equipment. The industry requirements are presented and discussed on a general level. The second part of the paper focus on the modular platform itself. The overall modular architecture is described and the various robotic modules with the various design features are presented and discussed. Based on the modular architecture a local navigation and control system is introduced providing the details on the architecture, the sensors used and the different algorithms implemented. At the example of a volumetric non destructive inspection of steam turbine rotor shafts and the inspection of electro static precipitators the variety of possible system configurations is presented. The paper closes with a brief discussion of the results achieved.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"40 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":"128306420","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
Underwater inspection experiment for a long tunnel of EDF's hydroelectric facilities 法国电力水电设施长隧道水下检测试验
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624461
F. Loisy, P. François, G. Douchet, P. Hope-Darby, K. Shimmin, T. Bonner, E. Laurent, R. Colin
{"title":"Underwater inspection experiment for a long tunnel of EDF's hydroelectric facilities","authors":"F. Loisy, P. François, G. Douchet, P. Hope-Darby, K. Shimmin, T. Bonner, E. Laurent, R. Colin","doi":"10.1109/CARPI.2010.5624461","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624461","url":null,"abstract":"Robots are now routinely used for underwater inspection of hydroelectric generation facilities such as dam heels. A first experiment aimed at evaluating the possibilities of inspecting long hydraulic tunnels has been performed in France and has been found to be promising.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"62 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132638737","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
Tubulo — A train-like miniature inspection climbing robot for ferromagnetic tubes Tubulo -一种类似火车的微型铁磁管检测爬坡机器人
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624462
P. Schoeneich, Frederic Rochat, O. Nguyen, G. Caprari, R. Moser, H. Bleuler, F. Mondada
{"title":"Tubulo — A train-like miniature inspection climbing robot for ferromagnetic tubes","authors":"P. Schoeneich, Frederic Rochat, O. Nguyen, G. Caprari, R. Moser, H. Bleuler, F. Mondada","doi":"10.1109/CARPI.2010.5624462","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624462","url":null,"abstract":"A train-like miniature climbing inspection robot for ferromagnetic tubes is presented in this paper. Using magnetic wheels, it climbs in tubes of 25 mm of diameter and bigger in any orientation, and pass bends with curvatures above 150 mm in some cases. It has embedded electronics and energy, and can transmit images through a cable. Applications are in tubes inspections as found in power plant boilers for example.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"102 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":"123652078","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
Manipulator arm of a shredder for power line corridor maintenance applications 一种用于电力线走廊维护的碎纸机机械臂
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624419
M. Ene, Peter Radzisewski, L. Ciupitu
{"title":"Manipulator arm of a shredder for power line corridor maintenance applications","authors":"M. Ene, Peter Radzisewski, L. Ciupitu","doi":"10.1109/CARPI.2010.5624419","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624419","url":null,"abstract":"The objective of this paper is to explore the structure, kinematics, kinetostatics and balancing mechanism of the arm that manipulates a shredder capable of performing the maintenance task under the power transmission lines. The overall process is organized in the following steps: the investigation of the structure of the arm, the review of the transmission lines of motion, the calculation of the forces in joints and the balancing of mechanism with masses and springs. The analytical model of the mechanism presented allows the design and verification in the perspective of strength of materials and highlights the sensitivity of model to the changes in loads of elements and in the active forces in the engine.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"55 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":"116461220","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 rectification of underwater structural elements in power dams 水电站水下结构构件的机器人整流
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624470
J. Beaudry, Luc Provencher, P. Richard, S. Gendron, Dominique Thuot, M. Blain
{"title":"Robotic rectification of underwater structural elements in power dams","authors":"J. Beaudry, Luc Provencher, P. Richard, S. Gendron, Dominique Thuot, M. Blain","doi":"10.1109/CARPI.2010.5624470","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624470","url":null,"abstract":"Hydroelectric power dams are composed of intake and outtake structures made of concrete in which steel components are embedded. These components, for reasons briefly presented in this paper, tend to exhibit considerable wear and deformation with time. Rehabilitation of these embedded components, by rectification using machining techniques, can in some cases be the best approach. This work is traditionally done by human workers who, when possible, work in dry conditions. Drying out the structures can be very costly and sometimes impossible, in which case the work is done by divers. This paper presents a new and innovative approach to accomplishing these rehabilitation tasks. Two different submersible robotic systems are proposed. One system uses a milling process and is designed for vertical components. The second system uses a grinding machining process and is designed to rectify horizontal surfaces. The technical aspects of both systems are described.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"26 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":"114731498","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
Image processing to automate condition assessment of overhead line components 图像处理以自动评估架空线路组件的状态
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624447
Wai Ho Li, Arman Tajbakhsh, Carl Rathbone, Yogendra Vashishtha
{"title":"Image processing to automate condition assessment of overhead line components","authors":"Wai Ho Li, Arman Tajbakhsh, Carl Rathbone, Yogendra Vashishtha","doi":"10.1109/CARPI.2010.5624447","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624447","url":null,"abstract":"Condition monitoring of overhead electricity transmission line assets is essential to network operation. Traditionally, the condition of overhead lines are assessed visually. Visual inspection is difficult to apply to phase conductors due to their height above ground. As such, aerial imaging surveys seem to be an ideal solution to this problem. However, the large number of high resolution images generated by aerial surveys are costly to inspect in terms of time and labour. This paper presents an image processing system that automates conductor localization and spacer detection in order to reduce the work required in visual inspection. The implemented system was tested on over four thousand video images from actual aerial surveys of quad-conductor transmission line assets. Experimental results show highly accurate conductor localization and a robust hit rate for spacer detection. These results suggest that image processing can be used to help automate labour intensive tasks in the condition assessment of overhead line components.","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":"130095247","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
TechnoFusión remote handling laboratory: Contributions to nuclear fusion facilities maintenance tasks TechnoFusión远程处理实验室:对核聚变设施维护任务的贡献
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624433
Patricia García-Borrás, P. García-Robledo, Jorge Barrio, M. Ferre, R. Aracil
{"title":"TechnoFusión remote handling laboratory: Contributions to nuclear fusion facilities maintenance tasks","authors":"Patricia García-Borrás, P. García-Robledo, Jorge Barrio, M. Ferre, R. Aracil","doi":"10.1109/CARPI.2010.5624433","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624433","url":null,"abstract":"This paper shows that remote handling procedures are a key task on future fusion power plants. In Madrid, Spain, it is planned to build a singular scientific technical facility for the development of the technologies required for future commercial fusion reactors. One of the areas will be fully dedicated to remote handling for developing and testing tasks where human presence is not allowed. This paper presents a master — slave robotic system for bilateral tele-operation. A virtual environment has been created in order to validate tasks with this platform. This paper also explains the problematic of handling heavy loads which is the main problem in fusion environments. When manipulating heavy objects, the force reflection cannot be directly applied to the user. Our purposed solution is based on applying adaptive control methods which provide enough information to the operator to fulfill the task and stabilizes the system when sudden changes in the load occur.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"49 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":"133333233","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
Field experience with LineScout Technology for live-line robotic inspection and maintenance of overhead transmission networks 具有LineScout技术的现场经验，用于架空输电网络的在线机器人检查和维护
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI: 10.1109/CARPI.2010.5624454
Serge Montambault, N. Pouliot
{"title":"Field experience with LineScout Technology for live-line robotic inspection and maintenance of overhead transmission networks","authors":"Serge Montambault, N. Pouliot","doi":"10.1109/CARPI.2010.5624454","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624454","url":null,"abstract":"Over the last five years, several research teams around the world have been developing concepts, lab prototypes and control algorithms dedicated to transmission line inspection robots. Most have not progressed to actual field testing, far less use on live lines for inspection or maintenance tasks. One exception is LineScout Technology, developed by Hydro-Québec's research institute. The video presents footage from live-line inspections and work performed by LineScout over the last few years on transmission lines. This paper presents key elements of typical procedures developed over time to prepare for and perform successful live-line robotic work.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"34 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":"121318321","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
New technology for multiple conductor stringing machinery 多导体串线机械新技术
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-10-01 DOI: 10.1109/CARPI.2010.5624483
A. Oscar
{"title":"New technology for multiple conductor stringing machinery","authors":"A. Oscar","doi":"10.1109/CARPI.2010.5624483","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624483","url":null,"abstract":"The new technology proposed is to use multiple machines in synchronization, pulling multiple draw wire ropes each one connected to one or more conductors in transmission stringing equipment capable of bundle multiple conductors (2,4,6,8) stringing processes without creating impact on the maneuverability of machinery whilst providing machinery with diversity for any size project. The solution consist in use of a series of Puller or Puller-Tensioner machines linked in parallel and electronically connected and synchronized, however operated by one operator from one main control panel. This new technology is already in use in some countries, it provides accurate speed sychronisation and eliminates the transport issues created by oversize stringing equipment.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132376774","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
Remote detection of internal corrosion in conductor cables of power transmission lines 输电线路导体电缆内部腐蚀的远程检测
2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-10-01 DOI: 10.1109/CARPI.2010.5624453
A. V. Pinto, Mauro Zanini Sebrao, C. R. S. H. Lourenco, Ildejairo Sant'Anna de Almeida, J. Saad, P. M. Lourenco
{"title":"Remote detection of internal corrosion in conductor cables of power transmission lines","authors":"A. V. Pinto, Mauro Zanini Sebrao, C. R. S. H. Lourenco, Ildejairo Sant'Anna de Almeida, J. Saad, P. M. Lourenco","doi":"10.1109/CARPI.2010.5624453","DOIUrl":"https://doi.org/10.1109/CARPI.2010.5624453","url":null,"abstract":"This paper presents a prototype of equipment used to detect faults in conductor cables employed in power transmission lines. It is able to do visual inspection of the external condition of the conductors and to detect internal faults in its magnetic material core (ACSR cables). The equipment is composed by a mobile unit — a robot — which moves on the line conductor, and by a control unit — a notebook — communicating with each other through radio-frequency transceivers. The equipment design takes electromagnetic (EMI) and radio-frequency (RFI) interference into account, allowing it to be used in live lines, in no energized lines and in ground wires. To verify the equipment's behavior under different situations, several tests have been performed: in laboratory under both no-energized and energized conditions, and in a real live power transmission line. The results obtained are presented.","PeriodicalId":374619,"journal":{"name":"2010 1st International Conference on Applied Robotics for the Power Industry","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133869650","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
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