A Mobile Robot for Inspection of Power Transmission Lines

Sawada, Jun; Kusumoto, K.; Munakata, Tadashi; Maikawa, Y.; Ishikawa, Yoshinobu

doi:10.1109/mper.1991.88671

Cited by 216 publications

(50 citation statements)

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“…The following theorem establishes the equivalence between the minimization problem (4) with the wire-traversing constraints (6) and the minimization problem (7). We say that two minimization problems are equivalent if they have a common local minimizer.…”

Section: B Constrained Locational Optimizationmentioning

confidence: 96%

Coverage Control for Wire-Traversing Robots

Notomista

Egerstedt

2018

2018 IEEE International Conference on Robotics and Automation (ICRA)

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In this paper we consider the coverage control problem for a team of wire-traversing robots. The twodimensional motion of robots moving in a planar environment has to be projected to one-dimensional manifolds representing the wires. Starting from Lloyd's descent algorithm for coverage control, a solution that generates continuous motion of the robots on the wires is proposed. This is realized by means of a Continuous Onto Wires (COW) map: the robots' workspace is mapped onto the wires on which the motion of the robots is constrained to be. A final projection step is introduced to ensure that the configuration of the robots on the wires is a local minimizer of the constrained locational cost. An algorithm for the continuous constrained coverage control problem is proposed and it is tested both in simulation and on a team of mobile robots.

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Section: B Constrained Locational Optimizationmentioning

confidence: 96%

Coverage Control for Wire-Traversing Robots

Notomista

Egerstedt

2018

2018 IEEE International Conference on Robotics and Automation (ICRA)

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“…In the 1990s, a number of research teams presented their work on mechanical designs to enable robots to cross obstacles found on telephone, distribution, and transmission cables. Among them, Sawada, Ishikawa, Kobayashi, and Matsumoto (1990) and Sawada, Kusumoto, Munakata, Maikawa, and Ishikawa (1991) describe a wheeled trolley that carries an arc-shaped rail that extends to either side of a tower and serves as a support to carry the trolley to the other side. Although the prototype was never applied in the field, time would show that the project was a pioneering effort in the domain.…”

Section: Early Workmentioning

confidence: 99%

“…Designs from early work are illustrated in Figure 1. Sawada et al (1991;c 1991 IEEE); center, Tsujimura et al (1996;c 1996 IEEE); and right, Ishikawa et al (1997).…”

Section: Early Workmentioning

confidence: 99%

Transmission line maintenance robots capable of crossing obstacles: State‐of‐the‐art review and challenges ahead

Toussaint

Pouliot

Montambault

2009

Journal of Field Robotics

147

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Power line inspection and maintenance already benefit from developments in mobile robotics. This paper presents a comprehensive review of the state of the art. It focuses on mobile robots designed to cross obstacles found on a typical transmission line while using the conductor as support for traveling. Promising areas of research and development as well as challenges that remain to be solved are discussed with a view to developing fully autonomous technologies. Maintenance tasks, including inspection and repairs, are identified as high-value applications in transmission live-line work. Conclusions are drawn from experience, and the future of mobile robotics applied to transmission line maintenance is discussed. C 2009 Wiley Periodicals, Inc.

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“…A detector for the electromagnetic measurement of broken strands was the earliest damage detection technology incorporated into a transmission line inspection robot . Following the research of Japanese scientist Komoda M, many researchers have used eddy current and electromagnetic induction methods to detect damage phenomena such as wire breakage and cross‐sectional area reduction . In addition, to more accurately extract damage information, an S‐transformed transmission conductor breakage identification method was proposed .…”

Section: Introductionmentioning

confidence: 99%

Aeolian vibration‐based structural health monitoring system for transmission line conductors

Zhao

Huang

Zhang

et al. 2020

Struct Control Health Monit

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Summary The transmission line in a power network is similar to a blood vessel. Any disconnection ultimately affects the transmission of electrical energy, and broken strands and detachment of the fittings are early signs of disconnection. Because aeolian vibration occurs on almost all conductors, an aeolian vibration‐based structural health‐monitoring technology for transmission lines is proposed. First, the influence of strand breakage and detachment of the fittings on the natural frequency of the conductor is described, and the influence of temperature changes on the natural frequency is discussed from the two aspects of the temperature‐dependent elastic modulus and temperature‐dependent winding angle. Second, we conducted a vibration experiment and found the law of natural frequency variation caused by broken strands, detachment of the fittings, and temperature changes. Finally, we conducted a field test to measure the conductor vibration on a 110‐kV transmission line. The results show that the natural frequency can be calculated multiple times by the stochastic subspace identification method, and the calculation results are consistent. After a period of measurement, the natural frequency variation is analyzed. Further, how to determine the structural health of the conductor from the natural frequency measured by the technique under actual operating conditions is explained.

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A Mobile Robot for Inspection of Power Transmission Lines

Cited by 216 publications

References 0 publications

Coverage Control for Wire-Traversing Robots

Coverage Control for Wire-Traversing Robots

Transmission line maintenance robots capable of crossing obstacles: State‐of‐the‐art review and challenges ahead

Aeolian vibration‐based structural health monitoring system for transmission line conductors

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