A survey on insulator inspection robots for power transmission lines

Lin, Wei; Wang, Hongguang

doi:10.1109/carpi.2016.7745639

Cited by 12 publications

(3 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Inspection for faults of power grid components such as cables of the transmission and distribution system and insulators, as well as cleaning and de-icing of these components, is often carried out by humans [1][2][3][4][5][6][7]. These are dangerous tasks, taking place in harsh conditions and exposing the life of the maintenance personnel to the risk of fatal accidents.…”

Section: Introductionmentioning

confidence: 99%

A nonlinear optimal control approach for underactuated power-line inspection robots

et al. 2021

View full text Add to dashboard Cite

The article proposes a nonlinear optimal (H-infinity) control approach for a type of underactuated power-line inspection robots. To implement this control scheme, the state-space model of the power-line inspection robots undergoes first approximate linearization around a temporary operating point, through first-order Taylor series expansion and through the computation of the associated Jacobian matrices. To select the feedback gains of the controller an algebraic Riccati equation is solved at each time step of the control method. The global stability properties of the control loop are proven through Lyapunov analysis. The significance of the article’s results is outlined in the following: (i) the proposed control method is suitable for treating underactuated robotic systems and in general nonlinear dynamical systems with control inputs gain matrices which are in a nonquadratic form, (ii) by achieving stabilization of the power-line inspection robots in underactuation conditions the proposed control method ensures the reliable functioning of these robotic systems in the case of actuators’ failures or enables the complete removal of certain actuators and the reduction of the weight of these robotic systems, (iii) the proposed control method offers a solution to the nonlinear optimal control problem which is of proven global stability while also remaining computationally tractable, (iv) the proposed nonlinear optimal control method retains the advantages of linear optimal control that is fast and accurate tracking of reference setpoints under moderate variations of the control inputs, and (v) by minimizing the amount of energy that is dispersed by the actuators of the power-line inspection robots the proposed control method improves the autonomy and operational capacity of such robotic systems.

show abstract

Section: Introductionmentioning

confidence: 99%

A nonlinear optimal control approach for underactuated power-line inspection robots

et al. 2021

View full text Add to dashboard Cite

show abstract

“…The flashover can directly affect the performance of insulators, and hence can cause significant power loss, or even lead to power blackout spanning over a large geographical area. Based on such recognition, the characteristics of insulator flashover need to be better understood, and the accurate detection of flashovers on insulators needs to be appropriately addressed to effectively reduce the operational risks of power system assets [1][2][3].…”

Section: Introductionmentioning

confidence: 99%

Multi-Saliency Aggregation-Based Approach for Insulator Flashover Fault Detection Using Aerial Images

et al. 2018

View full text Add to dashboard Cite

Accurate and timely detection of insulator flashover on power transmission lines is of paramount importance to power utilities. Most available solutions mainly focus on the exploitation of the flashover mechanism or the discharge area detection, rather than the identification of a damaged area due to flashovers using captured aerial images. To this end, this paper proposes a multi-saliency aggregation-based porcelain insulator flashover fault detection approach. The target area of the insulator is determined using the Faster-Pixelwise Image Saliency by Aggregating (F-PISA) algorithm based on the color and structural features. The color model can be established based on the color feature of the damaged areas on the insulator surface, and hence the damaged area can be identified. Based on the information obtained above, the contour information can be extracted. With the preceding process, the fault location can be confirmed with a good accuracy. The performance of the proposed detection approach is assessed through a comparative study with other available solutions. The numerical result demonstrates that the suggested solution can detect the insulator flashover with improved performance in terms of the average detection rate and average efficient detection rate. Additional analysis is carried out to evaluate its robustness and real-time performance, which confirms its deployment feasibility in practice.

show abstract

“…Typically, the choice of robotized solutions is motivated by the need to tackle challenging or dangerous tasks in hazardous environments such as the inspection of nuclear plants [1] or the detection and disposal of explosive devices for civil or military operations [2] but it is also dictated by the demand of accuracy, repeatability and efficiency in tasks that can be highly time consuming, costly, and labor intensive such as pipe-lining, data collection, model digitizing, together with anomaly and defect detection in structures [3,4]. Lately, the research has been geared also to the development of marine robotic systems, as some aquatic operations are very difficult for human capabilities or unsafe.…”

Section: Introductionmentioning

confidence: 99%

Mechanical Construction and Propulsion Analysis of a Rescue Underwater Robot in the case of Drowning Persons

Bonfitto

Amati

2018

Applied Sciences

View full text Add to dashboard Cite

Featured Application: The proposed device can be adopted on beaches and on board boats to support rescue operations.Abstract: This paper presents the design of an unmanned and tele-operated robotized life-saving system aimed to work as a recovery tool in case of water-related disasters. The device is designed to save people in distress in the water, either conscious or unconscious, without exposing the rescuer's life to risk. The data of in water accidents show that the greatest number of casualties occurs because of dangerous predicaments conducted by people who want to save other lives. All present solutions are based on aerial, surface or submarine systems needing a crew and able to save only conscious people. This paper intends to fill this gap in the literature by analyzing the main critical issues in the design of a marine autonomous rescue vehicle in terms of performance, capabilities of maneuver in rough sea conditions and the costs. The proposed robot is fully electric and tele-manipulated, from the shore in case of accidents near dry land, or directly from boats or helicopters if drowning is occurring in the open sea. The paper demonstrates the feasibility of a system and its readiness for prototyping phases while presenting a trade-off and cost analysis between six different configurations as well as illustrating in detail the design of the selected layout. The motivations behind the choice of diving strategy to tackle rough sea conditions are described along with the design and the numerical validations of the hydroplane and propulsion systems.

show abstract

A survey on insulator inspection robots for power transmission lines

Cited by 12 publications

References 7 publications

A nonlinear optimal control approach for underactuated power-line inspection robots

A nonlinear optimal control approach for underactuated power-line inspection robots

Multi-Saliency Aggregation-Based Approach for Insulator Flashover Fault Detection Using Aerial Images

Mechanical Construction and Propulsion Analysis of a Rescue Underwater Robot in the case of Drowning Persons

Contact Info

Product

Resources

About