Development of a Mobile Robotic Platform for the Underground Distribution Lines

Allan, J.-F.; Lambert, Ghislain; Lavoie, Samuel; Reiher, S.

doi:10.1109/aim.2008.4601695

Cited by 11 publications

(5 citation statements)

References 8 publications

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“…A robotic system was designed to inspect and repair the switch in the underground power transmission line, as shown in Figure 12a. The designed models consisted of a vehicle with a five DoFs hydraulic arm holding a six DoFs manipulator, a tool rack and a pneumatic tool changer [81,82].…”

Section: Maintenance In High-voltage Transmission Line and Substationmentioning

confidence: 99%

A Review on the Prospects of Mobile Manipulators for Smart Maintenance of Railway Track

et al. 2023

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Inspection and repair interventions play vital roles in the asset management of railways. Autonomous mobile manipulators possess considerable potential to replace humans in many hazardous railway track maintenance tasks with high efficiency. This paper investigates the prospects of the use of mobile manipulators in track maintenance tasks. The current state of railway track inspection and repair technologies is initially reviewed, revealing that very few mobile manipulators are in the railways. Of note, the technologies are analytically scrutinized to ascertain advantages, unique capabilities, and potential use in the deployment of mobile manipulators for inspection and repair tasks across various industries. Most mobile manipulators in maintenance use ground robots, while other applications use aerial, underwater, or space robots. Power transmission lines, the nuclear industry, and space are the most extensive application areas. Clearly, the railways infrastructure managers can benefit from the adaptation of best practices from these diversified designs and their broad deployment, leading to enhanced human safety and optimized asset digitalization. A case study is presented to show the potential use of mobile manipulators in railway track maintenance tasks. Moreover, the benefits of the mobile manipulator are discussed based on previous research. Finally, challenges and requirements are reviewed to provide insights into future research.

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Section: Maintenance In High-voltage Transmission Line and Substationmentioning

confidence: 99%

A Review on the Prospects of Mobile Manipulators for Smart Maintenance of Railway Track

et al. 2023

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“…Following the successful proof of concept using a Kraft arm, the R&D team started work on designing the complete robot system with a view to building the first prototype. As described in [3], the robotic system consists of a vehicle (the vehicle assures the mobility of the robotic platform to go on roads and sidewalks, it is operated as a regular vehicle), an articulated 5-DOF long-reach hydraulic arm, a 6-DOF electric manipulator, and task-specific tools. The video also shows that one of the special features of this mobile platform is the 6-DOF electric manipulator with integrated power and control electronics in its arms (see Fig.…”

Section: Exploration and Task Automation (2003-2005)mentioning

confidence: 99%

R&D phases of a mobile robot prototype applied to underground distribution lines

Allan

Reiher

Lambert

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This video summarizes the R&D phases of the first robot prototype designed to operate and maintain equipment in vaults for Hydro-Québec's underground distribution lines, carried out between 2003 and 2009. Detailed segments discuss project's context, proof of concept, simulations, description and design of robotic platform subsystems, prototype testing at IREQ in the lab and in an outdoor vault, field testing in Montreal on a Joslyn switch in a de-energized vault, and the future of the project.

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“…The dilation of A by S, A S, is defined as follows： A S = {x|(S)x∩A≠Ø} (6) Thus, the dilation of A by S is the set of all x displacements of the origin of S,$ such that S $ and A overlap by at least one nonzero element.…”

Section: A Image Data Preparationmentioning

confidence: 99%

“…Since the mid-eighties, several robot systems were developed for the distribution network, such as the TOMCAT system developed in the United States [4], ROBTET system [5] developed in Spain and the robot systems for underground distribution lines developed in Hydro-Québec's Research Institute [6].…”

Section: Introductionmentioning

confidence: 99%

Design and implement of control system for power substation equipment inspection robot

Zhang

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper introduces the design and implement of a novel control systems for power substation equipment inspection robot. According to the real condition of the power substation equipment inspection, the overall structure of the robot control systems are described, and a new monocular robot's navigation method based on colorful image processing was proposed. By the use of image partition of the HSI model and the mathematic morphology, the trajectory and distinguish the stop-sign drew beforehand from the image are obtained. Then the parameters of navigation and positioning are given by "sampling estimated" method. And the industrial operation of the system shows that the control system can form a kind of full monitor system for substation to greatly improve the safety, dependability and reality of the substation inspection.

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Development of a Mobile Robotic Platform for the Underground Distribution Lines

Cited by 11 publications

References 8 publications

A Review on the Prospects of Mobile Manipulators for Smart Maintenance of Railway Track

A Review on the Prospects of Mobile Manipulators for Smart Maintenance of Railway Track

R&D phases of a mobile robot prototype applied to underground distribution lines

Design and implement of control system for power substation equipment inspection robot

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Development of a Mobile Robotic Platform for the Underground Distribution Lines

Cited by 11 publications

References 8 publications

A Review on the Prospects of Mobile Manipulators for Smart Maintenance of Railway Track

A Review on the Prospects of Mobile Manipulators for Smart Maintenance of Railway Track

R&amp;D phases of a mobile robot prototype applied to underground distribution lines

Design and implement of control system for power substation equipment inspection robot

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Product

Resources

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R&D phases of a mobile robot prototype applied to underground distribution lines