LineSpyX: A Power Line Inspection Robot Based on Digital Radiography

Yuan, Gannan; Song, Guangming; Li, Songtao; Zhen, Fushuai; Chen, Dabing; Song, Aiguo

doi:10.1109/lra.2020.3003772

Cited by 31 publications

(10 citation statements)

References 21 publications

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“…An example of an advanced technique is phased array ultrasonic testing (PAUT), whereas straight beam ultrasonic testing (UT) [ 102 ] is considered a conventional technology that has matured over many decades and is widely being applied. Other examples of advanced NDT methods are Laser Profilometry [ 76 ], Alternating Current Field Measurement [ 103 ], Angle Beam [ 104 ], Automated Ultrasonic Backscatter Technique (AUBT) [ 105 ], Holographic Testing [ 106 ], Laser Shearography [ 107 ], Computed Tomography (CT) [ 108 ], Digital Radiography (DR) [ 109 ], Computed Radiography (CR) [ 110 ], Electromagnetic Acoustic Transducer (EMAT) [ 111 ], Time-of-Flight-Diffraction (TOFD) [ 112 ], Immersion Testing [ 113 ], Long Range Ultrasonic Testing (LRUT) [ 114 ], Internal Rotary Inspection System (IRIS) [ 115 ], and Phased Array Ultrasonic Testing (PAUT) [ 116 ].…”

Section: Ndt Systemsmentioning

confidence: 99%

A Systematic Review of Advanced Sensor Technologies for Non-Destructive Testing and Structural Health Monitoring

Hassani

Dackermann

2023

Sensors

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This paper reviews recent advances in sensor technologies for non-destructive testing (NDT) and structural health monitoring (SHM) of civil structures. The article is motivated by the rapid developments in sensor technologies and data analytics leading to ever-advancing systems for assessing and monitoring structures. Conventional and advanced sensor technologies are systematically reviewed and evaluated in the context of providing input parameters for NDT and SHM systems and for their suitability to determine the health state of structures. The presented sensing technologies and monitoring systems are selected based on their capabilities, reliability, maturity, affordability, popularity, ease of use, resilience, and innovation. A significant focus is placed on evaluating the selected technologies and associated data analytics, highlighting limitations, advantages, and disadvantages. The paper presents sensing techniques such as fiber optics, laser vibrometry, acoustic emission, ultrasonics, thermography, drones, microelectromechanical systems (MEMS), magnetostrictive sensors, and next-generation technologies.

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Section: Ndt Systemsmentioning

confidence: 99%

A Systematic Review of Advanced Sensor Technologies for Non-Destructive Testing and Structural Health Monitoring

Hassani

Dackermann

2023

Sensors

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“…Effective identification and localization of faults on the power line system are crucial as they significantly minimize the maintenance cost and avoid unnecessary power outages. Traditionally, most of the power line inspection tasks were carried out manually by linemen (line crawling), ground cranes, and telescopes, which are often dangerous, ineffective, slow, and expensive ( Jalil et al, 2019 ; Gao et al, 2020 ).…”

Section: Introductionmentioning

confidence: 99%

Precise Motion Control of a Power Line Inspection Robot Using Hybrid Time Delay and State Feedback Control

et al. 2022

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Intelligent robotic inspection of power transmission lines has proved to be an excellent alternative to the traditional manual inspection methods, which are often tedious, expensive, and dangerous. However, to achieve effective automation of the robots under different working environments, the dynamic analysis and control of the robots need to be investigated for an efficient inspection process. Nonetheless, the application of control techniques for the position, speed and vibration control of these robots has not been explored in detail by the existing literature. Thus, an approach for precise motion control of the sliding inspection robot is presented in this paper. The main contribution of the study is that the chattering problem associated with the traditional command shaping time delay control (TDC) was minimized by smoothing the chattered input signal. Then, the improved control (iTDC) which is effective for oscillation control is hybridized with a pole placement based feedback control (PPC) to achieve both position and the sway angle control of the robot. The nonlinear and the linearized models of the sliding robot were established for the control design and analysis. Three parameters of the robot, namely, the length of the suspended arm, the mass of the payload, and the friction coefficient of different surfaces, were used to assess the robustness of the controller to model uncertainties. The iTDC + PPC has improved the velocity of TDC by 201% and minimizes the angular oscillation of PPC by 209%. Thus, the results demonstrate that the hybridized iTDC + PPC approach could be effectively applied for precise motion control of the sliding inspection robot.

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“…Double manipulator action path planning is to find a path from the starting point to the target point according to certain evaluation criteria (such as the shortest walking route, the shortest walking time, etc.) given the position and attitude of the starting point and target point of the manipulator and the obstacle conditions of the environment, so that each joint of the manipulator can safely reach the target position without colliding with any obstacles [7], [8].…”

Section: Introductionmentioning

confidence: 99%

Research on Motion Path Planning Method of Live Working Robot Manipulator Based on Reverse Splitting Calculation

Liu

Pan

Jiang

et al. 2022

J. Phys.: Conf. Ser.

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In the dual manipulator motion planning of live working robot, the traditional motion planning algorithm has the problems of too many turning points and non-smoothness. Therefore, this paper proposes a method of reverse splitting and local interpolation to remove redundant path nodes and optimize the motion trajectory. The working scene of overhead distribution line live working robot is simulated in MATLAB robot toolbox. The model includes manipulator R, manipulator L and overhead conductor to verify the effect of the method proposed in this paper. The results show that, the proposed method ensures that the redundant path nodes are removed on the premise of no collision between the two manipulators, which significantly improves the quality of the path.

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LineSpyX: A Power Line Inspection Robot Based on Digital Radiography

Cited by 31 publications

References 21 publications

A Systematic Review of Advanced Sensor Technologies for Non-Destructive Testing and Structural Health Monitoring

A Systematic Review of Advanced Sensor Technologies for Non-Destructive Testing and Structural Health Monitoring

Precise Motion Control of a Power Line Inspection Robot Using Hybrid Time Delay and State Feedback Control

Research on Motion Path Planning Method of Live Working Robot Manipulator Based on Reverse Splitting Calculation

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