MAD Robot: Concept and Prototype Description of the Robot for Multi-Spectral Power Equipment Diagnostics. Part II

Romanov, Alexey M.; Gyrichidi, Ntmitrii; Trofimov, Oleg V.; Eroshenko, Stanislav A.

doi:10.1109/bussec59406.2023.10296278

Cited by 2 publications

(11 citation statements)

References 17 publications

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“…All the experimental studies in the current research were conducted using the MAD robot, which is described in detail in [ 6 , 7 ]. This robot ( Figure 3 ) has outer dimensions of

mm (width × length × height).…”

Section: Mad Robot and Experimental Sitesmentioning

confidence: 99%

“…The robot’s navigation system used in the current research is based on the ArduRover firmware [ 6 , 7 ]. Its default camera targeting procedure is implemented using the DO_SET_ROI command, which automatically evaluates the camera pitch and yaw angles based on the current robot position and orientation.…”

Section: Gnss Camera Targeting Repeatabilitymentioning

confidence: 99%

“…These cameras automatically read out parameters from different indicators and perform multi-spectral diagnostics of power equipment [ 1 ]. Generally, the inspection mission can be presented as a set of keypoints, in which the robot sequentially targets its cameras on specific parts of equipment and performs data acquisition [ 6 ].…”

Section: Introductionmentioning

confidence: 99%

“…To maximize the resolution of the recorded images and video sequences, engineers often use cameras with narrow angles (high zoom ratio). When our Multi-Spectral Automatic Diagnostic (MAD) robot design was presented at the BUSSEC IEEE conference [ 6 , 7 ], it sparked an intensive discussion about whether the narrow-angle ultraviolet (UV) camera is critical for power equipment inspection and if there is a possibility to use wide-angle cameras to maximize the field of view (FOV) and significantly simplify the camera targeting. Thus, we decided to illustrate the importance of a narrow-angle UV camera in the inspection application with an example.…”

Section: Introductionmentioning

confidence: 99%

“…Even the slightest deviations in position and heading estimates lead to the disappearance of the parts of the equipment under test from the camera’s FOV. The last statement is illustrated with Figure 2 , which shows an inspection image captured by an

UV camera [ 6 ].The green line shows the area of the original frame. The inspection robot’s targeting error may reach up to 3° [ 8 ].…”

Section: Introductionmentioning

confidence: 99%

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GNSS-Based Narrow-Angle UV Camera Targeting: Case Study of a Low-Cost MAD Robot

Gyrichidi,

Romanov,

Trofimov

et al. 2024

Sensors

Self Cite

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One of the key challenges in Multi-Spectral Automatic Diagnostic (MAD) robot design is the precise targeting of narrow-angle cameras on a specific part of the equipment. The paper shows that a low-cost MAD robot, whose navigation system is based on open-source ArduRover firmware and a pair of low-cost Ublox F9P GNSS receivers, can inspect the 8 × 4 degree ultraviolet camera bounding the targeting error within 0.5 degrees. To achieve this result, we propose a new targeting procedure that can be implemented without any modifications in ArduRover firmware and outperforms more expensive solutions based on LiDAR SLAM and UWB. This paper will be interesting to the developers of robotic systems for power equipment inspection because it proposes a simple and effective solution for MAD robots’ camera targeting and provides the first quantitative analysis of the GNSS reception conditions during power equipment inspection. This analysis is based on the experimental results collected during the inspection of the overhead power transmission lines and equipment inspections on the open switchgear of different power plants. Moreover, it includes not only satellite, dilution of precision, and positioning/heading estimation accuracy but also the direct measurements of angular errors that could be achieved on operating power plants using GNSS-only camera targeting.

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“…All the experimental studies in the current research were conducted using the MAD robot, which is described in detail in [ 6 , 7 ]. This robot ( Figure 3 ) has outer dimensions of

mm (width × length × height).…”

Section: Mad Robot and Experimental Sitesmentioning

confidence: 99%

Section: Gnss Camera Targeting Repeatabilitymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

UV camera [ 6 ].The green line shows the area of the original frame. The inspection robot’s targeting error may reach up to 3° [ 8 ].…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

GNSS-Based Narrow-Angle UV Camera Targeting: Case Study of a Low-Cost MAD Robot

Gyrichidi,

Romanov,

Trofimov

et al. 2024

Sensors

Self Cite

View full text Add to dashboard Cite

show abstract

Are Modern Market-Available Multi-Rotor Drones Ready to Automatically Inspect Industrial Facilities?

Gyrichidi,

Khalyasmaa,

Eroshenko

et al. 2024

Drones

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Industrial inspection is a well-known application area for unmanned aerial vehicles (UAVs), but are modern market-available drones fully suitable for inspections of larger-scale industrial facilities? This review summarizes the pros and cons of aerial large-scale facility inspection, distinguishing it from other inspection scenarios implemented with drones. Moreover, based on paper analysis and additionally performed experimental studies, it reveals specific issues related to modern commercial drone software and demonstrates that market-available UAVs (including DJI and Autel Robotics) more or less suffer from the same problems. The discovered issues include a Global Navigation Satellite System (GNSS) Real Time Kinematic (RTK) shift, an identification of multiple images captured from the same point, limitations of custom mission generation with external tools and mission length, an incorrect flight time prediction, an unpredictable time of reaching a waypoint with a small radius, deviation from the pre-planned route line between two waypoints, a high pitch angle during acceleration/deceleration, an automatic landing cancellation in a strong wind, and flight monitoring issues related to ground station software. Finally, on the basis of the paper review, we propose solutions to these issues, which helped us overcome them during the first autonomous inspection of a 2400 megawatts thermal power plant.

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MAD Robot: Concept and Prototype Description of the Robot for Multi-Spectral Power Equipment Diagnostics. Part II

Cited by 2 publications

References 17 publications

GNSS-Based Narrow-Angle UV Camera Targeting: Case Study of a Low-Cost MAD Robot

GNSS-Based Narrow-Angle UV Camera Targeting: Case Study of a Low-Cost MAD Robot

Are Modern Market-Available Multi-Rotor Drones Ready to Automatically Inspect Industrial Facilities?

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