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The purpose of this paper is to provide a safe control strategy for aloft hot-line assembly of connection fittings in 110kV intelligent substations, which is significant to research on hot-line working robots.

This paper addresses challenges of the task and establish the contact models of connection fittings. By using this control strategy, neither high precision vision positioning nor preset global reference coordinate system is required. Visual computing only needs to provide an approximately position for the manipulator end-effector, after which the connection fittings assembly task could be completed with the posture of the manipulator adjusted following the guidance by force-position control. The authors also analyze the influence of the intervention of manipulators on the very non-uniform electric field during the operation.

This strategy will be particularly useful for the hot-line assembly of connection fittings in 110kV intelligent substations as well as some assembly tasks where uncertain target position and complex contact surface such as cylindrical hole is involved.

This assembly strategy is tested in energized simulated experimental system. The experiment results show that the robot can replace the manual operation to complete the assembly task safely and efficiently.

This assembly strategy is able to achieve the assembly task of connection fittings. Unlike other peg-in-hole assembly strategy, it does not require high stability of manipulator or plane contact surface around the hole.

The purpose of this paper is to present a dual manipulator system for aloft hot-line assembly tasks of connection fittings in 110-kv intelligent substation, which is significant to the research on hot-line working robots.

This paper addresses the challenges of the task and presents a dual manipulator system which can overcome these challenges to realize the robotic assembly of connection fittings in narrow space without impacting the safe distance of both phase to phase and phase to ground. Two manipulators share a same global reference coordinate. The mission of Manipulator 1 is to position the fixed part of connection fittings and screw the bolts on it. Visual computing provides the approximately position for the end-effector of Manipulator 2, after which The Manipulator 2 carries the removable part of connection fittings to this position. Then, the assembly task could be completed with the posture of the Manipulator 2 adjusted following the guidance by force-position control.

The dual manipulator system can position the target under different illumination conditions and complete fast assembly of connect fittings in 110-kV substation. No strong arc discharge or surface erosion phenomenon has been observed.

This dual manipulator system will be particularly useful for the hot-line assembly of connection fittings in 110-kv intelligent substation, as well as some assembly tasks where uncertain target position and complex contact surface such as cylindrical hole is involved.

This study presents a dual manipulator system used by a field robot working in 110-kv intelligent substation. The system is able to achieve the connection fittings assembly task under energized simulation experimental system. Unlike other peg-in-hole assembly strategy, it does not require high stability of manipulator or plane contact surface around the hole.

Since 1984, Kyushu Electric Power Company (KYUDEN) has made all‐out efforts to introduce outage‐free maintenance techniques. Robotic techniques are promoted as part of these efforts. Although the final objective is to develop a fully‐automatic hot‐line work robot, there are three steps in the technological development. The first step was the development of the bucket operation type manipulator Phase I, which was completed in 1989. Phase II, the second step in KYUDEN’s robot development, is one of semi‐automatic operation, with the operator assisting via remote control from a cabin on the ground. Tasks are conducted automatically, with the operator providing judgement and commands for each unit‐task. Development of Phase II was completed in December 1997. A field test of 17 Phase II units started at the end of 1999 following testing and operation training. This paper will present an outline of this robot system.

This paper, derived from a conference presentation, discusses corporate fraud and the role that ‘whistleblowing’ can play in combating malpractice. It examines why employees have been reluctant to ‘blow the whistle’ and goes on to suggest how employers can provide alternative ways for staff to raise their concerns. It concludes by looking at the impact of the ‘whistle‐blower protection’ offered by the Public Interest Disclosure Act 1999.

This paper aims to present a novel lightweight distribution grid operating robot system with focus on lightweight and multi-functionality, aiming for autonomous and live-line maintenance operations.

A ground-up redesign of the dual-arm robotic system with 12-DoF is applied for substantial weight reduction; a dual-mode operating control framework is proposed, with vision-guided autonomous operation embedded with real-time manual teleoperation controlling both manipulators simultaneously; a quick-swap tooling system is developed to conduct multi-functional operation tasks. A prototype robotic system is constructed and validated in a series of operational experiments in an emulated environment both indoors and outdoors.

The overall weight of the system is successfully brought down to under 150 kg, making it suitable for the majority of vehicle-mounted aerial work platforms, and it can be flexibly and quickly deployed in population dense areas with narrow streets. The system equips with two dexterous robotic manipulators and up to six interchangeable tools, and a vision system for AI-based autonomous operations. A quick-change tooling system ensures the robot to change tools on-the-go without human intervention.

The resulting dual-arm robotic live-line operation system robotic system could be compact and lightweight enough to be deployed on a wide range of available aerial working platforms with high mobility and efficiency. The robot could both conduct routine operation tasks fully autonomously without human direct operation and be manually operated when required. The quick-swap tooling system enables lightweight and durable interchangeability of multiple end-effector tools, enabling future expansion of operating capabilities across different tasks and operating scenarios.

We are living in a time of unparalleled change, turbulence, and uncertainty that is transforming our lives. In the course of two years, the superpower that inspired us to build a great military machine turned into a cluster of poor nations needing economic aid to survive. Business takeovers have disappeared from the front pages of our papers, replaced by stories on “the permanent disappearance of middle management” and 20% layoffs due to “downsizing.” New technologies have become part of our everyday lives: VCRs, microwave ovens, and voice mail are eliminating fixed viewing times, hours spent in the kitchen, and the need for answering machines.

The purpose of this paper is to improve the operation and maintenance intelligence of power systems, and summarize the transmission line robots and their key technologies. High-voltage power cables are important channels for power transmission systems. Their special geographical environment and harsh natural environment can lead to many different faults. At present, such special operations in dangerous and harsh environments are performed manually, which have not only high labor intensity and low work efficiency but also great personal safety risks.

For maintenance works that are far away from the tower, power outages are required. With the increasing evaluation of transmission quality and operational safety, and the urgent need for automation and operation of modern power systems, the contradiction between this manual operation and modern high-quality power transmission has become increasingly prominent. An effective method to replace the manual maintenance work is to use the mobile robot to carry the operation manipulator and its end tool, that is, the live maintenance robot.

Some achievements have been made in the key technologies of live maintenance robots, the work to be done to meet the basic requirements of complex and changeable line environment and practical application. Based on the existing research results of live overhaul robot, the follow-up research will focus on the practical application needs and the frontier of scientific and technological development, and truly realize the human–machine integration between live overhaul robot–human working environment. Only in this way can the robot better serve the operation and maintenance of the power system.

This paper reviews the system platform, operation function, structural characteristics and key technologies involved in the power cable robot, and the combination of live maintenance robots and modern high-tech such as big data and cloud computing is also given, and finally, the future development direction of the special operation robot is pointed out.

The purpose of this study is to solve the key technical problems of the practical application of electric robots. The UHV multi-split transmission line power cable operation robot is an important equipment to ensure the reliable operation of high voltage lines and is a useful exploration to realize high-quality power transmission. As the robot system platform equipment mature and operation environment gradually become more complex, the double arm coordination motion control in extreme environment becomes one of the main bottleneck for its practical in power system.

This paper summarizes the key technologies related to power cable robots, and aims at key technical indicators such as operation reliability, operation efficiency and operation quality in the robot’s practical process. The dynamic evolution mechanism of the robot’s mechanical configuration, the multi-physics information fusion algorithm in extreme environments, the robot’s autonomous positioning and its error compensation control, the robot’s robust motion control in extreme environments and the dual-arm force-position hybrid coordination control and the dynamic distribution and elimination mechanism of internal forces in the closed chain between robots and operating objects, all the research methods and solutions of the key technologies are proposed, respectively.

Finally, a new control architecture for power cable robots in the background of the Ubiquitous Power Internet of Things is proposed so as to manage the operation and maintenance of electric power systems. The above key technologies are a new exploration of the operation and maintenance management of EHV (Extra High Voltage) multi-split transmission lines which have laid a solid theoretical foundation for the power cable robot.

High voltage transmission line is the main channel of power transmission. It is an important means to improve the integration of operation and maintenance management of power system to use robot instead of manual inspection and maintenance of power line, in the promotion and application of electric robot. The authors pay attention to the practicability, and the breakthrough of key technologies of robot is the premise of the practicability of robot. In this paper, the robot operation and control in multi-task and complex scenes are studied. The research and implementation of the main key technologies, such as the dynamic evolution mechanism of robot configuration, the coupling and fusion law of multi physical fields in the extreme electric power environment, the autonomous positioning control of manipulator, the robust control of robot in the super electromagnetic field environment and the cooperative operation control of multi manipulator, are discussed.

Following the implementation of the Goods and Services Tax (GST) in Singapore on 1 April 1994, examines the problems and changes which building contractors in the construction industry have made to accommodate the implementation of this tax. Highlights how construction companies implement GST. Proposes a framework for construction companies to account for the tax. Argues this framework will be useful for public administrators in other countries when implementing or changing the rates of their own GST or Value Added Tax (VAT) for the construction industry. Concludes that the hypothesis formulated for this study, namely that the “larger construction companies in Singapore spent more time and effort in preparing for the implementation of GST than smaller construction companies”, appears to be true.