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Article
Publication date: 1 February 2018

Xuhui Ye, Gongping Wu, Fei Fan, XiangYang Peng and Ke Wang

An accurate detection of overhead ground wire under open surroundings with varying illumination is the premise of reliable line grasping with the off-line arm when the…

Abstract

Purpose

An accurate detection of overhead ground wire under open surroundings with varying illumination is the premise of reliable line grasping with the off-line arm when the inspection robot cross obstacle automatically. This paper aims to propose an improved approach which is called adaptive homomorphic filter and supervised learning (AHSL) for overhead ground wire detection.

Design/methodology/approach

First, to decrease the influence of the varying illumination caused by the open work environment of the inspection robot, the adaptive homomorphic filter is introduced to compensation the changing illumination. Second, to represent ground wire more effectively and to extract more powerful and discriminative information for building a binary classifier, the global and local features fusion method followed by supervised learning method support vector machine is proposed.

Findings

Experiment results on two self-built testing data sets A and B which contain relative older ground wires and relative newer ground wire and on the field ground wires show that the use of the adaptive homomorphic filter and global and local feature fusion method can improve the detection accuracy of the ground wire effectively. The result of the proposed method lays a solid foundation for inspection robot grasping the ground wire by visual servo.

Originality/value

This method AHSL has achieved 80.8 per cent detection accuracy on data set A which contains relative older ground wires and 85.3 per cent detection accuracy on data set B which contains relative newer ground wires, and the field experiment shows that the robot can detect the ground wire accurately. The performance achieved by proposed method is the state of the art under open environment with varying illumination.

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Article
Publication date: 27 August 2019

Wei Jiang, Yu Yan, Qiao Min Li, An Zhang, Hong Jun Li and Daogeng Jiang

The power cable maintenance robot is an important equipment to ensure the reliable operation of high-voltage transmission (HVT) lines and is a useful exploration to…

Abstract

Purpose

The power cable maintenance robot is an important equipment to ensure the reliable operation of high-voltage transmission (HVT) lines and is a useful exploration to achieve high-quality power transmission. In respond to a series of technical problems in the operation process, such as robot shaking, terminal positioning error, camera image blurred and visual servo control difficulty which caused by the influence of high altitude random wind load on the motion control of power maintenance robot. The purpose of this study is to minimizing the impact of wind loads on robot motion control on the high voltage transmission line, so as to obtain the sound motion performance.

Design/methodology/approach

This paper presents a robust stabilization control method for flexible wire power maintenance robot under wind load action, the coupling mathematical model between the flexible wire with the robot has been established, and the robot rolling model under wind load has also been established. According to the tilt sensor, the robot pendulum angle value can be obtained and fitted through sinusoidal function; the robot swing period and frequency under wind load action can be also obtained; the feedforward- and feedback-based robot closed-loop control system is also designed.

Findings

Through the online detection of wind load dection, so as to dynamic control the clamping force of the robot's dual-arm jaws, therefore, the robot robust stabilization control with different grades of wind load can be realized. Finally, the effectiveness and engineering practicability of the proposed algorithm are verified by simulation experiments and field operation experiments. Compared with the conventional proportional integral differential (PID) algorithm, this method can effectively suppress the influence of wind load on the robot robust stabilization motion control, and the robot posture detection operation control has been further optimized.

Originality/value

A robust stabilization control method for power robot under wind load is proposed. The coupling motion model of flexible HVT and robot is established. The mathematical relationship between the robot wind rolling angle and the wind force has been deduced, and the corresponding closed-loop control system with feedforward and feedback has also been designed. Through the design of robust stabilization control algorithm based on mixed sensitivity function, the effectiveness of the mixed sensitivity robust stabilization control algorithm is verified by simulation experiments in MATLAB environment. Compared with the traditional PID algorithm, this method can effectively suppress the influence of large-scale disturbance information represented by wind load on the robot motion control. The engineering practicability of the robot robust stabilization control algorithm is further verified by the robot live damper replacement operation under the field wind load, which further improves the robot operation efficiency and intelligence.

Details

Industrial Robot: the international journal of robotics research and application, vol. 46 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 30 September 2020

Wei Jiang, Dehua Zou, Xiao Zhou, Gan Zuo, Gao Cheng Ye and Hong Jun Li

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…

Abstract

Purpose

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.

Design/methodology/approach

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.

Findings

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.

Originality/value

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.

Details

Industrial Robot: the international journal of robotics research and application, vol. 48 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 17 October 2019

Yu Yan, Wei Jiang, An Zhang, Qiao Min Li, Hong Jun Li, Wei Chen and YunFei Lei

This study aims to the three major problems of low cleaning efficiency, high labor intensity and difficult to evaluate the cleaning effect for manual insulators cleaning…

Abstract

Purpose

This study aims to the three major problems of low cleaning efficiency, high labor intensity and difficult to evaluate the cleaning effect for manual insulators cleaning in ultra high voltage (UHV) converter station, the purpose of this paper is to propose a basic configuration of UHV vertical insulator cleaning robot with multi-freedom-degree mechanical arm system on mobile airborne platform and its innovation cleaning operation motion planning.

Design/methodology/approach

The main factors affecting the insulators cleaning effect in the operation process have been analyzed. Because of the complex coupling relationship between the influencing factors and the insulators cleaning effect, it is difficult to establish its analytical mathematical model. Combining the non-linear mapping and approximation characteristics of back propagation (BP) neural network, the insulator cleaning effect evaluation can be abstracted as a non-linear approximation process from actual cleaning effect to ideal cleaning effect. An evaluation method of robot insulator cleaning effect based on BP neural network has been proposed.

Findings

Through the BP neural network training, the robot cleaning control parameters can be obtained and used in the robot online operation control, so that the better cleaning effect can be also obtained. Finally, a physical prototype of UHV vertical insulator cleaning robot has been developed, and the effectiveness and engineering practicability of the proposed robot configuration, cleaning effect evaluation method are all verified by simulation experiments and field operation experiments. At the same time, this method has the remarkable characteristics of sound versatility, strong adaptability, easy expansion and popularization.

Originality/value

An UHV vertical insulator cleaning robot operation system platform with multi-arm system on airborne platform has been proposed. Through the coordinated movement of the manipulator each joint, the manipulator can be positioned to the insulator strings, and the insulator can be cleaned by two pairs high-pressure nozzles located at the double manipulator. The influence factors of robot insulator cleaning effect have been analyzed. The BP neural network model of insulator cleaning effect evaluation has been established. The evaluation method of robot insulator cleaning effect based on BP neural network has also been proposed, and the corresponding evaluation result can be obtained through the network training. Through the system integration design, the robot physical prototype has been developed. For the evaluation of other operation effects of power system, the validity and engineering practicability of the robot mechanism, motion planning and the method for evaluating the effect of robot insulator cleaning have been verified by simulation and field operation experiments.

Details

Industrial Robot: the international journal of robotics research and application, vol. 47 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

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Abstract

Details

Harnessing the Power of Failure: Using Storytelling and Systems Engineering to Enhance Organizational Learning
Type: Book
ISBN: 978-1-78754-199-3

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Article
Publication date: 1 April 1976

IN a recent television broadcast, a documentary on a family owned engineering factory, it was shown that after nearly 200 years of successful manufacture and trading the…

Abstract

IN a recent television broadcast, a documentary on a family owned engineering factory, it was shown that after nearly 200 years of successful manufacture and trading the firm was going through exceedingly bad times.

Details

Work Study, vol. 25 no. 4
Type: Research Article
ISSN: 0043-8022

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Article
Publication date: 1 August 1974

Aeronautical & General Instruments Ltd, will exhibit their R 128 recording cameras, designed to photograph the information displayed on the cathode ray tube of an…

Abstract

Aeronautical & General Instruments Ltd, will exhibit their R 128 recording cameras, designed to photograph the information displayed on the cathode ray tube of an aircraft's reconnaissance radar.

Details

Aircraft Engineering and Aerospace Technology, vol. 46 no. 8
Type: Research Article
ISSN: 0002-2667

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Article
Publication date: 31 July 2019

Wei Jiang, Yu Yan, An Zhang, Lianqing Yu, Gan Zuo, Hong Jun Li and Wei Chen

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…

Abstract

Purpose

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.

Design/methodology/approach

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.

Findings

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.

Originality/value

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.

Details

Industrial Robot: the international journal of robotics research and application, vol. 46 no. 5
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 19 June 2009

Quan Le‐Trung, Paal E. Engelstad, Vinh Pham, Tor Skeie, Amirhosein Taherkordi and Frank Eliassen

The purpose of this paper is to describe the required functionalities on providing internet connectivity and mobility management for mobile ad hoc networks (MANETs)…

Abstract

Purpose

The purpose of this paper is to describe the required functionalities on providing internet connectivity and mobility management for mobile ad hoc networks (MANETs), present discovered problems such as inconsistent contexts, and provide the corresponding solutions. It also provides a hybrid metric for the load‐balance of intra/inter‐MANET traffic over multiple internet gateways (IGWs).

Design/methodology/approach

The paper uses both mathematical analyses and simulations to discover the required functionalities and problems on providing internet connectivity and mobility management for MANETs. The proposed hybrid metric for IGW selection is a replacement of the shortest hop‐count (HC) metric, and consider three factors: HC distance, intra‐MANET traffic, and inter‐MANET traffic.

Findings

Simulation results show that ad hoc routing protocols, using the proposed metric, get better performance in terms of packet delivery ratio and transmission delay, at the cost of slightly increased signalling overhead.

Research limitations/implications

In the assessment, simulation results are taken from two mobility scenarios, and the hybrid metric is integrated into only reactive ad hoc routing. Thus, more case studies need to be carried out to demonstrate the outcomes of the proposed metric compared with others.

Practical implications

This paper provides the needed functionalities for broadening the richness of MANET applications to internet users, and vice verse.

Originality/value

This paper contributes to the research on internetworking and mobility management between MANETs and the internet.

Details

International Journal of Web Information Systems, vol. 5 no. 2
Type: Research Article
ISSN: 1744-0084

Keywords

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Article
Publication date: 1 February 1988

Larry L. Learn

This article provides a broad overview of telecommunications and network‐related technologies. Topics covered include identification and review of network elements, analog…

Abstract

This article provides a broad overview of telecommunications and network‐related technologies. Topics covered include identification and review of network elements, analog and digital signals, synchronous and asynchronous transmission formats, transmission media and equipment, transmission techniques and characteristics, multiplexing, network types, access technologies, network architectures and topologies, local‐area network technologies and attributes, protocols and protocol issues, gateways, internetworking, local networking alternatives, equipment certification, and various aspects of network management. It is intended to provide the practicing professional in the field of library and information science with a broad, up‐to‐date technical review that might serve to support and facilitate further investigation of current developments in networks and networking. Although the broad range of topics is not treated in depth, numerous references are provided for further investigation.

Details

Library Hi Tech, vol. 6 no. 2
Type: Research Article
ISSN: 0737-8831

1 – 10 of 166