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In this paper, A test bench system used in the test of UAV is put forward. The system is consisted of four parts which includes bearing part of UAV, ground support position, transmission mechanism and measuring weight parts. Bearing part of UAV is used for placing the object to be measured which is connected to one end of the drive mechanism through the connecting shaft, The other end of the drive...
In this paper, a method for actuator fault estimation is proposed for a robot for inspecting power transmission lines. A robust H∞ observer is designed to deal with the modeling error caused by a measured inclination angle. The observer gain is obtained by solving a linear matrix inequality. The convergence and existence of the H∞ observer are analyzed. Using the proposed method, the constant actuator...
The developments in mobile robotics have increasingly played an important role in the inspection and maintenance work of Power Transmission Lines (PTLs). This paper presents the research and development of the inspection robots for 500kV PTLs in Shenyang Institute of Automation, Chinese Academy of Sciences (SIACAS). An overview of the research work and the development of an inspection robot AApe-B,...
As a widely used part in turbomachinery, the inspection of free-form shaped turbine blade is a very critical and tough work. Based on the parameter evaluation idea, the aim of this study is to develop methods for extracting key parameters of a turbine blade, which is probably the most important in the whole inspection process. After analyzing the definition, new extraction methods of several section...
Online evaluation of battery state of function (SOF) is crucial for battery management systems of autonomous mobile robots. Battery State of Charge (SOC) represents its remaining energy available, whereas internal resistance and capacity reflect its state of health (SOH). In this paper, an improved equivalent circuit model is proposed to estimate SOC, internal resistance and capacity using an unscented...
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