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CARPI - the International Conference on Applied Robotics for the Power Industry, is an international conference created and initially hosted by Hydro-Quebec in Montreal, Canada, in 2010. The conference was managed as a non-profit undertaking and its content was planned mainly by Hydro-Quebec. CARPI 2010 was a three-day event that bring together stakeholders who are interested in robotics applications...
The secretariat of the CARPI 2014 may be contacted at the address: Secretaria CARPI 2014, Departamento de Engenharia Eletrica, Universidade Federal do Rio Grande do Sul, Av. Osvaldo Aranha, 103 sala 111a, 90035-190 - Porto Alegre - RS, Brazil. Web-site: http://www.capri2014.org . Alternate web-site: http://carpi2014.ece.ufrgs.br . E-mail: carpi2014@ece.ufrgs.br . Phone: +55 (51) 3308-3561.
Access to components in nuclear power plants for inspection is often difficult due to cluttered environments. A continuum robotic manipulator is very flexible and can maneuver its way in narrow and winding space to reach a target spot. The video demonstrates how a continuum manipulator carrying an inspection device at its tip can be used for inspection of the entire surface of a pipe-like structure...
Aging infrastructures bring major challenges to electric utilities. Despite important resources invested in maintenance and replacement of assets, transmission networks continue to age. Substations day-to-day operations are consequently facing constraints due to personnel safety and security. Asset management is also becoming increasingly challenging. At the same time, recent advances in terrestrial...
A new mobile robot prototype for inspection of overhead transmission lines is proposed. The mobile platform is composed of 3 arms. And there is a motorized rubber wheel on the end of each arm. On the two end arms, a gripper is designed to clamp firmly onto the conductors from below to secure the robot. Each arm has a motor to achieve 2 degrees of freedom which is realized by moving along a curve....
Unmanned aerial vehicles (UAV) have a great potential for use as they increase the reach of terrestrial teams without the increased costs of using manned aircrafts. The greatest difficulty of employing airplanes UAVs are the need of landing runways. A UAV capable of landing, take off like a helicopter, and which has the same performance as an aircraft in horizontal flight eliminates this difficulty...
This paper discusses an application of the IPM (inverse perspective mapping) geometrical transform on the inspection power robot (SmartGuard). The SmartGuard is an autonomous robotic system for inspection substation equipment instead of people. Based on the stereo vision system, we proposed a Vision base road edge and obstacle detection system. Firstly, we construct the IPM( Inverse perspective mapping)...
We transferred an insulator inspection robot from Korea Electric Power Corporation. The robot can inspect suspension insulator strings and tension insulator strings. And it can be operated at the highest voltage level of 345kV live-line. It can measure the resistance and the distribution voltage of the insulator, then judge the status of the insulator according to the detection result. We made some...
This paper describes an eddy current sensor carried by a corrosion detection robot that operates on energized power lines. The robot is installed on a live overhead conductor and it is controlled by the ground-based operator using a portable computer and a radio link. The sensor carried by the robot is capable of detecting the remaining thickness of the zinc layer over the steel wires that make the...
Robust inspection is important to ensure the safety of nuclear power plant components. Manually inspecting 100+ hours of video for rarely occurring cracks is a tedious process. However, automatic inspection is challenging as the images often contain highly textured area including weld and concrete surface which causes fragmented and noisy segmentations. Moreover, lack of crack samples cause challenges...
The use of unmanned aerial vehicles (UAV) offers a unique possibility to capture visual information in areas which are hard to reach or dangerous for humans. For UAVs to become a standard tool in visual inspection, it is of utmost importance that the aerial robot can be operated efficiently by a non-expert UAV pilot and that the navigation system is robust enough to remain operational in rough, industrial...
This article presents the steps of an ongoing R&D project aiming at designing and constructing a prototype of a specialized welding robotic system for repairing the surface of hydraulic turbine blades eroded by cavitation pitting and/or cracked by cyclic loading, reducing human risks and increasing the efficiency of the process. The robotic system has a spherical topology with 5 d.o.f., electric...
This paper presents a review of several robotic tools applied to the activity of pruning near power distribution lines. Power utilities prune trees to minimize the tree-caused power outages, because they are the greatest single cause of outages for power utilities in overhead distribution systems. Pruning trees around overhead power lines is considered a dangerous task due to many factors such as...
Infrared thermal cameras can be used to detect early-stage thermal anomalies in electrical or mechanical equipment and structures, before they lead to the interruption of their operation. In this work, we present a system to control the positioning and movement of a thermographic camera, mounted on a mechanical support with six degrees of freedom, employing the low cost microcontroller board Arduino...
This paper describes a corrosion detection robot that operates on energized power lines. The robot is installed on a live overhead conductor and it is controlled by the ground-based operator using a portable computer and a radio link. The sensor carried by the robot is capable of detecting the remaining thickness of the zinc layer over the steel wires that make the core of the aluminum conductor steel...
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