scholarly journals Safe Local Aerial Manipulation for the Installation of Devices on Power Lines: AERIAL-CORE First Year Results and Designs

2021 ◽  
Vol 11 (13) ◽  
pp. 6220
Author(s):  
Jonathan Cacace ◽  
Santos M. Orozco-Soto ◽  
Alejandro Suarez ◽  
Alvaro Caballero ◽  
Matko Orsag ◽  
...  
Keyword(s):  
Power Lines ◽  
First Year ◽  
Heavy Vehicles ◽  
Aerial Manipulation ◽  
Bird Flight ◽  
Aerial Robots ◽  
Periodic Inspection ◽  
Inspection And Maintenance ◽  
Human Operators ◽  
Core Project

The power grid is an essential infrastructure in any country, comprising thousands of kilometers of power lines that require periodic inspection and maintenance, carried out nowadays by human operators in risky conditions. To increase safety and reduce time and cost with respect to conventional solutions involving manned helicopters and heavy vehicles, the AERIAL-CORE project proposes the development of aerial robots capable of performing aerial manipulation operations to assist human operators in power lines inspection and maintenance, allowing the installation of devices, such as bird flight diverters or electrical spacers, and the fast delivery and retrieval of tools. This manuscript describes the goals and functionalities to be developed for safe local aerial manipulation, presenting the preliminary designs and experimental results obtained in the first year of the project.

scholarly journals Installation of Clip-Type Bird Flight Diverters on High-Voltage Power Lines with Aerial Manipulation Robot: Prototype and Testbed Experimentation

2021 ◽  
Vol 11 (16) ◽  
pp. 7427
Author(s):  
Angel Rodriguez-Castaño ◽  
Saeed Rafee Nekoo ◽  
Honorio Romero ◽  
Rafael Salmoral ◽  
José Ángel Acosta ◽  
...  
Keyword(s):  
Power Line ◽  
Aerial Manipulation ◽  
Bird Flight ◽  
Autonomous Operation ◽  
Custom Made ◽  
Aerial Robot ◽  
Human Operators ◽  
The Cost ◽  
High Voltage Power Lines ◽  
Manipulation Robot

This work presents the application of an aerial manipulation robot for the semi-autonomous installation of clip-type bird flight diverters on overhead power line cables. A custom-made prototype is designed, developed, and experimentally validated. The proposed solution aims to reduce the cost and risk of current procedures carried out by human operators deployed on suspended carts, lifts, or manned helicopters. The system consists of an unmanned aerial vehicle (UAV) equipped with a custom-made tool. This tool allows the high force required for the diverter installation to be generated; however, it is isolated from the aerial robot through a passive joint. Thus, the aerial robot stability is not compromised during the installation. This paper thoroughly describes the designed prototype and the control system for semi-autonomous operation. Flight experiments conducted in an illustrative scenario validate the performance of the system; the tests were carried out in an indoor testbed using a power line cable mock-up.

scholarly journals A New Disaster Information Sensing Mode: Using Multi-Robot System with Air Dispersal Mode

Sensors ◽  
2018 ◽  
Vol 18 (10) ◽  
pp. 3589 ◽  
Author(s):  
Yi Liu ◽  
Junyao Gao ◽  
Jingchao Zhao ◽  
Xuanyang Shi
Keyword(s):  
Experimental Demonstration ◽  
Robot System ◽  
Dispersal Mode ◽  
Communication Performance ◽  
Separation Device ◽  
Aerial Robots ◽  
Rescue Center ◽  
Scene Information ◽  
Human Operators ◽  
Multi Robot

This paper presents a novel sensing mode for using mobile robots to collect disaster ground information when the ground traffic from the rescue center to disaster site is disrupted. Traditional sensing modes which use aerial robots or ground robots independently either have limited ability to access disaster site or are only able to provide a bird’s eye view of the disaster site. To illustrate the proposed sensing mode, the authors have developed a Multi-robot System with Air Dispersal Mode (MSADM) by combining the unimpeded path of aerial robots with the detailed view of ground robots. In the MSADM, an airplane carries some minimal reconnaissance ground robots to overcome the paralyzed traffic problem and deploys them on the ground to collect detailed scene information using parachutes and separation device modules. In addition, the airplane cruises in the sky and relays the control and reported information between the ground robots and the human operator. This means that the proposed sensing mode is able to provide more reliable communication performance when there are obstacles between the human operators and the ground robots. Additionally, the proposed sensing mode can easily make use of different kinds of ground robots, as long as they have a compatible interface with the separation device. Finally, an experimental demonstration of the MSADM is presented to show the effectiveness of the proposed sensing mode.

scholarly journals The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance

2018 ◽  
Vol 25 (4) ◽  
pp. 12-23 ◽  
Author(s):  
Anibal Ollero ◽  
Juan Cortes ◽  
Angel Santamaria-Navarro ◽  
Miguel Angel Trujillo Soto ◽  
Ribin Balachandran ◽  
...  
Keyword(s):  
Aerial Robots ◽  
Inspection And Maintenance

scholarly journals Monitoring of effectiveness of bird flight diverters in preventing bird mortality from powerline collisions in Slovakia

2019 ◽  
Vol 13 (1) ◽  
pp. 45-59
Author(s):  
Marek Gális ◽  
Michal Ševčík
Keyword(s):  
Bird Species ◽  
Power Line ◽  
Power Lines ◽  
Flight Distance ◽  
Bird Flight ◽  
Before And After ◽  
Bird Mortality ◽  
Positive Effect

Abstract Flight observations and carcass searches were carried out along distribution power lines in Slovakia. 77 km of 22 kV and 110 kV lines were marked on a total of 108 sections to evaluate the effectiveness of three types of bird flight diverters (FireFly Bird Diverter, RIBE Bird Flight Diverter and SWAN-FLIGHT Diverter) designed to increase power line visibility. Numbers of carcasses were compared before and after installation of the devices and reaction distances on marked power lines were surveyed. We observed a 93.5% reduction (93 vs. 6) in the number of fatalities under the marked power lines after line marking (06/2016–06/2019) compared to the period before installation (12/2014–02/2016). 2,296 flight reactions were observed and an estimated total of 41,885 individuals (57 bird species belonging to 13 orders) were recorded with their reactions to marked lines in the period 06/2016–06/2019. After installation of bird diverters, there was a low proportion of flight distance observations at the closest distance, i.e. up to 5 m, indicating that birds reacted further away from marked lines. Although we lack flight observations for the period before the installation of diverters, the reactions of birds at greater distances and reduced number of bird victims under marked lines indicate that all tested diverters have a positive effect on reducing the number of avian collisions with power lines.

scholarly journals Efficacy of different types of “bird flight diverter” in reducing bird mortality due to collision with transmission power lines

2020 ◽  
Vol 23 ◽  
pp. e01130
Author(s):  
Miguel Ferrer ◽  
Virginia Morandini ◽  
Ryan Baumbusch ◽  
Roberto Muriel ◽  
Manuela De Lucas ◽  
...  
Keyword(s):  
Power Lines ◽  
Transmission Power ◽  
Bird Flight ◽  
Different Types ◽  
Bird Mortality

scholarly journals Aspects of anthropotechnics reliability of materials and products for non-collapsible and collapsible systems in high-rise construction

2019 ◽  
Vol 135 ◽  
pp. 03056
Author(s):  
Ruben Kazaryan
Keyword(s):  
Construction Industry ◽  
Climatic Conditions ◽  
Engineering Systems ◽  
Temperature Changes ◽  
High Rise ◽  
Periodic Inspection ◽  
Inspection And Maintenance ◽  
Pressure Changes ◽  
Expensive Process ◽  
Fundamental Direction

In engineering systems, which are used in construction industry and its production (buildings, constructions, roads), two fundamentally different ways of mechanical joint are used: non-collapsible and collapsible. Some architects relate non-collapsible objects to monolithic and consider their recycling as a difficult and expensive process. Compression joints on self-locking fittings can be considered as non-collapsible as well. A compression connection cannot be disassembled without destroying. Collapsible joint differs from non-collapsible by the following features: 1. You can disassemble it to original components according to a prior technology, identify and change defective elements or add some other components. 2. It requires periodic inspection and maintenance because of climatic conditions (temperature changes, pressure changes, wind loads, etc.), and the specificity of operation of this joint leads to a decrease in its mechanical properties. 3. It is forbidden to make them monolithic, so collapsible joints are mounted in an accessible way. Collapsible finishing system is a new fundamental direction of building reconstruction in the TTS system “man-technologyenvironment” in high-rise construction objects.

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