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 ◽  
...  

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.

2020 ◽  
Vol 10 (14) ◽  
pp. 4783 ◽  
Author(s):  
Alejandro Suarez ◽  
Pedro Grau ◽  
Guillermo Heredia ◽  
Anibal Ollero

This paper presents the design and development of a winged aerial robot with bimanual manipulation capabilities, motivated by the current limitations of aerial manipulators based on multirotor platforms in terms of safety and range/endurance. Since the combination of gliding and flapping wings is more energy efficient in forward flight, we propose a new morphology that exploits this feature and allows the realization of dexterous manipulation tasks once the aerial robot has landed or perched. The paper describes the design, development, and aerodynamic analysis of this winged aerial manipulation robot (WAMR), consisting of a small-scale dual arm used for manipulating and as a morphing wing. The arms, fuselage, and tail are covered by a nylon cloth that acts as a cap, similar to a kite. The three joints of the arms (shoulder yaw and pitch, elbow pitch) can be used to control the surface area and orientation and thus the aerodynamic wrenches induced over the cloth. The proposed concept design is extended to a flapping-wing aerial robot built with smart servo actuators and a similar frame structure, allowing the generation of different flapping patterns exploiting the embedded servo controller. Experimental and simulation results carried out with these two prototypes evaluate the manipulation capability and the possibility of gliding and flying.


2021 ◽  
Vol 11 (13) ◽  
pp. 6220
Author(s):  
Jonathan Cacace ◽  
Santos M. Orozco-Soto ◽  
Alejandro Suarez ◽  
Alvaro Caballero ◽  
Matko Orsag ◽  
...  

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.


Kerntechnik ◽  
2020 ◽  
Vol 85 (2) ◽  
pp. 109-121 ◽  
Author(s):  
B. Zhang ◽  
M. Peng ◽  
S. Cheng ◽  
L. Sun

Abstract Small modular reactors (SMRs) are suitable for deployment in isolated underdeveloped areas to support highly localized microgrids. In order to achieve almost autonomous operation for reducing the cost of operating personnel, an autonomous control system with decision-making capability is needed. In this paper, a decision-making method based on Bayesian optimization algorithm (BOA) is proposed to explore the optimal operation scheme under fault conditions. BOA is used to adjust exploration strategy of operation scheme according to observations (operation schemes previously explored). To measure the feasibility of each operation scheme, an objective function that considers security and economy is established. BOA attempts to obtain the optimal operation scheme with maximum of the objective function in as few iterations as possible. To verify the proposed method, all main pump powered off fault is simulated by RELAP5 code. The optimal operation scheme of the fault is applied, the transient result shows that all key parameters are within safe limits and SMR is maintained at relatively high power, which means that BOA has the decision-making capability to get an optimal operation scheme on fault conditions.


2019 ◽  
Vol 4 (4) ◽  
pp. 155-162
Author(s):  
Alberto Jorge-Mora ◽  
Samer Amhaz-Escanlar ◽  
Sabela Fernandez-Pose ◽  
Adrián García-Iglesias ◽  
Fermín Mandia-Mancebo ◽  
...  

Abstract. Introduction: Fracture-related infections (FRIs) are a devastating complication. FRIs are challenging and should be addressed with a multidisciplinary approach. An FRI should be addressed surgically by non-viable bone debridement, local antibiotic deposition, minimization of dead space and fracture stabilization. Antibiotic-laden PMMA-covered nails are a viable option to face these complications. To demonstrate the safety and utility of commercially available antibiotic-laden PMMA-covered nails, we performed a review of the cases operated in our institution and a cost analysis to compare the cost of a commercial nail to other available alternatives.Material and methods: We designed a retrospective study of consecutive cases to demonstrate the safety and efficacy of antibiotic-laden PMMA-covered commercial nails and designed a cost analysis of commercial coated nails compared to other custom-made alternatives.Results: We treated seven tibias and three femurs. Nine patients fully fit the criteria for FRI. There was one case of reintervention because of persistent drainage. All fractures healed, and in the first year post-intervention, there were no signs or symptoms of infection. There were no complications related to the commercially available nail that was used. There is a small increase in the direct quantifiable cost in commercially available nails, but non-quantifiable cost should be assessed individually.Conclusions: Commercially available antibiotic-laden PMMA-covered nails are a safe and useful treatment option for complicated cases of lower limb long bone reconstruction. The low complication rate and the straightforward technique compensate for the direct cost increase in most situations.


2016 ◽  
Author(s):  
Mark Lemley

Things are valuable because they are scarce. The more abundant they become,they cheaper they become. But a series of technological changes is underwaythat promises to end scarcity as we know it for a wide variety of goods.The Internet is the most obvious example, because the change there isfurthest along. The Internet has reduced the cost of production anddistribution of informational content effectively to zero. In many cases ithas also dramatically reduced the cost of producing that content. And ithas changed the way in which information is distributed, separating thecreators of content from the distributors.More recently, new technologies promise to do for a variety of physicalgoods and even services what the Internet has already done for information.3D printers can manufacture physical goods based on any digital design.Synthetic biology has automated the manufacture not just of copies ofexisting genetic sequences but any custom-made gene sequence, allowinganyone who want to create a gene sequence of their own to upload thesequence to a company that will “print” it using the basic building blocksof genetics. And advances in robotics offer the prospect that many of theservices humans now provide can be provided free of charge bygeneral-purpose machines that can be programmed to perform a variety ofcomplex functions. While none of these technologies are nearly as far alongas the Internet, they share two essential characteristics with theInternet: they radically reduce the cost of production and distribution ofthings, and they separate the informational content of those things (thedesign) from their manufacture. Combine these four developments – theInternet, 3D printing, robotics, and synthetic biology – and it is entirelyplausible to envision a not-too-distant world in which most things thatpeople want can be downloaded and created on site for very little money.The role of IP in such a world is both controverted and criticallyimportant. IP rights are designed to artificially replicate scarcity whereit would not otherwise exist. In its simplest form, IP law takes publicgoods that would otherwise be available to all and artificially restrictstheir distribution. It makes ideas scarce, because then we can bring theminto the economy and charge for them, and economics knows how to deal withscarce things. So on one view – the classical view of IP law – a world inwhich all the value resides in information is a world in which we need IPeverywhere, controlling rights over everything, or no one will get paid tocreate. That has been the response of IP law to the Internet so far.But that response is problematic for a couple of reasons. First, it doesn’tseem to be working. By disaggregating creation, production, anddistribution, the Internet democratized access to content. Copyright ownershave been unable to stop a flood of piracy with 50,000 lawsuits, a host ofnew and increasingly draconian laws, and a well-funded public educationcampaign that starts in elementary school. Second, even if we could use IPto rein in all this low-cost production and distribution of stuff, we maynot want to. The point of IP has always been, not to raise prices andreduce consumption for its own sake, but to encourage people to createthings when they otherwise wouldn’t. More and more evidence casts doubt onthe link between IP and creation, however. Empirical evidence suggests thatoffering money may actually stifle rather than drive creativity amongindividuals. Economic evidence suggests that quite often it is competition,not the lure of monopoly, that drives corporate innovation. The Internetmay have spawned unprecedented piracy, but it has also given rise to thecreation of more works of all types than ever before in history, often bymultiple orders of magnitude.Far from necessitating more IP protection, then, the development ofcost-reducing technologies may actually weaken the case for IP. If peopleare intrinsically motivated to create, as they seem to be, the easier it isto create and distribute content, the more content is likely to beavailable even in the absence of IP. And if the point of IP is to encourageeither the creation or the distribution of that content, cost-reducingtechnologies may actually mean we have less, not more, need for IP.IP rights are a form of government regulation of market entry and marketprices. We regulated all sorts of industries in the 20th century, fromairlines to trucking to telephones to electric power, often because wecouldn’t conceive of how the industry could survive without the governmentpreventing entry by competitors. Towards the end of that century, however,we experimented with deregulation, and it turned out that the market couldprovide many of those services better in the absence of governmentregulation. The same thing may turn out to be true of IP regulation in the21st century. We didn’t get rid of all regulation by any means, and wewon’t get rid of all IP. But we came to understand that the free market,not government control over entry, is the right default position in theabsence of a persuasive justification for limiting that market. Theelimination of scarcity will put substantial pressure on the law to do thesame with IP.A world without scarcity requires a major rethinking of economics, much asthe decline of the agrarian economy did in the 19th century. How will oureconomy function in a world in which most of the things we produce arecheap or free? We have lived with scarcity for so long that it is hard evento begin to think about the transition to a post-scarcity economy. IP hasallowed us to cling to scarcity as an organizing principle in a world thatno longer demands it. But it will no more prevent the transition thanagricultural price supports kept us all farmers. We need a post-scarcityeconomics, one that accepts rather than resists the new opportunitiestechnology will offer us. Developing that economics is the great task ofthe 21st century.


2019 ◽  
Vol 13 (1) ◽  
pp. 45-59
Author(s):  
Marek Gális ◽  
Michal Ševčík

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.


2020 ◽  
Vol 43 (2) ◽  
pp. E55-59
Author(s):  
Meliha Findik ◽  
Afsin E. Kayipmaz ◽  
Cemil Kavalci ◽  
Tugce Sencelikel Sencelikel ◽  
Murat Muratoglu ◽  
...  

Purpose: To compare the efficacy of a low-cost custom-made universal serial bus (USB) endoscope laryngoscope for intubation with a direct laryngoscope and a high-cost video laryngoscope in a mannequin study. Methods: We used one intubation simulator model (mannequin) in our study. A USB endoscope was mounted to the direct laryngoscope as a custom-made USB endoscope laryngoscope (USB-L). We used a video laryngoscope (Glidescope®, Verathon, USA) and a direct laryngoscope (Macintosh) for comparison. Intubation time and the correct placement of the tube were measured. Intubations were performed by two operators and results were compared. Results: We found a statistically significant difference between the video and direct laryngoscope groups (p < 0.001), as well as between the USB-L and direct laryngoscope groups (p = 0.001) for Operator 1. For Operator 2, there was a statistically significant difference between the video laryngoscope group and the direct laryngoscope group (p = 0.022); however, we did not find a significant difference between the USB-L group and the direct laryngoscope group (p = 0.154). Furthermore, there were no significant differences between the USB-L and video laryngoscope groups for either operator (p=0.347 for Operator 1 and p>0.999 for Operator 2). Conclusion: Our study showed that USB endoscope laryngoscope provided similar intubation time to video laryngoscopy at a fraction of the cost; and both had superior times in comparison with direct laryngoscopy.


Author(s):  
S. Sato ◽  
S. Jovanovic ◽  
J. Lang ◽  
Z. Spakovszky

A compact, high power-density turbo-generator system was conceived, designed and experimentally tested. The air-to-power (A2P) device with a nominal design point of 50 W electric power output operates on high pressure air such as for example from a plant pneumatic system or a portable bottle of pressurized air. A concept design study was first carried out to explore the design space for a range of output power at cost efficiency levels specified in collaboration with industry. The cost efficiency is defined as the cost of electrical power over the cost of pressurized air. The key challenge in the design is the relatively low power demand of 50 W while operating at high supply pressures of nominally 5 to 6 bar. To meet the cost efficiency goal under these conditions, a high-speed turbine and generator (∼450,000 rpm) are required with small blade span (∼200 μm) minimizing the mass flow while achieving the highest possible turbine performance. Since turbines with such small turbomachinery blading aren’t commercially available, a silicon-based MEMS turbine was designed using 2-D and 3-D CFD computations. To reduce the development time, existing and previously demonstrated custom-made generator and ceramic ball-bearing technology were used, resulting in a compact A2P proof-of-concept demonstration. The cylindrical device of 35 mm diameter resembles a tube fitting with a standard M24 adapter. Without load, a top turbine speed of 475,000rpm was demonstrated exceeding the design specification. Using load resistors, the proof-of-concept A2P device achieved 30 W of electrical power at 360,000 rpm and a turbine efficiency of 47%, meeting the cost efficiency goal. Higher speeds under load could not be achieved due to thrust load limitations of the off-shelf ball bearings. The demonstrated performance is in good agreement with the projected CFD based predictions. To the authors’ knowledge, this is the first successful demonstration of a self-contained, 50 W-class turbo-generator of hybrid architecture where a MEMS turbine disk is joined with a precision machined titanium shaft and aluminum housing.


2021 ◽  
Author(s):  
Xiaoliang Zheng ◽  
Gongping Wu

Abstract Robot intelligence includes motion intelligence and cognitive intelligence. Aiming at the motion intelligence, a hierarchical reinforcement learning architecture considering stochastic wind disturbance is proposed for the decision-making of the power line maintenance robot with autonomous operation. This architecture uses the prior information of the mechanism knowledge and empirical data to improve the safety and efficiency of the robot operation. In this architecture, the high-level policy selection and the low-level motion control at global and local levels are considered comprehensively under the condition of stochastic wind disturbance. Firstly, the operation task is decomposed into three sub-policies: global obstacle avoidance, local approach and local tightening, and each sub-policy is learned. Then, a master policy is learned to select the operation sub-policy in the current state. The dual deep Q network algorithm is used for the master policy, while the deep deterministic policy gradient algorithm is used for the operation policy. In order to improve the training efficiency, the global obstacle avoidance sub-policy takes the random forest composed of dynamic environmental decision tree as the expert algorithm for imitation learning. The architecture is applied to a power line maintenance scenario, the state function and reward function of each policy are designed, and all policies are trained in an asynchronous and parallel computing environment. It is proved that this architecture can realize stable and safe autonomous operating decision for the power line maintenance robot subjected to stochastic wind disturbance.


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