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LineScout Technology: Development of an Inspection Robot Capable of Clearing Obstacles While Operating on a Live Line

LineScout Technology: Development of an Inspection Robot Cap...

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IEEE international conference on Transmission and Distribution Construction, Operation and Live-Line Maintenance (ESMO)

作者： Serge Montambault Nicolas Pouliot Hydro-Québec (IREQ) Canada

Robotic systems are used in a range of applications to carry out inspection and repair tasks in hostile environments and in otherwise inaccessible locations. Applied robotics has found several niche applications in Hydro-Quebec operations. One example of a recently developed robotic solution for power line applications is the LineROVer Technology. Now that the technology has proven its worth for power system applications, the next logical step in the project is to develop a vehicle capable of clearing such obstacles as insulator strings, vibration dampers, aircraft warning spheres and corona rings. It must also clear spacer dampers and insulator strings as it travels along conductor bundles. the LineScout robot developed meets this requirement and can clear obstacles as it travels down a line. It can move along several axes, allowing it to adjust its shape in real time to various line configurations and to a wide range of obstacles while remaining as light and compact as possible. the robot's geometry was engineered to give it at least six possible obstacle-clearing sequences, making it versatile in unforeseen situations. the robot can operate on an energized line, has one-day battery life and can be remotely controlled 5 km away. the control approach and electronics allow intuitive human operation of the robot. Moreover, it can operate semi-autonomously, learning to clear obstacles by means of automated sequences. the LineScout Technology described in this paper is a versatile moving platform that extends live-line inspection capabilities and lends itself to future power line repair work

关键词： Inspection Robots Space technology Insulation robotics and automation Automatic control Power systems Vehicles Shock absorbers Damping

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Enhanced Streetlight Management: Using IoT and ESP32 for Automated Fault Detection

Enhanced Streetlight Management: Using IoT and ESP32 for Aut...

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India Council international Subsections conference (INDISCON), IEEE

作者： Swati Bhisikar Prabodh Jagtap Shilpa Sonawane Hrushikesh Sawant Prerana Pisal Dept. of Electronics and Telecommunication Rajarshi Shahu College of Engineering Pune India Dept. of Information Technology Vishwakarma Institute of Information Technology Pune India Dept. of Automation and Robotics Rajarshi Shahu College of Engineering Pune India

ISBN: (数字)9798350376753

ISBN: (纸本)9798350376760

the core focus of this paper is to implement a cutting-edge system for intelligent streetlight management, leveraging an automotive monitoring system to identify and rectify any faults within the streetlight infrastructure. Rapid response of the proposed fault detection system will help save the time of the linemen, which is wasted in manually detecting the faults at streetlights, and will help to reduce the workload of the linemen. Also, most of the time, the detection of the problem mainly depends on the grievances of the local people. thus, this causes delays in the maintenance of the streetlights, wastage of power, and problems for the local people. So, to reduce such problems, we have developed an automatic detection system for streetlight faults. During nighttime, this system will detect faults such as whether the lamp is ON or OFF, or if a wire cut is in the circuit. As the fault is detected, the information will be provided to the authorized person; the information will contain the type of fault that occurred in the streetlight system.

关键词： Smart cities Local government Fault detection Light emitting diodes Maintenance Circuit faults Wire Internet of things Monitoring Intelligent sensors

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FDNet: Remaining Useful Life Prediction for Lithium-Ion Batteries Based on Fourier Series and DenseNet

FDNet: Remaining Useful Life Prediction for Lithium-Ion Batt...

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Machine Learning and Computer Application (ICMLCA), international conference on

作者： Siwen Chen Xiujuan Zheng Shanghai United Imaging Healthcare Co. Ltd Shanghai China Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

ISBN: (数字)9798331530334

ISBN: (纸本)9798331530341

To enhance the prediction accuracy of the remaining useful life (RUL) of lithium-ion batteries, this study proposes a novel RUL prediction model, termed FDNet, which integrates Discrete Fourier Series (DFS) and Densely Connected Convolutional Networks (DenseNet). In contrast to traditional methods that rely on one-dimensional (1D) numerical representations of time-series data, this model utilizes a two-dimensional (2D) visual representation for direct RUL prediction. First, the DFS is employed to convert 1D time-series signals into a 2D time-frequency domain, enabling the extraction of high-dimensional features from the original data. then, these 2D images are subsequently input into DenseNet, which learns the mapping between the image features and the RUL targets. Finally, the proposed model is validated using the NASA lithium-ion battery aging dataset, and the results indicate that FDNet achieves superior prediction accuracy and exhibits notable robustness.

关键词： Lithium-ion batteries Time-frequency analysis Accuracy NASA Predictive models Feature extraction Robustness Numerical models Fourier series Convolutional neural networks

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Estimation of Transmission Force in Assistive Devices using Conductive Liquid Metal based Sensorized Pneumatic Artificial Muscle

Estimation of Transmission Force in Assistive Devices using ...

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Recent Advances and Innovations in Engineering (ICRAIE)

作者： Debadrata Sarkar Sayantan Pal Shibendu Shekhar Roy Amit Kumar Aman Arora Robotics and Automation Group CSIR- Central Mechanical Engineering Research Institute Durgapur Durgapur India National Institue of Technology Durgapur Durgapur India Advanced Design and Analysis Group CSIR-Central Mechanical Engineering Research Institute Durgapur Durgapur India

ISBN: (数字)9781728188676

ISBN: (纸本)9781728188683

the article presents a technique to estimate the force transmitted in pneumatic artificial muscle based assistive devices by sensorizing the actuator. For this purpose, the development of a conductive liquid metal based elastomeric strain sensor has been discussed with the required characterization of its performance. A comparative analysis is shown between the modes of attachment of the developed sensor on the actuator so as to obtain a proper range of response from the sensor. A two-step algorithm has been implemented to estimate the force transmitted in series from an actuator used to assist the human knee and ankle during walking. the estimation results are validated against the readings from an actual inline loadcell, showing good agreement with one another.

关键词： Legged locomotion Actuators Liquids Force Metals Muscles Strain

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Adaptive Power Distribution Method Considering Lifespan Synchronization of Multi-Stack Fuel Cell Power Systems

Adaptive Power Distribution Method Considering Lifespan Sync...

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Power Engineering (ICPE), international conference on

作者： Yao Luo Liyan Zhang Shuang Ni Rong Long Ze Zhou Binbin Lu School of Automation Wuhan University of Technology Wuhan China College of informatics Huazhong Agricultural University Wuhan China

ISBN: (数字)9798331531140

ISBN: (纸本)9798331531157

To extend the lifespan of multi-stack fuel cell power systems (MS-FCPS) and ensure that the overall aging of each stack remains consistent during operation, an adaptive power distribution method considering life convergence is proposed for MS-FCPS. During the operation of MS-FCPS, the output power of fuel cells dynamically changes with different operating conditions, leading to inconsistent aging of each stack. therefore, the State of Health (SOH) is proposed as a quantitative indicator to represent the aging degree of the fuel cell stacks during operation. Additionally, a semi-empirical model of the fuel cell is used to simulate the impact of aging on stack performance. Finally, a simulation experiment built with MATLAB compares the adaptive power distribution method with the average power distribution method and the chain power distribution method. the results show that this method can coordinate the output of each fuel cell, making the health state of each stack tend to be consistent, thereby extending the system’s lifespan.

关键词： Adaptation models Adaptive systems Fuel cells Power distribution Aging Power system stability Mathematical models Synchronization MATLAB Convergence

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Submarine Cable Detection Based on LSR and Image Clustering

Submarine Cable Detection Based on LSR and Image Clustering

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Computer Vision, Image and Deep Learning (CVIDL), international conference on

作者： Siquan Yu Wentao Li Liheng Zhang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China

ISBN: (数字)9798350373820

ISBN: (纸本)9798350373837

Submarine cable is an important carrier for intercontinental communication. Due to the unique nature of the usage environment, submarine cables require regular inspections to ensure normal operation. Usually, there are three methods used for underwater cable detection, including divers, fish towing, and cable robots. the drawbacks of these inspection methods include the need for a large amount of manpower, material resources, and financial resources. Because the depth of the operation is limited, with potential personnel risks. the limited detection range is not suitable for large-scale inspections and other issues. In order to solve the problems, autonomous underwater vehicles (AUVs) become popular tools to detect submarine cable. AUVs carry various detection equipment to achieve rough and precise exploration of submarine cables. Due to the weak impact of sea conditions on underwater operations, AUVs inspection of submarine cable can be suitable for the vast majority of scenarios. they can not only discover submarine cable on a large scale, but also can closely track and detect submarine cable. this paper proposes a method for AUV to autonomously identify submarine cable. Specifically, the proposed method uses Gabor filter to filter side scan sonar (SSS) images, and designs a scoring mechanism to select the corresponding largest image block as a suspected submarine cable. the submarine cable is determined using image clustering and position prior. In this paper, we conduct extemsive experiments to verify the effectiveness of the proposed algorithm.

关键词： Underwater cables Optical filters Meters Autonomous underwater vehicles Machine learning algorithms Clustering algorithms Sonar

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Mechatronics Design and Flight Simulation of Hexacopter Aerial Robot Coupled with Visual Detection System for Crop Diseases

Mechatronics Design and Flight Simulation of Hexacopter Aeri...

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Recent Trends in Computer Science and Technology (ICRTCST), international conference on

作者： Kevin A. Paucar Enzo M. Gallo Ruiz Ricardo Palomares José Cornejo Professional School of Mechatronics Engineering Universidad Ricardo Palma Lima Peru Research Group of Robotics and Mechatronics (GI-ROMA) Universidad Ricardo Palma Lima Peru Universidad Tecnológica del Perú Lima Peru

ISBN: (数字)9798350351378

ISBN: (纸本)9798350351385

the National Institute of Statistics and informatics - INEI in the year 2021 indicated that the agricultural sector experienced a growth of 6.21%, with alfalfa production being one of the main drivers with 10.1%, positioning Peru as one of the countries with the highest growth in the region. In 2022, an exhaustive investigation was carried out in the Department of Moquegua, evidencing a deficiency in the agricultural sector in terms of the availability of technological tools and resources for the execution of innovative projects. In response to this, a hexacopter drone was designed and implemented using SolidWorks software and equipped with an artificial vision system. A detailed mechanical analysis was carried out to evaluate the materials used, carbon fiber, reaching a total mass of 08 kg for efficient flight. An electrical analysis was carried out to determine the power required by the drone, where, Tarot 4114/320KV motors, Hobbywing FlyFun variators, and a 10000 mAh LiPo battery that allows a flight autonomy of 25 minutes were used. It uses an Ardupilot APM 2.8 flight controller for programming the drone's flight paths using the Mission Planner software, likewise, Google Colab and Python were used for training neural networks and NVIDIA Jetson Nano for integrated processing applications of images, as well as, the KyAo application was implemented for the registration of the coordinates of the crops. By the end of 2023, the increased production of alfalfa will be validated through the early detection of pests and diseases in the Rinconada sector of the Moquegua Province in Peru with the participation of the farming community.

关键词： Training Visualization Crops Process control Production Programming Software

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A Multi-Technique Measurement and Estimation of Volume for Pneumatic Artificial Muscle

A Multi-Technique Measurement and Estimation of Volume for P...

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Recent Advances and Innovations in Engineering (ICRAIE)

作者： Aman Arora Debadrata Sarkar Sayantan Pal Amit Kumar Soumen Sen Shibendu Shekhar Roy National Institue of Technology Durgapur Durgapur India Robotics and Automation Group CSIR-Central Mechanical Engineering Research Institute Durgapur Durgapur India Advanced Design and Analysis Group CSIR-Central Mechanical Engineering Research Institute Durgapur Durgapur India

ISBN: (数字)9781728188676

ISBN: (纸本)9781728188683

Researchers have developed various different static models for Pneumatic artificial muscle actuators using virtual work technique by using the volume of air entering into the actuator. A comparative study of the measurement and estimation of the air consumption of a pneumatic artificial muscle actuator during its actuation is performed in this article. Such actuators being non-symmetrical, require an extensive hardware to accurately measure their volumes by water displacement technique. the relative performance of two alternative methods, blob analysis and flow rate measurement are analyzed and the anomalies have been reasoned out. A short study on the identification of the actuator inflation process has been performed to show how the estimation technique could be improved.

关键词： Actuators Technological innovation Solid modeling Volume measurement Estimation Displacement measurement Muscles

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A body-machine interface for training selective pelvis movements in stroke survivors: a pilot study

A body-machine interface for training selective pelvis movem...

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Annual international conference of the IEEE Engineering in Medicine and Biology Society

作者： S. Summa C. Pierella P. Giannoni A. Sciacchitano S. Iacovelli A. Farshchiansadegh F. A. Mussa-Ivaldi M. Casadio the Department of Informatics Bioengineering Robotics and System Engineering at the University of Genoa 16145 Genoa Italy the ART Education and Rehab Center Genoa Italy the Sensory Motor Performance Program Rehabilitation Institute of Chicago Chicago IL 60611 USA. the Sensory Motor Performance Program Rehabilitation Institute of Chicago Chicago IL 60611 USA

ISBN: (纸本)9781424492695

the body-machine interfaces (BMIs) map the subjects' movements into the low dimensional control space of external devices to reach assistive and/or rehabilitative goals. this work is a first proof of concept of this kind of BMI as tool for rehabilitation after stroke. We designed an exercise to improve the control of selective movements of the pelvis in stroke survivors, increasing the ability to decouple the motion in the sagittal and frontal planes and decreasing compensatory adjustments at the shoulder girdle. A Kinect sensor recorded the movements of the subjects. Subjects played different games by controlling the vertical and horizontal motion of a cursor on a screen with respectively the lateral tilt and the ante/retroversion of their pelvis. We monitored also the degrees of freedom not directly involved in cursor control, thus subjects could complete the task only with a correct posture. Our preliminary results highlight significant improvement not only in cursor control, but also in the Trunk Impairment Scale (TIS) and in the Five Times Sit to Stand Test (5xSST).

关键词： TIS 5xSST BMI Pelvis cursor control Movements proof of concept Stroke Pilot Studies Body Mass Index Horizontal motion BMI CONSOLE first proofs Survivors nonius

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Multi-Armed Bandit-Aided Near-Optimal Over-the-Air Updates in Multi-Band V2X Systems

Multi-Armed Bandit-Aided Near-Optimal Over-The-Air Updates i...

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IEEE international conference on Computer Communication and the Internet (ICCCI)

作者： Sherief Hashima Mostafa M. Fouda Kohei Hatano Eiji Takimoto Zubair Md Fadlullah Computational Learning Theory Team RIKEN-AIP Fukuoka Japan Department of Electrical and Computer Engineering Idaho State University Pocatello ID USA Center for Advanced Energy Studies (CAES) Idaho Falls ID USA Department of Informatics Kyushu University Fukuoka Japan Department of Computer Science Western University London ON Canada

As autonomous and connected vehicles continue to garner much research attention, the automotive Over-the-Air (OTA) updates recently emerged as an important research topic. OTA is crucial to disseminate critical updates for safety and stability of on-board sensing and operational systems. In beyond 5G(BSG) systems, OTA may be regarded as cached and a service provided by cellular base stations and roadside units (RSUs). However, for large-size OTA dissemination, the Electronic control Units (ECUs) of vehicles need to download scheduled segments of the OTA payload from the serving RSU in an opportunistic manner, i.e., while stopping at the traffic signal or waiting in traffic. To maximize the downloadable payload per vehicle served by a RSU within a limited time window, we consider multi-band RSUs and ECUs as transmitting and receiving nodes, respectively. We consider legacy RF (radio frequency), mmWave (millimeter Wave), and visible light communication (VLC) bands at the RSU to provide large capacity links to the ECUs, respectively. However, the sub-channels of these frequency bands suffer from different blockage characteristics. We formulate this as a tradeoff problem in this paper in the presence of vehicular blockers, and propose a thompson Sampling (TS)-based opportunistic band selection to alleviate the computational burden on both the communicating RSU and ECU nodes. Based on extensive computer-based simulations, we demonstrate the performance of our proposal in contrast with an optimal (centralized) baseline, as well as other comparable heuristic-based solutions.

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