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A telerobot can be used for inspection at a location far from where its user is, i.e. remote inspection. This paper presents the design and implementation of a lab for evaluation of remote inspection, consisting of a telerobot prototype and an environment for it to operate in. Remote inspection can be used in many industries, but we argue that it is especially suitable for offshore wind turbines,...
This paper deals with an embedded module for automation of thermographic inspection. The module captures video streams from an infrared camera and from a visible image camera and performs an image processing to detect faults. The protocols used to capture the image streams and the image processing are discussed. The results, with the faults highlighted, are sent through an synthetic image stream to...
In this paper we present the redesign of a scanner for eddy-current (EC) and ultrasonic (UT) measurements in the central bores of large rotors in power plants. It focuses on an innovative leg-unit which allows for passing steps and thus is able to scan in almost all types of straight bores above 70mm. It is actuated purely electromechanically, using a serial-elastic power transmission with a spindle...
This paper presents a review of state-of-the-art robotics systems developed or in use on overhead/underground power distribution lines in the past decade. It covers only those robotic applications that are designed for use on the distribution network, that is, any part of the power system located between the transmission lines/substations (transmission network) and the end users. The first part of...
In power plants, in many cases direct human access to crucial sites for inspection or maintenance is impossible. Here, remotely operated robots offer good potential to handle these tasks. This relates to technology challenges for remote operations. In this contribution we propose the use of an Augmented Reality interface as a means to directly and intuitively visualize complex information to overcome...
In the context of environment reconstruction for inspection, it is important to handle sensor noise properly to avoid distorted representations. A short survey of available sensors is realize to help their selection based on the payload capability of a robot. We then propose uncertainty models based on empirical results for three models of laser rangefinders: Hokuyo URG-04LX, UTM-30LX and the Sick...
Inspection and maintenance tasks in the power industry often require tools to be moved smoothly in direct contact or close proximity over surfaces of curved tube-like structures. This paper addresses the problem of navigating robotic devices, namely a wheeled climbing robot carrying an inspection tool, on surfaces as they typically appear in steam chests of power plants. The surfaces are modeled by...
The content formerly presented as the proceedings of this conference in IEEE Xplore was found to be unauthorized, and thus a wholly inaccurate representation of the proceedings of the conference.The content now presented as the proceedings of this conference has been verified as a true and accurate representation of the research presented at the conference. We apologize for this incident, and have...
This work focuses on the use of MAVs for industrial inspection tasks. An efficient flight controller based on a model predictive control paradigm is developed. It allows for agile maneuvers in confined spaces while incorporating delays, saturations and inaccurate vehicle state estimates only available at low rate. The fast gradient method is used to solve the optimization problem and meet real-time...
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In this article, we present for the first time the lessons learned during an extensive testing campaign of the new telerobotic system MT200-TAO carried out in an active hot-cell. The extremely positive results obtained during the 10 months continuous working period have permitted the validation of the system for its use. The system will be installed first at La Hague plant. A real gain in productivity...
Currently, the power industry in Brazil is a system with many public and private companies competing by market rules and regulated by an specific agency (ANEEL). The legal mark for the power industry defines the Research and Development (R&D) Program of the Power Sector. By a Federal Law companies operating under concession, permission or authorization of the government in distribution, transmission...
This paper presents the results of a partnership between Alstom and Hydro-Québec for the development of a new factory robotic polishing process. The goal is to improve turbine efficiency by reducing surface roughness to a level that is unattainable with conventional methods. Three entire axial-flow turbines for Hydro-Québec's Sarcelle power station were polished with this new technique at the Alstom...
In this paper a real-time vision based power line extraction solution is investigated for active UAV guidance. The line extraction algorithm starts from ridge points detected by steerable filters. A collinear line segments fitting algorithm is followed up by considering global and local information together with multiple collinear measurements. GPU boosted algorithm implementation is also investigated...
This paper presents the validation of a reference system for the inspection of large underwater hydroelectric structures. The reference system is part of a comprehensive solution for underwater inspection previously presented by the authors. The reference consists of a set of vertical wires forming a virtual plane of reference for a 3-D laser scanner. The geometrical characteristics of the reference...
This paper describes a video submission that provides an update on the development of a robot that autonomously inspects high voltage transmission lines. The robot is being developed by the Electric Power Research Institute with collaborative partners American Electric Power, Southern Company, and Southwest Research Institute. The robot will navigate along the shield wire and will be able to perform...
The methodology and processes used to select and design robotic equipment for use in a Canadian Used (Nuclear) Fuel Packing Plant (UFPP) are presented. The application of these methods is illustrated using, as an example, the selection and design of equipment for a Laser Welding Cell. The analysis indicates that both robots and manipulators are expected to be used in the Canadian UFPP. The described...
LineScout is a transmission line inspection robot developed by Hydro-Québec. In operation since 2006, it has been deployed on a few major grids throughout the world. Over the years, the technology has demonstrated its value for grid operators, notably by contributing to the reliability, the sustainability and the availability of transmission networks. This paper presents the latest developments and...
Use of robotics and computerized tools in Nuclear Power Plants (NPPs) has been identified as a highly recommended practice by IAEA. The key rationale of robotics application has always been to avoid human exposure to hazardous environments and tasks ranging from scrutiny and general maintenance to decontamination and post accidental activities. To execute these activities, robots need to incorporate...
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