Search results

The purpose of this paper is to describe the design and development of a novel series-parallel robot, which aims to climb on the transmission tower.

This study introduces a hybrid robot, which consists of adsorption and two 3-degree of freedom (DOF) translation parallel legs connected by a body linkage. The DOF of the legs ensures that the robot can move on the climbing plane, also contribute to a compact design of the robot. An electromagnet is used to adsorb onto the transmission tower, simplifying the overall structure. Based on the robot design, this paper further defines its climbing gait and adopt the 6th B-spline curves for climbing trajectory planning under different working environments.

The developed prototype that implements the design of the robot, which was used in simulation and experiments, showing that the robot is capable of climbing in the test environments with the planned climbing gait.

The hybrid robot is able to climb under varying degrees of inclinations and cross the obstacles, and the magnetic attraction can ensure stable climbing.

The purpose of this paper is to introduce an efficient model for analysis of the voltage distribution along the long ceramic insulator strings in a high‐voltage tower window, especially when the structure and parameters of the ceramic insulator are unknown. The effect of the grading ring on the voltage distribution is also investigated.

A circuit model composed of capacitors is used to analyze the voltage distribution along the ceramic insulator strings in a transmission tower window. The capacitances of the disk insulators, line conductors, and tower are obtained by using the finite element method, charge simulation method, boundary element method, and measurement according to their characteristics.

The model is very efficient. The voltage distribution along insulator strings can be optimized by adjusting the parameters of the grading ring. The maximum amount of voltage applied to a single insulator disk can be reduced effectively by increasing either the diameter of the grading ring or the distance from the upper surface of the grading ring to the high‐voltage end of the insulator string.

The model is very efficient for analysis of the voltage distribution along the long ceramic insulator strings, especially when the structure and parameters of the ceramic insulator are unknown.

The purpose of this paper is to present a method to analyze the noise in aircraft cabins through the VHF Aeronautical Communication Channel, aimed at examining an environment that has the possibility of communication problems between the aircraft crew and the professionals responsible for the controls on land.

This analysis includes equipment normally used for identification and comparison of electromagnetic noise, the cabin and the environment that are present in an airport, as well as equipment for frequency analysis and intensity of those signals. The analysis is done in a reverse way, eliminating situations that are not common in the examined environment, until the identification of the situation with the irregularity.

According to the results, the implementation of the Fourier transform for noise analysis in the cabin was efficient. These results demonstrate that through this transformation, the noise sources can be identified in the environments in cases where there is much spectrum pollution.

This kind of noise analysis is important, considering the importance of having good accuracy in airport environment analysis.

The paper presents the main trends in the future of aviation communications, and describes the new applications that aim to minimize problems with the current VHF channel.

The purpose of this paper is to compute the values of induced voltages and currents in an underground gas pipeline, which shares the same right of way with a high voltage power line (HVPL) in unbalanced phase currents regime, in order to detect the possibility of the AC corrosion occurring in the pipeline.

The analysis of the induced voltages in metallic structures (gas pipeline) was done using a professional analysis and modeling software which uses the electromagnetic field method.

It was shown that during fault conditions, large currents and voltages are induced on the pipelines, which may pose a threat to operating personnel and equipment. Induced voltages also occur in cases of unbalanced phase currents of the HVPL, which may pose a threat voltage that could lead to damages of the underground gas pipeline due to corrosion phenomena.

Because the electromagnetic field approach involves complicated analytical expression and introduces serious computational difficulties, among which matrix of coefficients representing the set of simultaneous linear equations, the use of professional analysis and modeling software is justified.

The paper reveals that even in unbalanced phase currents regime of the HVPL, the nearby metallic structures that share the same right of way with the transmission line are in danger of degradation because of the induced voltages, whose values exceed the values imposed by regulation.

The power cable maintenance robot is an important equipment to ensure the reliable operation of high-voltage transmission (HVT) lines and is a useful exploration to achieve high-quality power transmission. In respond to a series of technical problems in the operation process, such as robot shaking, terminal positioning error, camera image blurred and visual servo control difficulty which caused by the influence of high altitude random wind load on the motion control of power maintenance robot. The purpose of this study is to minimizing the impact of wind loads on robot motion control on the high voltage transmission line, so as to obtain the sound motion performance.

This paper presents a robust stabilization control method for flexible wire power maintenance robot under wind load action, the coupling mathematical model between the flexible wire with the robot has been established, and the robot rolling model under wind load has also been established. According to the tilt sensor, the robot pendulum angle value can be obtained and fitted through sinusoidal function; the robot swing period and frequency under wind load action can be also obtained; the feedforward- and feedback-based robot closed-loop control system is also designed.

Through the online detection of wind load dection, so as to dynamic control the clamping force of the robot's dual-arm jaws, therefore, the robot robust stabilization control with different grades of wind load can be realized. Finally, the effectiveness and engineering practicability of the proposed algorithm are verified by simulation experiments and field operation experiments. Compared with the conventional proportional integral differential (PID) algorithm, this method can effectively suppress the influence of wind load on the robot robust stabilization motion control, and the robot posture detection operation control has been further optimized.

A robust stabilization control method for power robot under wind load is proposed. The coupling motion model of flexible HVT and robot is established. The mathematical relationship between the robot wind rolling angle and the wind force has been deduced, and the corresponding closed-loop control system with feedforward and feedback has also been designed. Through the design of robust stabilization control algorithm based on mixed sensitivity function, the effectiveness of the mixed sensitivity robust stabilization control algorithm is verified by simulation experiments in MATLAB environment. Compared with the traditional PID algorithm, this method can effectively suppress the influence of large-scale disturbance information represented by wind load on the robot motion control. The engineering practicability of the robot robust stabilization control algorithm is further verified by the robot live damper replacement operation under the field wind load, which further improves the robot operation efficiency and intelligence.

The finite element analysis capabilities of DART and the design routines for the computerized design in accordance with CP 110 and BS 5337 are briefly described. The DART program is used to compare some reservoir roof systems including a novel floated dome. Temperature effects on reservoirs can appear to yield severe stresses, but do they? The DART program is used for the design of non‐axisymmetric loaded structures and examples are given of wind loads on water towers and chimneys. A simple procedure has been incorporated into DART to allow for soil—structure interaction. The DART program can print out reinforcing or prestressing requirements. An elementary cost study has been made on reservoir walls to compare the relevant merits of the two methods of design. A facility has been incorporated into the DART program to find the optimum shape of reservoirs and water towers for a given set of construction costs. The Dynamic Programming method has been used for this purpose. Natural frequencies and mode shapes can be determined by the DART program using the Sturm sequence property and inverse iteration respectively.

This paper aims to present simulation studies on voltage and electric field characteristics for imperfect ceramic insulators using QuickField^TM software. Based on previous studies, it is accepted that string insulator can still serve the transmission line although imperfect of certain insulator exist in a string. However, different materials of porcelain and glass type had made these insulators own different abilities to carry electricity to be transferred to the consumers.

Cap and pin type of porcelain and glass insulators are used as the main subject for comparison. The simulation works begins with modeling a single insulator, followed by string of ten insulators with their respective applied voltage, that is, 11 and 132 kV. The insulator was modeled in alternate current conduction analysis problem type using QuickField Professional Software. Technical parameters for porcelain and glass insulator were manually inserted in the modeling.

This paper presents an investigation on the influence of broken porcelain and glass insulators in string for voltage and electric field characteristics. For single insulator, the voltage distribution may literally reduce when experiencing external damages; whereby the broken porcelain insulator condition is worse than the glass insulator. In terms of electric field distribution, the glass insulator is badly affected compared with the porcelain insulator, as it is pulverized comprehensively.

Further work needs to be done to establish whether the experiments of these simulations study will present coequal outcomes. This study endeavors in promoting a good example of voltage and electric field characteristics across high voltage (HV) insulator with the presence of broken insulator in the string.

This study is beneficial to future researchers and manufacturing companies in strategic management and research planning when they involve in the field of HV insulators. It will also serve as a future reference for academic and study purposes. This research will also educate many people on how HV insulators work.

This study will be helpful to the industry and business practitioners in training for the additional results and knowledge to be updated in the area of HV insulators.

This paper presents the analysis of porcelain and glass insulators according to their respective logic conditions when broken. Consequently, the existence of a damage insulator in a string may alter the distribution of voltage and electric field which may ultimately lead to the insulation breakdown after some time. This is because the broken insulator may cause other insulators to withstand the remaining voltage allocated for that particular insulator and may affect the insulators in terms of the life span. Therefore, the distribution of voltage and electrical field characteristics in the presence of broken insulators had been studied in this project.

Simplified Galvanizing. A new process which eliminates the pickling and fluxing stages in the galvanizing of steel wire has been introduced to the U.K. by A.E.I. Birlec Ltd. Instead, the wire is annealed in such a way as to permit its direct entry to the zinc bath at correct temperature, thus greatly reducing the heat input needed to keep the bath hot. By this process, the running speed of the wire can be much higher which will give greater production from a given floor space and is claimed to provide an improved zinc coating on the wire with no intermediate layer of zinc‐iron alloy.

The purpose of this paper is to design a climbing robot connected by a connecting rod mechanism to achieve multi-functional tasks such as obstacles crossing and climbing of power transmission towers.

A connecting rod type gripper has been designed to achieve stable grasping of angle steel. Before grasping, use coordination between structures to achieve stable docking and grasping. By using the alternating movements of two claws and the middle climbing mechanism, the climbing and obstacle crossing of the angle steel were achieved.

Through a simple linkage mechanism, a climbing robot has been designed, greatly reducing the overall mass of the robot. It can also carry a load of 1 kg, and the climbing mechanism can perform stable climbing. The maximum step distance of the climbing robot is 543 mm, which can achieve the crossing of angle steel obstacles.

A transmission tower climbing mechanism was proposed by analyzing the working environment. Through the locking ability of the screw nut, stable clamping of the angle steel is achieved, and a pitch mechanism is designed to adjust the posture of the hand claw.

The purpose of this study is to improve the corrosion resistance of the transmission towers by Zinc-aluminum-magnesium (Zn-Al-Mg) coatings doped with rare earths lanthanum (La) and cerium (Ce) (denoted as Zn-Al-Mg-Re) in Q345 steel.

The phase structure of Zn-Al-Mg-Re composite coatings has been determined by X-ray diffraction, whereas their surface morphology and cross-sectional microstructure as well as cross-sectional elemental composition have been analyzed by scanning electron microscopy and energy-dispersive spectrometry. Moreover, the corrosion resistance of Zn-Al-Mg-Re composite coatings has been evaluated by acetic acid accelerated salt spray test of copper strip.

Experimental results show that doping with La and Ce favors to tune the composition (along with the generation of new phase, such as LaAl₃ or Al₁₁Ce₃) and refine the microstructure of Zn-Al-Mg galvanizing coatings, thereby significantly improving the corrosion resistance of the coatings. Particularly, Zn-Al-Mg-Re with 0.15% (mass fraction) La exhibits the best corrosion resistance among the tested galvanizing coatings.

Zinc-aluminum-magnesium (Zn-Al-Mg) coatings doped with rare earths lanthanum (La) and cerium (Ce) (denoted as Zn-Al-Mg-Re) have been prepared on Q345 steel substrate by hot-dip galvanizing so as to improve the corrosion resistance of the transmission towers, and to understand the corrosion inhibition of the Zn-Al-Mg-Re coating.