In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-ey...In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-eye visual servo.On the basis of the transmission line's geometrical characteristics and the camera's imaging principle,a line recognition and extraction method based on structure constraint is designed.The line's intercept and inclination are defined in an imaging space to represent the robot's change of pose and a law governing the pose decoupling servo control is developed.Under the integrated consideration of the influence of light intensity and background change,noise(from the camera itself and electromagnetic field)as well as the robot's kinetic inertia on the robot's imaging quality in the course of motion and the grasping control precision,a servo controller for grasping the line of the robot's off-line arm is designed with the method of fuzzy control.An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line,where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing.The robot's autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise,reliable and efficient manner,thus the need of actual operation can be satisfied.展开更多
The voltage uprating of existing overhead lines is an interesting solution for increasing the transmission of electricity, especially in areas where it is difficult to build new lines. If a line is uprated with minor ...The voltage uprating of existing overhead lines is an interesting solution for increasing the transmission of electricity, especially in areas where it is difficult to build new lines. If a line is uprated with minor changes of its design and without improvement of the grounding electrodes of towers, its lightning performance remains unchanged. The consequence is that the uprated line will have a lightning flashover rate very high compared to an overhead line of same nominal voltage but of standard design. One attractive solution to solve this problem is to use line arresters. The goal of this paper is to study the use of line arresters to achieve a satisfactory lightning performance of an overhead line uprated from 225 kV to 400 kV without major design modifications. In order to compare different strategies of line arrester installation the flashover rate is calculated based on a software able to launch automatically EMTP-RV. The software named LIPS has been developed under the cover of a partnership between Hydro-Quebec, RTE and EDF.展开更多
In South Africa, electricity is supplied through thousands-of-kilometers of overhead power cables, which is owned by Eskom the national energy supplier. Currently monitoring of these overhead power cables are done by ...In South Africa, electricity is supplied through thousands-of-kilometers of overhead power cables, which is owned by Eskom the national energy supplier. Currently monitoring of these overhead power cables are done by means of helicopter inspection flights and foot patrols, which are infrequent and expensive. In this paper, the authors present the design of a prototype power line crawler (inspection robot) for the monitoring of these overhead power lines in South Africa. The designed prototype power line crawler is capable of driving on the wire, balancing on the wire and is capable of maneuvering past certain obstacles found on the overhead power cables. The prototype power line crawler is designed to host a monitoring system that monitors the power line as the inspection robot drives on it. Various experimental tests were performed and are presented in this paper, showing the capability of performing these tasks. This prototype inspection robot ensures a platform for future development in this area.展开更多
In power systems, a large number of OPLs (overhead power lines) are more than 40 years old and some even exceed 50 years old. The key issue for power systems managers, public utilities companies and electrical engin...In power systems, a large number of OPLs (overhead power lines) are more than 40 years old and some even exceed 50 years old. The key issue for power systems managers, public utilities companies and electrical engineers today concerns the manner in which available financial resources should be invested in these OPLs to provide the greatest impact on the power system as a whole and to address the OPLs that require urgent revitalization. This paper presents the application of the software tool RevOPL, developed using Microsoft Access utilizing the "methodology for revitalization of high-voltage OPLs". The aim is to present both the methodology and software to objectively evaluate the condition of an OPL and determine its remaining service life. The application of this software tool provides a proposal for the scheduling and scope of planned revitalization activities, which are obtained through the optimization of the technical characteristics while remaining within the available budget.展开更多
The national energy supplier (Eskom in South Africa) supplies electricity through thousands-of-kilometers of overhead power lines. The current methods of inspection of these overhead power lines are infrequent and e...The national energy supplier (Eskom in South Africa) supplies electricity through thousands-of-kilometers of overhead power lines. The current methods of inspection of these overhead power lines are infrequent and expensive. In this paper, the authors present the development of a prototype monitoring system for power line inspection in South Africa. The developed prototype monitoring system collects data (information) from the overhead power lines, is remotely accessible and fits into a power line robot. The prototype monitoring system makes use ofa PandaBoard (SBC) with GPS receiver and 5 MP camera to collect data. Hardware fatigue is the biggest problem faced on the overhead power lines and is captured by means of the 5 MP camera and is displayed on a website hosted by the PandaBoard via Wi-Fi. The monitoring system has low power consumption, is light weight, compact and easily collects data. The data obtained from the prototype monitoring system was satisfactory and provides an improved solution for monitoring power lines for Eskom in South Africa.展开更多
This paper aims to present and discuss the use of a power flow methodology based on Gauss elimination method to evaluate the performance of distribution network taking into account the neutral conductor absence at spe...This paper aims to present and discuss the use of a power flow methodology based on Gauss elimination method to evaluate the performance of distribution network taking into account the neutral conductor absence at specific sections, and a development of a methodology based on GA (genetic algorithm) capable of evaluating alternative solutions in different bars of the feeder, in order to propose appropriate solutions to improve the distribution network safety. Besides the technical aspects, the proposed GA methodology takes into account the economic feasibility analysis. The results of power flow simulations have shown that the presence of single-phase transformers along with the absence of the neutral conductor at specific sections of the MV (medium voltage) network may increase the Vng (neutral-to-ground voltage) levels of the feeders involved, jeopardizing the system's safety. On the other hand, the solutions proposed by the GA methodology may reduce the network Vng levels and improve the safety conditions, providing values close to the ones found before the neutral conductor theft.展开更多
Owing to the potential for intercell cochannel interference mitigation and significant spectral efficiency improvement, coordinating transmission techniques by multiple radio access points have recently attracted a lo...Owing to the potential for intercell cochannel interference mitigation and significant spectral efficiency improvement, coordinating transmission techniques by multiple radio access points have recently attracted a lot of attention. In this paper, the system structure and mathematical signal model based on clustered structure are presented for multipoint coordinating downlink transmission, the clustered supercell configurations with static/dynamic approaches are discussed, and then optimal precod- ing design is provided for an accepted level of scheduling complexity and reduced signaling over- head. Some simulation results are given to evaluate the performance of different cell-clustering approaches, and to show that a clustered supercell size of 7 is a reasonable choice for clustered coordination with the given transmit power and the reduced feedback.展开更多
基金Project(2006AA04Z202)supported by the National High Technology Research and Development Program of ChinaProject(51105281)supported by the National Natural Science Foundation of China
文摘In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-eye visual servo.On the basis of the transmission line's geometrical characteristics and the camera's imaging principle,a line recognition and extraction method based on structure constraint is designed.The line's intercept and inclination are defined in an imaging space to represent the robot's change of pose and a law governing the pose decoupling servo control is developed.Under the integrated consideration of the influence of light intensity and background change,noise(from the camera itself and electromagnetic field)as well as the robot's kinetic inertia on the robot's imaging quality in the course of motion and the grasping control precision,a servo controller for grasping the line of the robot's off-line arm is designed with the method of fuzzy control.An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line,where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing.The robot's autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise,reliable and efficient manner,thus the need of actual operation can be satisfied.
文摘The voltage uprating of existing overhead lines is an interesting solution for increasing the transmission of electricity, especially in areas where it is difficult to build new lines. If a line is uprated with minor changes of its design and without improvement of the grounding electrodes of towers, its lightning performance remains unchanged. The consequence is that the uprated line will have a lightning flashover rate very high compared to an overhead line of same nominal voltage but of standard design. One attractive solution to solve this problem is to use line arresters. The goal of this paper is to study the use of line arresters to achieve a satisfactory lightning performance of an overhead line uprated from 225 kV to 400 kV without major design modifications. In order to compare different strategies of line arrester installation the flashover rate is calculated based on a software able to launch automatically EMTP-RV. The software named LIPS has been developed under the cover of a partnership between Hydro-Quebec, RTE and EDF.
文摘In South Africa, electricity is supplied through thousands-of-kilometers of overhead power cables, which is owned by Eskom the national energy supplier. Currently monitoring of these overhead power cables are done by means of helicopter inspection flights and foot patrols, which are infrequent and expensive. In this paper, the authors present the design of a prototype power line crawler (inspection robot) for the monitoring of these overhead power lines in South Africa. The designed prototype power line crawler is capable of driving on the wire, balancing on the wire and is capable of maneuvering past certain obstacles found on the overhead power cables. The prototype power line crawler is designed to host a monitoring system that monitors the power line as the inspection robot drives on it. Various experimental tests were performed and are presented in this paper, showing the capability of performing these tasks. This prototype inspection robot ensures a platform for future development in this area.
文摘In power systems, a large number of OPLs (overhead power lines) are more than 40 years old and some even exceed 50 years old. The key issue for power systems managers, public utilities companies and electrical engineers today concerns the manner in which available financial resources should be invested in these OPLs to provide the greatest impact on the power system as a whole and to address the OPLs that require urgent revitalization. This paper presents the application of the software tool RevOPL, developed using Microsoft Access utilizing the "methodology for revitalization of high-voltage OPLs". The aim is to present both the methodology and software to objectively evaluate the condition of an OPL and determine its remaining service life. The application of this software tool provides a proposal for the scheduling and scope of planned revitalization activities, which are obtained through the optimization of the technical characteristics while remaining within the available budget.
文摘The national energy supplier (Eskom in South Africa) supplies electricity through thousands-of-kilometers of overhead power lines. The current methods of inspection of these overhead power lines are infrequent and expensive. In this paper, the authors present the development of a prototype monitoring system for power line inspection in South Africa. The developed prototype monitoring system collects data (information) from the overhead power lines, is remotely accessible and fits into a power line robot. The prototype monitoring system makes use ofa PandaBoard (SBC) with GPS receiver and 5 MP camera to collect data. Hardware fatigue is the biggest problem faced on the overhead power lines and is captured by means of the 5 MP camera and is displayed on a website hosted by the PandaBoard via Wi-Fi. The monitoring system has low power consumption, is light weight, compact and easily collects data. The data obtained from the prototype monitoring system was satisfactory and provides an improved solution for monitoring power lines for Eskom in South Africa.
文摘This paper aims to present and discuss the use of a power flow methodology based on Gauss elimination method to evaluate the performance of distribution network taking into account the neutral conductor absence at specific sections, and a development of a methodology based on GA (genetic algorithm) capable of evaluating alternative solutions in different bars of the feeder, in order to propose appropriate solutions to improve the distribution network safety. Besides the technical aspects, the proposed GA methodology takes into account the economic feasibility analysis. The results of power flow simulations have shown that the presence of single-phase transformers along with the absence of the neutral conductor at specific sections of the MV (medium voltage) network may increase the Vng (neutral-to-ground voltage) levels of the feeders involved, jeopardizing the system's safety. On the other hand, the solutions proposed by the GA methodology may reduce the network Vng levels and improve the safety conditions, providing values close to the ones found before the neutral conductor theft.
文摘Owing to the potential for intercell cochannel interference mitigation and significant spectral efficiency improvement, coordinating transmission techniques by multiple radio access points have recently attracted a lot of attention. In this paper, the system structure and mathematical signal model based on clustered structure are presented for multipoint coordinating downlink transmission, the clustered supercell configurations with static/dynamic approaches are discussed, and then optimal precod- ing design is provided for an accepted level of scheduling complexity and reduced signaling over- head. Some simulation results are given to evaluate the performance of different cell-clustering approaches, and to show that a clustered supercell size of 7 is a reasonable choice for clustered coordination with the given transmit power and the reduced feedback.