A R DIGITECH International Journal Of Engineering, Education And Technology (ARDIJEET) www.ardigitech.in ISSN 2320-883X,VOLUME 05 ISSUE 02 01/04/2017
OVERHEAD FAULT DETECTION SYSTEM ON TRANSMISSION LINE:AUTOMATED
Bhople T.L.*1, Shelke P.B.*2, ,Mohod A.V.*3 *1(Miss TruptiL.Bhople,PG Student,Department of Electrical Engineering,PankajLaddhad Institute Of
Technology And Management,Studies,SantGadge Baba Amrawti university Amrawti,india) *2 (Dr.P.B.Shelke, Department of Electrical Engineering,PankajLaddhad Institute Of Technology And
Management,Studies,india) *3(Prof.Amit V.Mohod Department of Electrical Engineering,Prof.RamMeghe College of Engineering and
Management ,Amravat) [email protected]*1
Abstract- A mobile robot based on novel line-
walking mechanism is proposed for inspecting
power transmission lines. The novel mechanism
enables the centroid of the robot to concentrate on
the hip joint to minimize the drive torque of the hip
joint and keep the robot stable when only one leg is
hung on line. After reviewing of the line-walking
mechanism, power line inspection robot is
described in detail. The pose adjustment analysis is
carried out to make sure that the robot will keep in
stable state when rolling on the power transmission
line which forms a catenary curve. The obstacle-
navigation cycle of the designed inspection robot is
composed of a single-support phase and a double-
support phase. The centroid of the robot will be
adjusted to shift to the other leg to start a new
single-support phase. The feasibility of this concept
is then confirmed by performing experiments with a
simulated line environment.
Inspection robot is a promising technique in
automatic fault detecting for high-voltage power
transmission lines. However, the small energy
capacity and poor life of the battery hold back the
application of inspection robots. To solve this
problem, a self-power supply system is designed to
realize the online battery charging by utilizing the
voltage induced from the current on the
transmission line in this paper. The key issues in
the optimal design and practical implementation
are discussed in details, including the induction
module, the power conversion module. Experiments
have been carried on to demonstrate the validity
and effectiveness of the designed self-power supply
system for inspection robots.
Keywords: IR Sensor, ATMEGA-328 IC
Microcontroller circuit ,Bluetooth-HC-05, L298N
Motor Driver IC, Inspection Robot, Hilly Area
Transmission Line.
1. INTRODUCTION:-
Fault detection and location has been a goal of
power system engineers since the creation of
distribution and transmission systems. Quick fault
detection can help protect equipment by allowing
the disconnection of faulted lines before any
significant damage is done. Accurate fault location
can help utility personnel remove persistent faults
and locate areas where faults regularly occur, thus
reducing the frequency and length of power
outages. As a result, while fault detection and
location schemes have been developed in the past,
a variety of algorithms continue to be developed to
perform this task more accurately and more
effectively. Most analysis methods rely on the
values of either current or voltage phasors
Measured by means of current or voltage
transformers at substations or switching stations
together this information, at least three
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A R DIGITECH International Journal Of Engineering, Education And Technology (ARDIJEET) www.ardigitech.in ISSN 2320-883X,VOLUME 05 ISSUE 02 01/04/2017 transformers are typically required at each end of
the sub transmission or transmission line. Constant
energy supply to the customers requires performing
all the inspection tasks without de-energizing the
line, so live line inspection methods are of the most
interest to power companies. These companies
perform patrol inspection mainly using helicopters
equipped with infrared and corona cameras to
detect observable physical damages as well as
some internal deterioration to the line and line
equipment. However, aerial inspection is costly
and always there is a risk of contact with live lines
and loss of life. Moreover, there are some critical
specifications of the line such as internal
corrosion of steel reinforced aluminum conductors
that should be inspected precisely from close
distances to the line that are not accessible by a
mobile platform such as a helicopter or even an
unmanned aerial vehicle (UAV). Hence, power
companies have endeavored to make especial
cable-climbing robots to accomplish inspection
tasks from close distances to the hot line. The
procedure used for inspection and verification of
damages in cables is highly dependent on the
experience of a skilled technician who, using
binoculars, covers the transmission lines in a
helicopter, and is able of victualing points where
seems to exist damaged spots in the wires and in
insulators of the transmission lines . After this
previous identification, teams are sent to verify,
with greater detail , if the imperfection is relevant
.To confirm the relevance of imperfections, the
lines are de-energized and the repair or substitution
can be carried out. With the objective of
complementing the service of inspection in
transmission lines and making it less dependent of
the technician skill, the development of a system of
services in lines of energy transmission that
includes the automation as an auxiliary tool in the
identification of imperfections and as a mechanism
of diminishing the lines disconnection time.
2.LITERATURE SURVEY:1] Line Scout
Technology Opens the Way Inspection and
Maintenance of High Voltage Power Lines
Historically,
AUTHOR: NICOLAS POULIOT, PIERRE-LUC
RICHARD (Member, IEEE), AND SERGE
MONTAMBAULT (Member, IEEE)
He Proposed that the inspection and maintenance
of high-voltage power lines have been performed
by linemen using various traditional means. In
recent years, the use of robots appeared as a new
and complementary method of performing such
tasks, as several initiatives have been explored
around the world. Among them is the tele-operated
robotic platform called Line Scout Technology,
developed by Hydro-Québec, which has the
capacity to clear most obstacles found on the grid.
Since its 2006 introduction in the operations, it is
considered by many utilities as the pioneer project
in the domain. This paper’s purpose is to present
the mobile platform design and its main
mechatronics subsystems to support a
comprehensive description of the main functions
and application modules it offers. This includes
sensors and a compact modular arm equipped with
tools to repair cables and broken conductor strands.
This system has now been used on many occasions
to assess the condition of power line infrastructure
and some results are presented. Finally, future
developments and potential technologies roadmap
are briefly discussed.
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A R DIGITECH International Journal Of Engineering, Education And Technology (ARDIJEET) www.ardigitech.in ISSN 2320-883X,VOLUME 05 ISSUE 02 01/04/2017 TRANSMISSION LINE INSPECTION ROBOT
USING IOT
AUTHOR: SurajGhodake1 , Sameer Bonde2 ,
Harshal Gaikawad3 , Mr. Sunil M. More4
He propos that, This project is designed to
inspect high voltage transmission lines or overhead
transmission wires. This project consists of an
inspection robot which is equipped with various
sensors for parameter sensing, after sensing the
parameters and conditions of the parallel
transmission lines, robot moves forward from
starting point till the ending point of the parallel
line. This proposed system is an inspection robot
and it eliminates the need or intervention of human
operator. Thus, any human error is ruled out. In this
project microcontroller family (atemega328) has
been used as CPU. Whenever the robot starts
inspecting on the transmission line it senses three
main parameters as current, voltage and
temperature and it displays them on alcd display
which is mounted on the inspection robot itself.
After sensing the parameters of the transmission
line it moves further on to the line and hence
inspect the total length of the parallel line for any
defects and deviations in them. The line inspector
then sends all of these parameters to a station
which is nothing but a personal computer situated
at stations side using transceivers. The station side
operator is operating the robot and also receiving
parameters as well as video and images of the
transmission line. The station side operator would
be using a small visual basic based interface in
which two operating button with commands like
forward and reverse are present and this interface
would also be containing space where the
parameter readings shall be displayed. The robot is
also equipped with a wireless camera device, which
captures the whole transmission line inspection
process. Further the project can be enhanced by
making this system more advanced by adding more
parameter sensor and replacing the wheels of the
robot with more grip. Also the robot can be
modified by adding propeller to the inspection
robot hence increasing flexibility of its travelling
process.
ARDUINO:ATMEGA-328
MICROCONTROLLER
AUTHOR: R.HARI SUDHAN1 M.GANESH
KUMAR2 A.UDHAYA PRAKASH3 S.ANU
ROOPA DEVI4 P. SATHIYA5
His says that Arduino ATMEGA-328
microcontroller has been programmed for various
applications. By using the power jack cable,
arduino microcontroller has been programmed so
that the execution of the program may takes place.
Various kinds of arduino board are present in the
market. In this paper, Arduino UNO ATMEGA-
328 microcontroller is described in a detailed
manner. Arduino software is installed in the
computer and so that we can edit and upload the
program according to the applications. Mainly
these arduino software supports c and c++
programming languages. Various inputs and
outputs are present in the arduino board and
therefore simultaneously 8 input and output ports
can be used for various applications. Some of the
applications used by using arduino boards are
rotating general motor, stepper motor, control valve
open, etc.,
Working Principal: The working of
arduino microcontroller is where the proper
connection is made. Checking all the input ports as
well as the power supply connection. The output of
the pins can be connected with the external devices
according to their applications. The program to be
executed for the applications can be done by using
arduino software. From this arduino software, we
can edit according to the applications. This
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A R DIGITECH International Journal Of Engineering, Education And Technology (ARDIJEET) www.ardigitech.in ISSN 2320-883X,VOLUME 05 ISSUE 02 01/04/2017 software can works on c and c++ programming
language. It is fully a high level language. By using
the conditions of working, we can create a program
to proceed for the applications. Then after, these
programs can be uploaded through the arduino
microcontroller by using the power jack cable. The
program can be uploaded to the microcontroller
and ready for further process. ATMEGA-328
microcontroller can saves a program and these IC
can acts as a processor to do the process without
any error. After by giving an analog or digital input
to the system, we can do the process according to
the applications. We can control the process of the
application by editing the program in the arduino
software and again can be uploaded to the arduino
microcontroller via power jack cable. There is an
option of reset button. The purpose of reset button
is to reset the program which means the previous
programs are deleted and we can use the arduino
for the other application purposes. Likewise, these
arduino ATMEGA-328 microcontrollers can be
used for n number of applications. These arduino
microcontrollers are widely used in automation
industries for controlling the process and to work
the system in an automation mode.
3. RELETED WORK:- 3.1 History of Fault on Transmission line: -
Variety of methods of detecting and locating faults
on power transmission lines exist. Most of these
methods utilize the measurements from voltage and
current review of common methods of fault
location is presented. This review is focused on
impedance-based and traveling wave-based fault
location as they are the most common traditional
methods. An implementation of a complete fault
detection and location procedure which uses these
algorithms in conjunction with one another is then
described. This implementation is then used to test
the combined effectiveness of the algorithms for a
variety of fault types and fault resistances. The
fault location errors for these tests are then
presented. These piezoelectric materials are
integrated into a small circuit board. They are
wired in such a way so that when the sensor detects
an increase in the heat of a small part of its field of
view, it will trigger the motion detector's alarm. It
is very common for an infrared sensor to be
integrated into motion detectors like those used as
part of a residential or commercial security system
In normal condition, power
inspection vehicle will shows normal value of
obstacle detection. In this project, the IR sensor
which is installed on the front side of power
inspection vehicle. When robot runs on the
transmission conductor, the IR Sensor will
continuously detect the Obstacle. If the Obstacle is
detected by the IR Sensor, then the faulty signal
will be sent to the Analog& Digital IC which
converts the Analog Signal into the Digital Form.
Then this Signal will Sent to the Microcontroller,
the Oscillator generates the Pulses which is given
to the Microcontroller AT89C52. At the same time
the Microcontroller will give the output signal to
the Buzzer Circuit, Relay Circuit and the LCD
Display will represent the value which is less or
more than the determine value. As the signal output
from Microcontroller is given to the Relay Circuit
then this signal will given to the Power Inspection
Vehicle. Due to this, the vehicle will stop at that
place and shows that the fault is detected.
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A R DIGITECH International Journal Of Engineering, Education And Technology (ARDIJEET) www.ardigitech.in ISSN 2320-883X,VOLUME 05 ISSUE 02 01/04/2017
4.BLOCK DIAGRAM AND
CONNECTION DIAGRAM :-
Fig.4.1 Block Diagram
Fig.4.2 Connection Diagram
5.ATMEGA-328 Aurdino Uno IC:
This ATMEGA-328 integrated chip
consists of 28 pins. It consists of 6 analog inputs
that are shown in the pin diagram. Analog inputs
can be represented as PC0 to PC5. These analog
input pins possess the continuous time signal which
acts as an analog input for the system. Further it
also consists of 12 digital inputs. It can be
represented as PD1 to PD11 which act as an digital
input ports based on pulse width modulation
(PWM). These PWM, which transmits the signal in
the form of discredited form. Both analog and
digital input ports can be used for various
applications for the input power supply, VCC and
GND pins are used. Pins PB6 and PB7, which acts
as a crystal to generate a clock signal. By using
these crystal, we can generate the clock signals and
by these clock signals, we can use this clock signals
for input sources. PC6 pin are the one where it can
be used for the reset option. Resetting the program
can be done by using this PC6 pin.
Fig 5.1 ATMEGA 328-Aurdino-uno
5.1 WORKING PRINCIPLE:-
Battery
ATMEGA 328
Aurdino Uno IC
CAMERA TX
IR MODULE BLUE
TOOTH HC05
L298N MOTOR DRIVER
DISPLAY CAMERA RX
Smart phone Remote
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A R DIGITECH International Journal Of Engineering, Education And Technology (ARDIJEET) www.ardigitech.in ISSN 2320-883X,VOLUME 05 ISSUE 02 01/04/2017
The working of arduino microcontroller is
where the proper connection is made. Checking all
the input ports as well as the power supply
connection. The output of the pins can be
connected with the external devices according to
their applications. The program to be executed for
the applications can be done by using arduino
software. From this arduino software, we can edit
according to the applications. This software can
works on c and c++ programming language. It is
fully a high level language. By using the conditions
of working, we can create a program to proceed for
the applications. Then after, these programs can be
uploaded through the arduino microcontroller by
using the power jack cable. The program can be
uploaded to the microcontroller and ready for
further process. ATMEGA-328 microcontroller can
saves a program and these IC can acts as a
processor to do the process without any error. After
by giving an analog or digital input to the system,
we can do the process according to the
applications. We can control the process of the
application by editing the program in the arduino
software and again can be uploaded to the arduino
microcontroller via power jack cable. There is an
option of reset button. The purpose of reset button
is to reset the program which means the previous
programs are deleted and we can use the arduino
for the other application purposes. Likewise, these
arduino ATMEGA-328 microcontrollers can be
used for n number of applications. These arduino
microcontrollers are widely used in automation
industries for controlling the process and to work
the system in an automation mode. Here, I have
provided a simple arduino program to do the
process of rotating a stepper motor for one
revolution. There are many number of example
programs that are present in the arduino software.
We can edit these programs for our applications
purposes.
6.IR SENSOR :-
Fig.6.1.The Basic Design of the infrared proximity sensor
detect an object's The photo depicts the schematics
for an infrared sensor which allows you to distance
from the robot. The big picture problem is attach
this infrared sensor on both wings of the aerial
robot. Attaching these sensors on the wing tips will
help the robot navigate through the halls of any
building.. This tutorial shows you how to construct
and test one infrared sensor and takes approximately 3 hours to complete.
6.1 PRINCIPLE AND OPERATION Of I.R SENSOR.:-
A Photodiode is a p-n junction or p-i-n
structure. When an infrared photon of sufficient
energy strikes the diode, it excites an electron
thereby creating a mobile electron and a positively
charged electron hole. If the absorption occurs in
the junction's depletion region, or one diffusion
length away from it, these carriers are swept from
the junction by the built-in field of the depletion
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A R DIGITECH International Journal Of Engineering, Education And Technology (ARDIJEET) www.ardigitech.in ISSN 2320-883X,VOLUME 05 ISSUE 02 01/04/2017 region, producing a photo-current. Photo diodes
can be used under either zero bias (photovoltaic
mode) or reverse bias (photoconductive mode).
Reverse bias induces only little current (known as
saturation or back current) along its direction. But a
more important effect of reverse bias is widening of
the depletion layer (therefore expanding the
reaction volume) and strengthening the
photocurrent when infrared falls on it. There is a
limit on the distance between I.R. L.E.D. and
infrared sensor for the pair to operate in the desired
manner. In our case distance is about 5mm.
Sensors are very important part of electronics,
especially in Robotics and Automations. Sensors in
electronic devices make our life easy by
automatically sense and control the devices,
without human interaction. There are many kinds
of sensors like Fire sensor, humidity sensor, motion
sensor, temperature sensor, IR sensor etc. In this
article, we will explain about IR sensor (Infrared
sensor), how it works and how to build an IR
sensor Module.IR sensor is very popular sensor,
which is used in many applications in electronics,
like it is used in Remote control system, motion
detector, Product counter, Line follower Robots,
Alarms etc.IR sensor basically consist an IR LED
and a Photodiode, this pair is generally called IR
pair or Photo coupler. IR sensor work on the
principal in which IR LED emits IR radiation and
Photodiode sense that IR radiation. Photodiode
resistance changes according to the amount of IR
radiation falling on it, hence the voltage drop
across it also changes and by using the voltage
comparator (like LM358) we can sense the voltage
change and generate the output accordingly. The
placing of IR LED and Photodiode can be done in
two ways: Direct and Indirect. In Direct incidence,
IR LED and photodiode are kept in front of one
another, so that IR radiation can directly falls on
photodiode. If we place any object between them,
then it stops the falling of IR light on photodiode In
Indirect Incidence, both the IR LED and Photo
diode are placed in parallel (side by side), facing
both in same direction. In that fashion, when a
object is kept in front of IR pair, the IR light gets
reflected by the object and gets absorbed by
photodiode. Note that object shouldn’t be black as
it will absorb all the IR light, instead of reflect.
Generally IR pair is placed in this fashion in IR
sensor Module.
Fig.6.2 IR LED
7.L298N Motor Driver IC:- Features:-
a) OPERATING SUPPLY VOLTAGE UP TO 46
V .
b) TOTAL DC CURRENT UP TO 4 A .
c) LOW SATURATION VOLTAGE .
d) OVERTEMPERATURE PROTECTION .
In this tutorial we'll explain how to use our L298N
H-bridge Dual Motor Controller Module 2A with.
This allows you to control the speed and direction
of two DC motors, or control one bipolar stepper
motor with ease. The L298N H-bridge module can
be used with motors that have a voltage of between
5 and 35V DC. There is also an onboard 5V
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you can also source 5V from the board.
Fig.7.1 L298N Motor Driver IC
8.Bluetooth HC-05:-HC-05Bluetooth module
is an easy to use Bluetooth SPP (Serial Port
Protocol) module, designed for transparent wireless
serial connection setup.
Serial port Bluetooth module is fully qualified
Bluetooth V2.0+EDR (Enhanced Data Rate)
3Mbps Modulation with complete 2.4GHz radio
transceiver and baseband. It uses CSR Blue-core
04-External single chip Bluetooth system with
CMOS technology and with AFH(Adaptive
Frequency Hopping Feature). It has the footprint as
small as 12.7mmx27mm. Hope it will simplify
your overall design/development cycle.
8.1 Hardware Features
• Typical -80dBm sensitivity
• Up to +4dBm RF transmit power
• Low Power 1.8V Operation ,1.8 to 3.6V I/O
• PIO control
• UART interface with programmable baud rate
• With integrated antenna
• With edge connector
8.2 Software Features
• Default Baud rate: 38400, Data bits:8, Stop
bit:1,Parity:No parity, Data control: has.
Supported baud rate:
9600,19200,38400,57600,115200,230400,460800.
• Given a rising pulse in PIO0, device will be
disconnected.
• Status instruction port PIO1: low-
disconnected, high-connected;
• PIO10 and PIO11 can be connected to red and
blue led separately. When master and slave
are paired, red and blue led blinks 1time/2s in
interval, while disconnected only blue led blinks
2times/s.
• Auto-connect to the last device on power as
default.
• Permit pairing device to connect as default.
• Auto-pairing PINCODE:”0000” as default
• Auto-reconnect in 30 min when disconnected
as a result of beyond the range of connection.
Fig.8.1 HC-05 Bluetooth
9.WIRELESS VIDEO TRANSMITTER
AND WIRELESS VIDEO RECEIVER
CAMERA:-Our wireless video transmitters and
video receivers make wireless video easy and
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A R DIGITECH International Journal Of Engineering, Education And Technology (ARDIJEET) www.ardigitech.in ISSN 2320-883X,VOLUME 05 ISSUE 02 01/04/2017 reliable. Whether it is using highly reliable FM
wireless video or 2.4 GHz to 5.8 GHz Wi-Fi, our
wireless video transmitters and wireless video
receivers are the perfect solution when it is difficult
or impossible to run cables. A wireless transmitter
and receiver can easily be used in conjunction with
hidden video cameras. Our wireless video
surveillance receivers are ideal for receiving video
over long distances and save you time and
frustration.
Fig 9.1 Wireless Video Receiver and Wireless Video Transmitter
10.WORKINGPRINCIPLE:-A transmission line inspection robot consists platform driven by two dc motors. Same platform houses the circuit components. The vehicle is to be operated in three modes i.e. forward, backward and stop. These operations are controlled by operator through smart phones.
Many apps are available to control such vehicles through Bluetooth. App generates the signal according to operators command, and send to the vehicle. Bluetooth receives the command and it is processed by arduino. Arduino accordingly provides signal to motor driver L298N. So that platform can move in desired direction or stop.
In case of any obstacle within the way, IR sensors acts as avoider. It will interrupt the operation and vehicle can not move further. This is important in safety point of view.
Platform is provided with a wireless camera whose angle can be adjusted by operator remotely, so that complete conductor can be monitored. Camera pic-up visuals of conductor which are sent to camera receiver unit. The visuals are displayed to inspect the fault.
11.ADVANTAGES AND
APPLICATION :-
11.1ADVANTAGES :-
1. It is highly accurate and precise and also very
reliable.
2. Reduce the man power and human accidents
while power line application.
3. The Power Inspection robot reduce the helicopter
cost.
4. Without Power Interruption the power inspection
can be done.
5. The fault location can be detected by using
camera system.
11.2 APPLICATION :-
1.This Power Inspection Vehicle can be use on
725KV AC Transmission Line.
2.This can be use for the weather information.
12.CONCLUSION:-This problems on fault of Transmission line can be minimize by selecting advance and appropriate inspection robot technique. The work represented in this seminar is focused on identification of simple power system faults or faults on transmission line simple power system faults or faults on transmission line.
13.ACKNOWLEDGEMENT:-
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A R DIGITECH International Journal Of Engineering, Education And Technology (ARDIJEET) www.ardigitech.in ISSN 2320-883X,VOLUME 05 ISSUE 02 01/04/2017 From the time immemorial man has
been helping each other no one carries out his/her
work alone.
I thank especially to our respected guide
Prof.A.V.Mohodfor constant inspiration through
our Project work.
I thank especially to our respected head of
DepartmentProf..R.B.Pandhare for constant
inspiration through our seminar work.
Under his guidance I have learned the art of
using our skills in the most fruitful way. He was a
rigid moral support to me .
My sincere thanks to Principal Dr.P.M.Jawandhiya, who is source of inspiration to everybody and always ready to extend helping hands.
At last I am thankful to the staff of the institute, friends and all our well-wishers.
14.REFERENCES:- “LineScout Technology Opens the Way to Robotic Inspection
and Maintenance of High-Voltage Power Lines” NICOLAS
POULIOT, PIERRE-LUC RICHARD (Member, IEEE), AND
SERGE MONTAMBAULT (Member, IEEE) Hydro-Québec’s
Research Institute, Varennes, QC J3X 1S1, Canada
CORRESPONDING AUTHOR: N. POULIOT
2]. “TRANSMISSION LINE INSPECTION ROBOT USING
IOT” Suraj Ghodake1 , Sameer Bonde2 , Harshal Gaikawad3 ,
Mr. Sunil M. More4 1,2,3Third Year Electrical Students,
Department of Electrical Engineering, Guru Gobind Singh
Polytechnic Nashik Maharashtra, (India) 4HoD, Department of
Electrical Engineering, Guru Gobind Singh Polytechnic Nashik,
Maharashtra, (India).
3]“ARDUINO ATMEGA-328MICROCONTROLLERR.”HARI
SUDHAN1 M.GANESH KUMAR2 A.UDHAYA
PRAKASH3S.ANU ROOPA DEVI4 P. SATHIYA5Student,
Instrumentation and Control Engineering, Saranathan College of
Engineering, Trichy, India1,2,3,4Assistant Professor,
Instrumentation and Control Engineering, Saranathan College of
Engineering, Trichy, India5
3]. “Structure Design and Stable-balancing Control of a Kind of
Wire-moving Robot” Lei Guo1,*, Guanglei Lu1 , Qizheng Liao1
, Yanbo Cui1 , Dongqiang Liu1 , Deng Guo1 and Zeyan Hu
4] “Online monitoring of Transmission Line” Hitendra Thakre1
, Swapnil Agrelwar2 , Shubham Bhisikar3 , Pallavi Manwatkar4
1234(Electrical Engineering, AGPCE Nagpur/RTMNU, INDIA)
5] “INSPECTION ROBOT FOR HIGH-VOLTAGE
TRANSMISSION LINES” Adinan de Souza EscolaPolitécnica
da USP [email protected] Lucas Antonio
MoscatoEscolaPolitécnica da USP [email protected]
Melquisedec Francisco dos Santos EscolaPolitécnica da USP
[email protected] Walter de Britto Vidal FilhoEscolaPolitécnica da
USP [email protected] Gustavo André Nunes Ferreira
EscolaPolitécnica da USP [email protected] Armindo Gustavo
Ventrella CTEEP - Companhia de Transmissão de
EnergiaElétricaPaulista [email protected].
6] “Robotic Power Line Inspection System” SidhantPoddar B.E.
(EEE) PESIT Bangalore. lllrd Year.
7] “Autonomous Inspection Robot for Power Transmission
Lines Maintenance While Operating on the Overhead Ground
Wires” Zheng Li1,2 and Yi Ruan2 1 School of Optical‐Electrical
& Computer Engineering, University of Shanghai for Science
and Technology, China 2 School of Mechanical Engineering &
Automation, Shanghai University, 200072, Shanghai,
China E‐mail: Li_zheng@ usst.edu.cn
8] “Implementation of Robotics in Transmission Line
Monitoring” K. N. LakshmanKumar1 , D.V. Harish2 , N. R.
Amuthan3 , T. R. Siva Prasath4 1,2,3Mepco Schlenk
Engineering College 4 Sethu Institute of Technology
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