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No.

THE USE OF ROBOTICS IN ASSESSMENT AND MAINTENANCE OF OHL

Working GroupB2.52

November 2013

CIGRE WGB2.52 – Draft November 2013 Page 1 of 37

THE USE OF ROBOTICS IN ASSESSMENT AND MAINTENANCE OF OHL

Working Group B2.52

Convener SecretaryAndré LEBLOND – Canada Sylvie SAUMONT – France

Members:Albert CLAUDI – GermanyAlan DREW – USADavid ELIZONDO – USAPat FLYNN – IrelandOsveraldo Vilar FRANÇA LIMA – BrazilShigeo HIROSE – JapanNishal MAHATHO – South AfricaSerge MONTAMBAULT – CanadaMarius OLTEAN – RomaniaAbel Díez OSORIO – SpainJoon-Young PARK – KoreaAndrew PESTANA – UKPaul ZACHOVAL – Austria

Corresponding Members:Paulo Cesar DEBENEST – JapanJean-François GOFFINET – BelgiumMichael HANNON – UKCarlos Alexandre NASCIMENTO – BrazilMichael NEWTON – New ZealandAndrew PHILLIPS – USACraig PON – Canada

Associated Expert:Louis CLOUTIER – Canada

Copyright © 2013

“Ownership of a CIGRE publication, whether in paper form or on electronic support only infers right of use for personal purposes. Are prohibited, except if explicitly agreed by CIGRE, total or partial reproduction of the publication for use other than personal and transfer to a third party; hence circulation on any intranet or other company network is forbidden”.

Disclaimer notice“CIGRE gives no warranty or assurance about the contents of this publication, nor does it accept any responsibility, as to the accuracy or exhaustiveness of the information. All implied warranties and conditions are excluded to the maximum extent permitted by law”.

CIGRE WG B2.52 – Draft November 2013 Page 2 of 37

TABLE OF CONTENTS

1. INTRODUCTION................................................................................................................. 7

2. OUTLINE OF STATE-OF-THE-ART................................................................................. 92.1 Background.................................................................................................................. 92.2 Robots and Robotic Technologies Definition and Classification...............................92.3 Main Applications...................................................................................................... 12

3. REVIEW OF EXISTING AND DEVELOPING ROBOTIC TECHNOLOGIES............153.1 Line Suspended Robots.............................................................................................. 153.2 Aerial Based Robots................................................................................................... 163.3 Ground Based Robots................................................................................................163.4 Other Types of Robots (Climbing Robots, Insulator Robots).................................18

4. EFFECTIVE IMPLEMENTATION OF ROBOTIC TECHNOLOGIES........................194.1 Inspection of OHL Using Robots...............................................................................194.2 Maintenance Work Using Robots [To be completed after Chapter 3]....................224.3 Value and Benefits of Robotic Technologies.............................................................26

5. FUTURE APPLICATIONS OF ROBOTIC TECHNOLOGIES......................................295.1 Industry Drivers......................................................................................................... 295.2 Application Categories............................................................................................... 305.3 Technology Development Drivers..............................................................................305.4 Examples of Future Robotic Applications................................................................315.5 Summary.................................................................................................................... 32

6. CONCLUSION.................................................................................................................... 33

7. REFERENCES.................................................................................................................... 35


Executive SummaryTo be completed…


1. IntroductionTo be completed...


2. Outline of State-of-the-Art2.1 BackgroundAlthough a few concepts of robotic devices aiming at the assessment and maintenance of overhead lines have been developed in the 90s, most of the projects on the subject have been initiated after 2000. A few rigorous and extensive state-of-the-art reviews have been published in recent years (Earp 1996, Toussaint et al. 2009, Nayyerloo et al. 2009, Katrasnik et al. 2010, Elizondo et al. 2012, Allan 2012). These papers are considered as good assessments of the topic for project and technologies initiated prior to 2009 and aiming at overhead lines in the distribution and the transmission areas of the power industry.

In 2010, The First International Conference on Applied Robotics for the Power Industry – CARPI, was created and held in Montreal Canada. With the aim of bringing together stakeholders interested in robotics applications in the power industry. The program covered presentations of robotics solutions for construction, refurbishment, inspection and maintenance of power systems. A large proportion of these papers were on robotics devices, technologies, systems and fields of research related to the use of robotics in assessment and maintenance of overhead lines. The second edition of CARPI was held in Zurich, Switzerland, in 2012. Most of the recent research and development initiatives related to CIGRÉ WG B2.52 terms of reference can be found in the proceedings of CARPI 2010 and CARPI 2012 conferences (CARPI 2010, CARPI 2012).

Finally, some related paper can also be found in more academic or other focused conferences and forum such as CIGRÉ, IROS, ICRA, AIM, FSR, CLAWAR, etc. IEEE Xplore database is also considered as the reference for IEEE related publications.

These publications are the core of the information feeding the present document.

2.2 Robots and Robotic Technologies Definition and ClassificationThe present section aims at defining and classifying robots and robotic technologies in regards to the Terms of Reference (TOR) of Working Group B2.52 being:

Review the existing and developing robotic technologies for effective implementation, assessment and maintenance of Overhead Lines (OHLs) in order to:

Assist overhead line engineers to improve line reliability and restoring integrity; Assist asset managers in investing in further development and implementation of these technologies.

Many definitions and classifications of robots and robotics technologies already exist in the literature. Undoubtedly, writing down such definitions is a classic debate that never reached unanimity within the robotics community. In an effort to clarify important notions that will establish a baseline of further discussions, this section of the document aims at drawing up a reference terminology relevant to robotics, in the perspective of assessment and maintenance of overhead lines.

Although the objective is to address some sort of classification, many aspects of robot classification will not be tackled as they refer to the very mathematical core of robotics, to specificity of architectures (resulting in different kinematic structures), to the way they are operated, and to which area of application they were designed for.

Another element of context is the fact that robots, or robotics, in many people's mind refer to industrial robots operating in very well structured environment. This soon points out to robotic arms performing repetitive tasks. This document aims at defining robotics, robot and robotic technologies in a broader way, to include, among others, applications such as mobile ones, to be achieved in unstructured environment.

Mobile robotics refers to robotic applications aiming at being more efficient in achieving a task (inspection, manipulation, construction), allowing access to hard-to-reach location (underwater, space) and allowing to work remotely from a working site presenting risks for operators (nuclear plants, search and rescue, military application, working on high voltage lines). In the context of the present document, this area of robotic applications is the most appropriate one to concentrate on when looking for definitions and classifications.

2.2.1 Definitions and Classifications The following robot definitions were found in encyclopaedias, dictionaries and Web sites which are generally considered as reference literature.

Merriam-Webster Encyclopaedia:

Robot:


1. A machine that looks like a human being and performs various complex acts (as walking or talking) of a human being;

2. A device that automatically performs complicated often repetitive tasks;3. A mechanism guided by automatic controls.

Collins Dictionary:

Robot:

1. Any automated machine programmed to perform specific mechanical functions in the manner of a man;

2. Not controlled by man; automatic.

Oxford Dictionaries:

Robot:

1. A machine capable of carrying out a complex series of actions automatically, especially one programmable by a computer

The robot definition found on Wikipedia Web site could be considered as a definition built around a mixture of technical aspect and common sense. That being said, as any information available on Wikipedia, one should consider the note on the top of the page: "This article's factual accuracy is disputed. Please help to ensure that disputed statements are reliably sourced."

Wikipedia:

1. A robot is a mechanical or virtual artificial agent, usually an electro-mechanical machine that is guided by a computer program or electronic circuitry. Robots can be autonomous, semi-autonomous or remotely controlled and range from humanoids such as ASIMO and TOPIO to Nano robots, 'swarm' robots, and industrial robots.

Some key organizations related to robotics define robots with a mixture of definition and classification.

The International Organization for Standardization (ISO) elaborated standards concerning robots, prepared by ISO Technical Committee 184 Subcommittee 2 (ISO/TC 184/SC 2), with the title "Robots and Robotic Devices".

ISO/TC 184/SC 2 scope of work covers, among other things, the standardization of definition/characterization and terminology. The committee defines:

"Industrial robot (ISO 8373): an automatically controlled, reprogrammable, multipurpose, manipulator programmable in three or more axes, which may be either fixed in place or mobile for use in industrial automation applications.

- Reprogrammable: whose programmed motions or auxiliary functions may be changed without physical alterations;

- Multipurpose: capable of being adapted to a different application with physical alterations;

- Physical alterations: alteration of the mechanical structure or control system except for changes of programming cassettes, ROMs, etc.

- Axis: direction used to specify the robot motion in a linear or rotary mode." *

The International Federation of Robotics (IFR) is considered as one of the most important organizations in the world in regard to robotics.

The purpose of IFR is to promote and strengthen the robotics industry worldwide, to protect its business interests, to cause public awareness about robotics technologies and to deal with other matters of relevance to its members.

IFR also promote research, development, use and international co-operation in the entire field of robotics, and act as a focal point for organisations and governmental representatives in activities related to robotics. Among other things, the mandate of the organization is to participate in the establishment of international robot standards (ISO). It defines:

* From IFR Web site: http://www.ifr.org


"Service robot: A service robot is a robot which operates semi- or fully autonomously to perform services useful to the well-being of humans and equipment, excluding manufacturing operations.

With this definition, manipulating industrial robots could also be regarded as service robots, provided they are installed in non-manufacturing operations. Service robots may or may not be equipped with an arm structure as is the industrial robot. Often, but not always, the service robots are mobile. In some cases, service robots consist of a mobile platform on which one or several arms are attached and controlled in the same mode as the arms of the industrial robot.

Because of their multitude of forms and structures as well as application areas, service robots are not easy to define.

Since 2007 a working group of ISO is revising the ISO 8373 which finally will include an official definition of service robots." †

Examples of applications can be found in transportation, healthcare, rehabilitation, entertainment or inspection. This would then put Overhead Line Robotics in the service robotic devices category.

Another key player in robotics field of research is the IEEE Robotics and Automation Society (RAS), which objectives are scientific, literary and educational in character. RAS strives to advance innovation, education, and fundamental and applied research in Robotics and Automation. The society therefore makes a difference between the fields of robotics and automation:

"Robotics: focuses on systems incorporating sensors and actuators that operate autonomously or semi-autonomously in cooperation with humans. Robotics research emphasizes intelligence and adaptability to cope with unstructured environments.

Automation: emphasizes efficiency, productivity, quality, and reliability, focusing on systems that operate autonomously, often in structured environments over extended periods, and on the explicit structuring of such environments."‡

2.2.2 Conclusion on Definitions and Classifications: All About Light and Shade "Because of their multitude of forms and structures as well as application areas, service robots are not easy to define."

This excerpt of IFR's definition of mobile robots, emphasizes the fact that no single definition of robot has yet been able to make consensus within the robotic community. However, key players like manufacturers, end-users, academicians and researchers generally agree to the fact that robot definition should include some or all of the following characteristics:

1. Mechatronic system;2. Several actuators/links;3. Some level of computer/controller;4. Some level of software (programmable);5. Some level of autonomy.

It is also generally accepted within the community that if a technology has no autonomy at all, neither has the possibility to be programmed, it is not to be considered a robot.

The title of the standard elaborated by ISO/TC 184/SC 2 concerning robots is "Robots and Robotic Devices". This title introduces a subtle distinction between two very important notions: the first one being aiming at a rigorous, precise and technical definition of robot and the second one opening the way for a broader definition of robotics. Robotic devices or technologies may have characteristics similar to the ones robots have, while not being robots. They are therefore two different categories of systems, but both qualify as having robotic characteristics.

Inspired by this distinction, it is proposed for this CIGRÉ Technical Brochure to include both Robots that include all five characteristics above and Robotic Technologies, which can include only some of the five characteristics. Also, since WG B2.52 Terms of Reference includes the review of existing and developing robotic technologies for effective implementation, both levels of maturity should be listed in the Technical

† From IFR Web site: http://www.ifr.org‡ From IEEE RAS Web site: http://www.ieee-ras.org/society.html


Brochure. Consequently, the following examples should be used as guidelines in the selection or the exclusion of a given technology:

A. Robots and Robotic Technologies

In regards to WG B2.52 scope of work, here are two examples of product to be classified:

1. A remotely operated inspection vehicle using the conductor as a support; 2. An unmanned aerial remotely operated vehicle.

Referring to ISO, IFR and RAS definitions, these devices obviously have actuators (traction wheels, rotors), have sensors for inspection purposes (visual, measurement, LIDAR), can be programmed to go at a specific speed or destination, can have onboard computer, micro-controller or monitoring systems (battery management, temperature monitoring sensor, altitude measurement), and can perform services useful to the well-being of humans and equipment.

If these two technologies are controlled in an open-loop control scheme, the robotic characteristics these systems have qualify them, according to definitions, as robotic devices or robotic technologies. A simple onboard GPS system and micro-controller allowing programming the trajectory of these platforms would, according to more classical definitions of robots, further qualify them as robots.

B. Existing and Developing

If one consider the necessary steps towards robot design, early work can be found relevant for the current report. As an example, a mechanical platform aiming at demonstrating an obstacle crossing strategy on power lines is a credible first step of a power line robot design project. Although it should not be, at this stage, considered neither as a robot, nor as a robotic technology, the preliminary result must be integrated in a state-of-the-art reviewing robotic technologies in the perspective of OHLs assessment and maintenance, as it constitutes an intention of developing such system.

Robotics involves numerous expertises and fields of research:

- Mechanical and electrical engineering;- Electronics;- Telecommunications;- Software and control;- Sensors;- Energy management;- Simulation;- Image processing;- Sensor fusion, etc.

In that regard, one should consider the work on different sub-systems in a robotic development project to be part of a state-of-the art review of WG B2.52, as long as the aim is to eventually integrate it in a robotic technology for effective implementation, assessment, and maintenance of OHLs.

2.3 Main Applications2.3.1 Line Components Aimed at

Insulator (ceramic, glass, polymeric), mid-span and dead-end sleeve (splice), conductor, ground wire, structure (pylon), warning sphere, vibration damper, spacer damper, inter-phase damper.

2.3.2 Inspection Tasks Visual, infrared, UV detection, electrical resistance measurement, corrosion detection sensor (zinc coating, steel section measurement), x ray imaging, audible noise, geometric anomaly and vegetation monitoring (LIDAR).


2.3.3 Maintenance Tasks Broken strand repair, bolted assembly installation and retrieval, line component manipulation, perform (patch rod) installation, de-icing, cleaning, reconductoring, painting.


3. Review of Existing and Developing Robotic TechnologiesDescription of Chapter 4, including all categories of technologies to be reviewed.

3.1 Line Suspended RobotsMain topics covered by the most recent publications:

New robotic platform

Onboard subsystemso Sensors o On line recharging system (energy harvesting)

Obstacle crossing strategy

Field deployment considerationso Energy managemento Traction force and positioning systemso Installation procedureso Field results

Academic paperso Obstacle detection and avoidanceo Path selection

Business cases

Main applications

3.1.1 Main Robotic Platform This section aims at surveying the main existing platforms with a description of their main characteristics (technical specifications, implemented applications, state of development, capabilities and limitations, organization involved in the project, main contact).

Autonomy, energy source, special features, speed, capacity to cross obstacle or not, obstacle crossing strategy, overall dimension, weight, speed, control strategy, onboard feedback systems, level of autonomy, onboard inspection sensors, onboard maintenance, conductor configuration to be operated on, slope climbing capacity, operating temperature, capacity to work on energized line.

Subsections will be dedicated to the more advanced technologies. A table should be built to gather all important information on every technology.

Relatively mature platforms: (to define what mature is)

LineScout (Hydro-Québec, Canada) Expliner (HI-BOT, Japan) TI (EPRI, USA) LineROVer (Hydro-Québec, Canada) Shannon Technology (Shannon Technology, Canada) Linevue (Kinectrics, Canada) AAPE-D (SIACAS, China)

3.1.2 Subsystems Development

3.1.3 Other platform or ongoing work Less mature research and development projects, but covering an important aspect of this field of robotics.

Promising work:

PLIR platform (University of KwaZulu-Natal, South Africa)


3.2 Aerial Based Robots

3.2.1 Fixe d -W ing Airc raft In this section, the following topics will be addressed:

General description Operating range Payload and useful applications in overhead lines maintenance

3.2.2 Helicopter In this section, the following topics will be addressed:


3.2.3 Multicopter In this section, the following topics will be addressed:


3.3 Ground Based RobotsThe significant increase in live line work requirements within the Overhead Line Transmission (OHLT) Industry has stimulated the development and use of robotic devices within the industry. The main benefits or aims of these devices are to increase safety to field personnel and minimize the risk to power system reliability when performing live line work. This section will look to review existing and developing robotic technology with respect to ground based robots.

The review will capture the technical features (performance, autonomy, speed, weight, possible tasks, etc.) of each robotic technology. In respect of ground robotics there is limited development in this area of robotics, with the main area for use focussing on the capture and control of energised conductors and carrying out tasks to provide safe working areas for linesman as well as keeping the lines energised during the projects.

3.3.1 Technology Description of Ground Based Robots Much of the development has focussed around robotics arms for the manipulation and control of energised conductors. Examples of these are described in the following Sections:

3.3.2 Linemaster TM This is a robotic arm developed by Quanta Energized Services for remotely handling, moving and relocating energised conductors of varying voltages up to 500kV.

The robotic arm remotely captures and controls the energised transmission lines in a safe and efficient manner. The arm is controlled by a radio control device comprising of a portable transmitter and two receivers. The arm is powered via a hydraulic power source. There are two versions of the robotic arm which is generally mounted to a truck.

Main Features Operates by hydraulic actuator that attaches to conventional line trucks


Unit consists of adaptor, robotic arm and fibreglass segment Robotic arm can extend up to +/‐ 10 feet and rotate 270 degrees

4 primary unit models: 500 and 1,000 lbs lift 5,000 lbs, single‐phase 12,000 lbs, three‐phase

Control is by ground‐based safety spotter

Benefits

Enables upgrade relief to congested paths without adding to congestion by scheduling outages to perform work

Circuits most in need of relief are usually those difficult to schedule out of service

Reconductoring can increase thermal capacity

Structures beyond their expected service life can be repaired

Enables reuse of existing rights of way

Reduces matting and footprints in wetlands areas

Reduces operational costs and delays of line switching and grounding

Enables emergency repairs to generators (including nuclear plant substations) without plant outage

Avoid costs of shutdown, restart and replacement purchase power

3.3.3 Three Phase Pick Robotic Arm Developed for the capture and control of three conductors simultaneously, this technology is similar to that of the Quanta technology, however little technical specification available.


3.3.4 Single Pick Robotic Arm Designed to handle higher conductor sizes and weights, which is used to remotely capture and control a single conductor at a time

Significantly many of these technologies have been used extensively within the USA and South Africa.

3.3.5 Robotic Pole Manipulator This is a design concept postulated in the academic paper compiled by Turner and Wilson, 2012 titled System Development of a Robotic Pole Manipulator.

This concept was developed for wooden poles up to 55ft length. This is a truck mounted concept was identified and developed to eliminate injuries and near misses associated with the handling of power poles near overhead lines and in congested, urban environments.

At the point of the paper this was a concept that was yet to be formally developed.

3.3.6 Summary The area of ground based robots is significantly restricted in terms of developmental paths. The main area focuses around ground manipulations of existing assets as well as the construction of new assets. There is little evidence with respect to technology for the condition assessment of transmission lines and towers. From the limited view of the author of this article most of the current developmental work within robotics focuses on autonomous vehicles that are either able to be landed at height on existing assets or alternatively able to do this autonomously through flight.

3.4 Other Types of Robots (Climbing Robots, Insulator Robots)To be completed...


4. Effective Implementation of Robotic TechnologiesAs is shown in Chapter 3, there are a lot of robots applications on overhead lines. Most of it is referring to maintenance actions. Sometimes robots can be involved in refurbishing projects, but only few tasks can be made using robots in our days. The robots are assisting overhead line engineers to improve line reliability and restoring integrity.

Basically common tasks to be carried out in electrical networks are:

- Inspection of the elements of the line- Maintenance tasks

All these types of works are executed manually by high qualified workers. Sometimes, for inspection and repairing, helicopters are used. The necessity of using robots appears when the works shall be done in difficult-to-reach places or when saving time is a major advantage.

4.1 Inspection of OHL Using RobotsThe main objective of the inspection is to evaluate the actual state of the line and to detect electrical and mechanical failures (including GIS location, the gravity of the failure, and recommendation for maintenance). Obviously it is better to detect technical problems before failures happen. For this reason predictive maintenance is performed by all utilities.

Inspection is performed nowadays visually or with the aid of an infrared and/or an ultraviolet camera. The transmission network is inspected at some intervals (once a year, every three years, depending on utility strategy) but some lines (close to the rated lifetime, routed through environmentally sensitive areas, with known technical problems, etc.) are inspected more often.

This inspection is performed visually by man walking along the line, using helicopters or recently, using robots.

Robots can perform not only visual inspection but also the geometric anomaly and vegetation monitoring using LIDAR. In order to see the state of the elements of the line, some measurements can be made.

4.1.1 Elements of OHL The basic elements of the overhead electric lines are:

- Foundations- Towers

Lattice steel towers Steel towers Concrete poles Wood poles Timber poles

- Insulators (ceramic, glass, polymeric)- Conductors

Phase conductors Ground wires Connecting cords

- Conductor devices Vibration dampers Warning spheres Spacers Jointing clamps Interphase dampers

- Fittings Clamps Arching fittings Yokes


- Line Route

4.1.2 Main Tasks of Visual Inspection The main tasks of the visual inspection are:

- Foundations The physical state Vegetation zone

- Lattice Towers Identification of towers Structural elements (on all sides of the structure: main legs, bracings, plates, gussets,

crossarms, earth wire peaks) Displacement of towers Visible deviations from verticality Warning plates Night warning devices Numbering plates Analysis of corrosion protection (existence of, visible, unprotected or corrosion protection

degraded surfaces) Other defects that are considered necessary to be highlighted)

If the case of guyed towers the anchors system state will be evaluated. The ground wire junction boxes should be evaluated.

- Active Conductors and Ground Wires (and OHL Fittings) Conductors themselves Come along clamps Suspension clamps Connection clamps Connecting cords Jointing clamps Line sleeves Warning spheres Spacers Vibration dampers Interphase dampers

- Insulation Strings Insulators Arching devices Yokes Other fittings. clips

- Line Route Vegetation Constructions Crops / vines Crossings with transmission or distribution lines, telecommunications, railways, roads Obstacles Landslides Floods Other important neighborhoods


4.1.3 Main Tasks of the Infrared Inspection Infrared (IR) surveys enable the early detection of electrical and mechanical problems on heat-emitting devices and structures. In this case it is mandatory that the line is energized and loaded. Infrared inspection can be done using an infrared camera mounted on the robot.

4.1.4 Main Tasks of the Ultraviolet (Corona) Inspection Corona effect is a partial electrical breakdown in the vicinity of conductors or insulating material due to ionisation of processes in the air. Corona effect causes environmental problems, damages the material of components, accelerates corrosion of components, degradation of polymer insulators, pitting in cements and metal caps of porcelain insulators and power loss. Having a lot of unwanted effects Corona has a big importance for electrical utilities. Broken strands, loose hardware, pollution, shorted bells on insulators, improper installation, damaged insulator and bad ground connection can be Corona sources.

Corona inspection is done using an ultraviolet camera.

4.1.5 Laser Scanning of Overhead Lines Instead a camera, a laser scanner may be mounted on the robot. The scanner measures the distance by illuminating a target with a laser and analyzing the reflected light.

Laser scanning of overhead electric lines is done using LIDAR technology (The acronym LIDAR comes either from combining the words light and radar or from the initial letters of “Laser Interferometry Detection and Ranging”). LIDAR technology is used in Robotics for the perception of the environment.

The result of scanning the OHL route is the detection of geometric anomalies, vegetation monitoring and establishing the distance or sag problems.

4.1.6 Other Actions Performed in OHL Inspection Using a robot some other detection techniques can be used. Measurements can determine the state of OHL components.

- Electrical resistance measurement- can determine the state of joints or clamps,- Current measurement- can determine the OHL load, to be combined with other inspection data,- Corrosion determination (using corrosion detection sensors for zinc coating, steel section

measurement) can be a good base for assessment of ageing of conductors, fittings and structures,

- X ray imaging,(????) - Noise measurement- can give an idea of Corona losses,- Conductor temperature measurement –can give data for sag calculation.- Audible Noise- Audible noise can focus the attention of maintenance personnel on a potentially

defective component. Microphones were thus included close to the inspection camera in the LineScout Technology.

4.1.7 Inspection Works Performed by Robots [to be completed after Chapter 3] In fact, inspection was the first task in developing robots and it is the main use of robotics in OHL maintenance. General inspection can be done by almost all kind of robots. It is not efficient to use a ground based robot for inspection, but line suspended robots and aerial robots are the best for this job.

- Aerial robots may be equipped with all type of cameras (visual, infrared, ultraviolet, X ray), LIDAR system or noise sensors. Line suspended robots may be equipped with all types of cameras, LIDAR system and all types of sensors (ammeter, corrosion sensors, noise sensors).

- As we said, all UAVs are dedicated for inspection. For this reason there are a lot of UAV types used for this task: (enumeration- [to be completed after Chapter 3]

- LineScout, Expliner. TI, [to be completed after Chapter 3] are line suspended robots used for inspection in different techniques. They are inspected the line using not only a dedicated camera but also the cameras used for their own needs (verifying robot’s motion)


http://en.wikipedia.org/wiki/Robotics

http://en.wikipedia.org/wiki/Radar

http://en.wikipedia.org/wiki/Light

http://en.wikipedia.org/wiki/Acronym

http://en.wikipedia.org/wiki/Laser

- There are also dedicated robots for different components inspection:- LineVue (Kinetrics-Canada) is a dedicated robot for assessment of conductor’s condition;- Korea Electric Power Corporation (KEPCO) developed a robot for Live-line inspection of

suspension insulator strings (Park 2010). The robot is measuring the insulation resistance and the voltage distribution along the insulator.

- Korea Electric Power Research Institute developed a robot for Live-line inspection of insulators (Cho et al. 2006)

- Korea Electric Power Research Institute developed a robot for Live-line inspection of sleeves (Lee et al. 2011)

[To be completed after Chapter 3]

4.2 Maintenance Work Using Robots [To be completed after Chapter 3]Even though inspection tasks have a great potential, the maintenance tasks are important for the future of robots in OHL. Main maintenance tasks for the robots are the general maintenance tasks, such as taking measurements, Broken strand repair, bolted assembly installation and retrieval, line component manipulation, perform (patch rod) installation, reconductoring, painting, component replacement, and component repairing and cleaning. To be able to perform such tasks, the mobile platform must be highly effective, use feedback from a greater number of sensors, and have a certain number of autonomous subsystems, allowing the operator to focus on the maintenance task (Toussaint et al. 2009).

In some cases, e.g. hard-to-reach locations (such as spans crossing roads, rivers, railways, and electric distribution lines and spans through mountains) a teleoperated robot is extremely useful for maintenance. Boom trucks are useless in those cases and working from the helicopter has also limitations sometimes.

Robots are also extremely important in maintenance works on multiple circuit lines. Also middle phase seems to be sometimes harder to be maintained in some conditions.

It is a target for developers to replace human work by machines. This is not possible now due to technical limitations. Anyway, step by step, robots are able to replace man in OHL maintenance. Not only inspection but some simple works are performed by robots already. (The devices are described in Chapter 3.)

4.2.1 Ground Wire Replacement on a Line Ground wire replacement on the OHLs is a common work, using the cradle-block stringing method, especially the replacement of old conductor with OPGW. The robotic part of the work consists in mounting the pilot wire on the old conductor. It uses a motorized trolley to pull a series of specially designed pulleys on the existing ground wire. The new ground wire is then pulled through the pulleys, allowing the operations to be performed on energized lines. The suspended robots with the capacity of crossing obstacles was a step forward in this technology.

It is already implemented by Hydro Quebec using LIneROVer and LineScout (Montambault 2004) and also by Tesmec (TESMEC 2008). Tesmec has a dedicated robot for reconductoring the Ground Wire using OPGW.

4.2.2 Ice Removal from the Conductors Freezing rain and in-cloud icing have always been a concern for utilities. An excellent ice collector, overhead ground wire (OPGW) can get heavily loaded with ice Under severe ice loads, as the ground wire gets too close to the conductors may causes short-circuits. The line may be damaged, and it cannot be operated until the clearance is re-established. The sag of the phase conductors are also affected by ice and the clearance is hevily deminished. Finally, severe ice loading might lead to ground wires slipping in clamps, or structural support or ground wire failure.

The ice storms can produce important damages on transmission and distribution networks, creating flashovers as it comes too close to the conductors.

The deicing was implemented for the first time by Hydro-Québec using a LineROVer (Montambault and Pouliot 2003).


4.2.3 Insulation Cleaning Polluted line insulators and resulting flashovers when wetted are often a major cause of overhead line faults. Spray washing can be used to clean glass and porcelain insulators (composite insulator washing is not necessary) under live conditions.

Spray washing can also be performed from an insulated bucket truck or from within the tower structure. Helicopter-based spray washing can be used when access from the ground is difficult.

In Brazil, Maranhão Energetic Company (CEMAR) and the Federal University of Santa Catarina (UFSC) developed a robotic device for this operation. It consists of a robotic arm mounted on a truck.

Not only pollution is a problem for insulators but also hoarfrost. Hydro Quebec is using an application for removal the hoarfrost from the substation insulators and insulated devices RODAV, which is a ground robot using steam (Montambault and Pouliot 2003). RODAV was designed for substation applications (up to 330kV) but it can be used also on OHL for cleaning (defrosting and washing) the insulators and the pylons.

A robot for insulation cleaning using brushes was implemented in Korea by Byun Korea Electric Power Research Institute and Electric Power Industry R&D, wich developed INCRO System (Park 2006).

The snake robot developed by EPRI can be also a good option for cleaning poluted insulator strings.

4.2.4 Replacing Damaged Insulators on Power Lines Live line maintenance generally involves the replacement of faulty or failed components that are no longer fit for service. Damages on insulator strings occur due to flashovers, pollution or aged materials. The damaged insulators should be replaced. Sometimes the replacement of polluted insulators is a less costly method comparing to washing techniques.

QUANTA (USA) developed insulated, heavy-lift robotic arms that are mounted on boom trucks or cranes. These robotic arms are capable of capturing and removing energized conductors from their structures, continuing to support the energized conductors, and assuring safe working areas for lineman while the lines remain energized during the replacement of insulator strings (Elizondo et al. 2011).

4.2.5 Installation of Aircraft Warning Spheres A big problem when replacing a ground wire in Live conditions is the presence of aircraft warning devices on the wire. The wire can not be pulled due to those spheres. They have to be dismantled. Also damaged warning devices should be replaced.

In Brazil, Universidade Federal de Minas Gérais in cooperation with CEMIG developed a robot for dismantling and replacement of aircraft warning spheres. The robot is a trolley type and its removal process is shown in figure 5 (Campos Guilherme et al. 2002).


Figure 5: A sphere removal process (from the left to the right and from the top to the bottom): 1 the robot is positioned near the sphere by the operator. 2 The operator sends a command to the robot that approaches and grasp the sphere. 3 The removal tool is coupled to the sphere and the unscrewing starts. 4 The sphere

gradually opens and becomes free. The three last operations are executed autonomously.

4.2.6 Conductor Repair Clamp and Patch Rod Installation Broken strands are common on line conductors, mainly due to lightning strikes. In most cases, the damage cannot be quantified reliably from the ground. The safest approach is to send a robot to gather visual information to assess the remaining mechanical strength. Having reached the damaged area, repairing the conductor would be the next logical step because the wind sometimes unravels the broken strand to a point where the distance with the conductor is insufficient and flashover occurs. A tool for temporary repair was designed for LineScout, allowing the teleoperated installation of a custom-made clamp to secure the broken strands around the wire. This application is already in use (Pouliot et al. 2012).

4.2.7 Replacement of Active Conductors The replacement of active conductors is a common work for erecting and maintenance companies. Today the reconductoring of the lines using “smart” conductors (conductors with extended load capacity) is a necessary work in wind farm areas and everywhere the utilities intend to increase the load of the lines and to reduce losses.

QUANTA Services (USA) robotic arms (Line Master, Three Phase Line Master and Single Pick) (Elizondo et al. 2011) are capable of capturing and removing energized conductors from their structures, continuing to support the energized conductors, and assuring safe working areas for lineman while the lines remain energized during the execution of the projects. The arms where used until today up to 500kV.

Another application of those robotic arms is addition of circuits to structures.

4.2.8 Repair or Replacement of Damaged Structures As a result of particularly increasing demands of electric power supply and reliability, utilities may decide to invest for larger and stronger transmission assets. One of main works to improve the assets is the replacement of existing structures. As long as the work should be done in Live conditions the robotic arms (Elizondo et al. 2011) are very useful.


The arms are used in repairing existing poles when the steel structure is rotten or damaged, or for replacement of wood poles.

Fig. .. Quanta Single Pick used to sustain a double conductor

A particular case of this kind of intervention is the emergency repair and support for conductors when a new structure is not available in a timely manner.

4.2.9 Bolted Assembly Installation and Retrieval ????

4.2.10 Checking and Correction of Damper Position LineScout has the ability to remotely screw on and unscrew different clamps because a rotating tool has been fitted to the end effectors of its robotic arm. It was used to retrieve several vibration dampers that became loose and made their way down the slope of a span. This opens the way to replacement and installation of vibration dampers, spacer-dampers, etc. (Pouliot and Montambault 2012).

4.2.11 Distribution Maintenance In the distribution field all the works listed above are possible using in general ground based robots. Not all of them are necessary in medium voltage (there are no dampers, no ground wire, etc.) but on the other hand some new task had to be implemented.

Maintenance works tasks for robotic systems in distribution:- Replacing insulators- Replacing fused switches

Cutting and jointing wires- Opening and closing bridges and bypasses- Open and close switches- Establishing new connections- Replacing the line equipment


- Line components cleaning- Replacing of active conductors- Repairing or Replacement of Damaged structures- Tree cutting

The most frequently maintenance tasks to carry out in a distribution line are to replace an insulator, to attach a jumper cable between two points of the line, to open switching units on the line and to replace fuse elements. The Spanish ROBTET consists of a truck with an operator's cabin on its base and a remote platform with several robotic devices and sensors placed on a telescopic boom (Aracil year ?).

The Japan Kyushu system is able to be a temporarily support for wires (in case of insulator replacement, crossarm replacement or even pole replacement), to be a remote controlled tree cutting vehicle or to be a washing vehicle.

4.2.12 Installation Methods of Robots Obviously some type of robots (ground based robots, UAVs) need no installation. The problem is important for line suspended robots and some specialized robots.

The installation of robots can be done in different ways, depending of robot’s design. Generally the installation it’s easy and can be done using classical Live Maintenance techniques (bare hand, hot stick), sometimes using an insulated aerial platform or even the helicopter. In all those cases health and safety regulations should be followed.

4.3 Value and Benefits of Robotic TechnologiesAdvantages of robotic systems in maintenance works:

- Labor saving – Highly mobile robot allows a single operator to accomplish repair work- Improvement of working environment and worker safety and comfort conditions- Simplification of operation (eliminates necessity of special skills)- Minimizing failure probability and the consequences derived from the worker mistakes- Eliminating the need of a continuous operator synchronizing with the other workers- Reducing its workload- Upgrading the performance- Allowing the operator to concentrate only to objects and goals- “Objectivity” in inspection tasks- Possibility to work in compact line configurations- Possibility to work under moderate and bad weather conditions (in some cases)- Application in storm restoration

Above all those advantages the more important is the improvement of worker safety. Live working is physically strenuous and can expose the workers to physical risks. Sometimes some discomfort may appear (pain in the wrists or in the back, tendonitis, etc.). There are other risks related to the working in heights and the exposure to electromagnetic fields. All that risks are decreased using robotic technology.

4.3.1 Comparison of Inspection Technologies In the evolution of inspection technology of OHL there are four successive stages which are distinguished by technical complexity, efficiency, quality, results and costs.

a) Visual inspection from the ground, on foot or off-road vehicles using binoculars, possibly climbing the tower:

- Large amount of labor- Low technicity- Long-running- Limited to visual inspection and visible defects


- Low efficiency- High subjectivity- Incomplete results and poorly documented- Costly

b) Visual inspection from helicopter, using binoculars:

- Lowest amount of labor- Low technicity- Short execution- Limited to visual inspection and visible defects- Increased efficiency (compared to a)- High subjectivity- Incomplete results and poorly documented- Unsatisfactory relationship between quality and costs

c) Comprehensive inspection (multispectral) from helicopter, with digital recording in video (visible spectrum), thermography (infrared spectrum) and in the ultraviolet spectrum§:

- Small amount of labor- High tech- Short execution- Besides visible defects recorded as high resolution images, thermographic detection, allows

detection of heated electrical contacts, and in addition, detection of corona (UV)- High efficiency- Objectivity- Quality results, documented, analyzed and then integrated in specialized maintenance software

(RCM databases, GIS)- Lower cost comparing to a)

c1) Mapping the line route from helicopter, using laser (LIDAR - Light Detection and Ranging)

It is not quite an inspection method, but it should be mentioned among modern high-tech inspection technologies. It gives a lot of information concerning line route and the line profile.

d) Comprehensive inspection using robots- Small amount of labor- High tech- Short execution- Besides defects recorded as high resolution images, thermographic and corona (UV) images, some

measurements can be done- High efficiency- Maximum objectivity- Quality results, documented, analyzed and then integrated in specialized maintenance software

(RCM databases, GIS)- Lower cost comparing to a). and c)- In the same time, some other maintenance work can be done

[to be completed after Chapters 3 and 5]

There are some extremely important advantages for robot technique:

§ Some countries are using different approach. (e.g. instead of visible spectrum a lot of pictures (big resolution) are taken).


- Inspection efficiency, by providing exceptional points of view for visual inspection, measurement capabilities (quantitative data), complete and rigorous assessment of the line, and real-time sharing of inspection data with experts on the ground (Pouliot and Montambault 2012)

- The enhancement of maintenance strategies (proactive maintenance) (Pouliot and Montambault 2012)

These aspects are very important, but the most important consideration for implementation on the transmission grid is undoubtedly early involvement of end users in the design process. Their knowledge and feedback are key factors in maximizing the chances that a technology will be technically suitable for field deployment. Not to be neglected in such development, technology acceptance will be greatly influenced by apparently simple but very important details and features related to handling, installing, and operating the technology (Pouliot and Montambault 2012).

4.3.2 Comparison between classical maintenance and maintenance using robotsLive working is the preferred method of maintenance, where system integrity, system reliability, and operating revenues are important targets and deenergizing the circuit is not acceptable. Live maintenance using robots is a challenge for utilities, as long as the benefits of this technique are undoubtedly.

The economical benefits of robotic work compared to woman work has to be demonstrated by utilities. The economic studies are referring a lot to Live Maintenance benefits comparing to dead maintenance. Every utility still has its own system for maintenance even they developed robotic technologies. Probably some statistics where done but they where not published.


5. Future Applications of Robotic Technologies5.1Industry DriversAs the robotic technologies presently under development become more mature and accepted by utilities as routine tools, applications will emerge requiring the development of new technologies. The key drivers in the emergence of these new robotic technologies will continue to be: improved safety, increased reliability, increased availability and reduced costs.

The key benefits that robotic technologies will provide include:

Life extension of aging overhead lines Increasing power-flow through existing overhead lines

Aiding the construction of new overhead lines

5.1.1 Life Extension of Aging Overhead Lines Many transmission assets have reached and exceeded the end their design life, 30 to 40 years. The capital costs and environmental impacts of replacing these assets are significant requiring utilities extend the life of their existing assets. The applicable robotic technologies may be split into two categories:

Inspection and Assessment Refurbishment and Maintenance

Inspection and Assessment

In order to extend the life of their existing assets, utilities need to have detailed knowledge of their overhead transmission line’s condition. Robotic inspection and assessment technologies have the potential to provide high quality and relevant information in actionable formats. These Inspection and Assessment Technologies may be categorized into:

Routine Inspections: these would replace the present day fast flyby, hovering, climbing and walking inspections.

Issue Specific Inspections: where detailed inspections are performed on specific assets that are potentially at high risk, e.g. evaluating the condition of a conductor section that potentially could have a high level of internal corrosion or broken strands.

These robotic technologies will all utilize some form of sensing technologies. Many new sensing technologies for overhead lines are in a development, some of these technologies can inspect remotely while others require contact with the asset being inspected. As these sensing technologies emerge robotic technologies which can utilize them as a payload will need to be developed.

Refurbishment and Maintenance

Robotic Technologies that can aid in refurnishing existing assets will be need. These robots could be utilized to replace specific assets, e.g. replace or repair insulator strings. They could also be utilized to refurbish assets, e.g. paint structures or clean insulators. Increased pressure on availability has resulted in decreased availability of extended outages to perform refurbishment. Robotic technologies have to potential to perform refurbishment tasks without requiring outages and reducing the risk on field personnel.

Robotic technologies that can support maintenance tasks which are performed either energized or de-energized will be required. To be fully deployed robotic technologies will need to either perform tasks that previously were not possible, be most cost effective than present approaches, or increase safety.

5.1.2 Increasing Power-flow Through Existing Assets Changes in generation sources and loads are requiring increased power-flow through certain parts of the transmission system. This has recently been highlighted by situations where the siting of new renewable generation has required increased transmission capacity from existing transmission lines. Rather than build new transmission lines, in many cases is may be possible to increase the capacity of existing transmission lines by increasing the rated conductor temperature or utilizing dynamic thermal circuit ratings.

In order to increase the rated conductor temperature of a transmission line, detailed knowledge of the present condition of the conductors and connectors is needed. Robotic technologies which can obtain the required detailed information have potential. Additionally compression connectors have been shown to often be the CIGRE WG B2.52 – Draft November 2013 Page 29 of 37

bottleneck in increasing the conductor temperature, consequently a new range of technologies that “shunt” the current around the limiting connectors have been developed. Robots that could apply these shunts without removing the line from service have potential application.

5.1.3 Construction of New Overhead Lines New transmission lines require significant manpower and resources for their construction. Qualified and experienced line construction personnel are at a premium. Technologies which can increase productivity have the potential to enable the construction of more transmission line with fewer personnel. Robotic technologies also have the promise to aid in construction tasks removing personnel from hazardous situations and increasing efficiency.

5.2 Application CategoriesThere are two major application categories:

Inspection and Assessment Construction and Refurbishment

It is technically possible that in the future a single robot will perform both an inspection and maintenance tasks. Initially one would expect separate robots dedicated to either inspection or maintenance tasks, transitioning to robots which can perform mainly one category of task but can perform minor tasks in the other category. For example a robot designed primarily to inspect a conductor could have the secondary function of tightening a bolt on a spacer-damper.

5.2.1 Inspection and Assessment Robots Robots as inspection tools that can aid field personnel get high quality information on assets without removing a line from service and reducing exposure of personnel to hazards will continue to be developed. Examples include the IREQ LineScout, EPRI Composite Insulator Inspection Robot and line of sight UAVs. These robots can be either a) application or component specific, e.g. conductor systems in the case of the LineScout or Composite Insulators in the case of the EPRI Robot, or b) address a wide range of components such as line of sight UAVs that utilize visual, IR and UV technologies.

Autonomous robots which perform inspections of large sections (tens to hundred of kilometers) transmission lines such as UAVs or the EPRI Transmission Inspection (TI) Robot are also envisaged. The operator for these robots are intended to be in totally remote locations and in some cases may only provide minimal manual input.

5.2.2 Construction and Refurbishment Robots These robots will generally be “job aids” for construction personnel which will

a) increase productivity,b) reduce their exposure to hazards, and

c) reduce the ergonomic impact on individuals

Some simple forms of these robots exist today, such as the Quanta Robotic Arm.

5.3 Technology Development DriversA number of drivers will continue to support the development of robots for overhead transmission lines:

1. As new robotic technologies proliferate across society and the industry at large, the cost will reduce, the performance will increase and the range of applications will expand for robotics for overhead transmission applications.

2. The development of new sensing technologies to assess the condition of transmission line components will increase the need for robots to take them as payloads.

3. Improved data integration and visualization by utilities will increase the need for high quality well documented information about the condition of assets. Robotic technologies will need to integrate


seamlessly with the utility data systems, e.g. GIS and work management systems, to ensure that the data well recorded and actionable. Utilization of data models such as the Common Information Model (CIM) will be vital for their success.

5.4Examples of Future Robotic ApplicationsThere are a wide range of potential future applications of robotic technologies which are limited only by the needs of the industry and imagination. The following sections will describe four robotic system concepts as examples.

5.4.1 Robotic Toolbox to Support Specific Tasks Implemented by Field Personnel Maintenance personnel perform numerous tasks on a day to day basis which may be “made easier” by the application of a tool box of robotic technologies. In this concept robotic technologies which perform singular (or a number of limited) operations in support of day to day tasks implemented by field personnel. No one robot would be able to support all maintenance tasks, rather a tool box approach is envisaged where the field personnel select’s the robot required to support / perform a very specific task. Also the operator would most probably put the robot in place and may even perform some key manual tasks to support the robot limiting the requirements for mobility and complexity

An example would be a small robot deployed to aid in replacing a single insulator disc on a transmission line under energized conditions. The line person would place the small lightweight robot on the insulator string opposite the disc of interest and the robot would attach itself to discs above and below the disc of interest. The mechanical load from the insulator string would be “taken up” by the robot releasing the tension on the individual disc with the robot providing feedback to the operator when the next step could be implemented. Upon receiving an indication from the robot that tension has been removed from the individual disc, the operator then manually removes the cotter key and the disc of interest. A replacement disc would be inserted and the root would be instructed to reapply the line tension to the disc. The operator would then remove the robot from the string after the robot confirms that it has completed the task and disconnected from the insulator string.

Robots like this would reduce the physical stress that is required from the field personnel and have potential to reduce the time to perform a task and consequently the risk. Since they perform relatively simple/singular tasks the required training / expertise of the operator is reduced increasing acceptance.

A range of singular tasks could be identified for both substation and transmission line personnel for which robotic support technologies could be developed. Today some of these already exist, but a more comprehensive toolbox could be developed.

5.4.2 Utilization of UAV’s to supplement/replace climbing inspections Today climbing inspections are becoming increasing rare due to pressure on budgets and the aging workforce. Ground based inspections when performed may miss certain conditions due to line of sight constraints, access to the structure of interest and large viewing distances.

A line of sight lightweight UAV which could be deployed from the inspectors vehicle (e.g. back of all terrain vehicle (ATV)) and perform a close up visual, UV and IR inspection have the potential to increase the productivity and fidelity of ground based inspections.

Important features of such a technology would include i) the ability to be quickly deployed, ii) the ability to be operated by a line inspector with limited piloting skills, iii) ability operate in a range of environmental conditions, iv) automatic integration of images/results into the “inspection database” and work management systems. The safety, flashover risk and cost also need to be addressed together with many other technical challenges.

Publications and media releases indicate that this technology is very close to being publically available. However regulatory barriers related to airspace, safety and privacy need to be addressed. In addition a low cost technology that can be deployed without the need for a “special UAV operator” is required if this is to be a feasible option that becomes common practice.


5.4.3 Autonomous Robotic Inspection of Transmission Lines A robot which can autonomously traverse a transmission line with no input from an operator and report only when it identifies high risk conditions is envisaged. The robot would travel along either the shield or phase conductors traversing structures as they are designed today with no additional installed hardware. Power would be harvested from sources such as the electric or magnetic field or solar radiation or vibration. A range of inspection technologies ranging from visual, to infrared, ultraviolet, eddy current, radio frequency interference (RFI) and LiDAR would be included.

Images and sensor data would be automatically processed and alarms generated for subject matter experts to make a more detailed analysis. All of the inspection data would be stored in a central database which could be queried and visualized by all the stakeholders, e.g. vegetation managers, operators, maintenance personnel, line designers, etc.

The technology challenges are significant ranging from mobility to automatic image analysis to autonomous decision making.

5.4.4 Autonomous UAS Inspections of Transmission Lines A UAV would fly along a transmission line controlled either by an operator or on be on a pre-programmed route which could range from 10 to 100s of kilometers. The UAV would contain visual, infrared, ultraviolet, LIDAR and RFI sensing systems. The route for the UAV would be preprogrammed with the location of structures so that images could be automatically collected and processed. Image processing would automatically identify conditions in each of the images of flag them for an operator to evaluate in more detail. The results would be automatically integrated in to an “inspection database” and work management system for visualization by all the utility stakeholders.

It appears that military “drones” with many of these features have been successfully deployed. However regulations need to be addressed and issues such as security, privacy, public acceptance and safety have to be addressed.

5.5SummaryRobotic technologies have the potential to revolutionize the way the transmission and distribution system is constructed and maintained. However a number of barriers exist ranging from financial to technical to regulatory. However it remains important to continue to have a vision for the future and make steady progress in attempting to reach it.


6. ConclusionTo be completed...


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