dc.creator | Suárez Fernández-Miranda, Alejandro | es |
dc.creator | Salmoral Lorenzo-Arroyo, Rafael | es |
dc.creator | Zarco Periñán, Pedro Javier | es |
dc.creator | Ollero Baturone, Aníbal | es |
dc.date.accessioned | 2022-09-08T13:16:02Z | |
dc.date.available | 2022-09-08T13:16:02Z | |
dc.date.issued | 2021 | |
dc.identifier.citation | Suárez Fernández-Miranda, A., Salmoral Lorenzo-Arroyo, R., Zarco Periñán, P.J. y Ollero Baturone, A. (2021). Experimental Evaluation of Aerial Manipulation Robot in Contact With 15 kV Power Line: Shielded and Long Reach Configurations. IEEE Access, 9, 94573-94585. | |
dc.identifier.issn | 2169-3536 | es |
dc.identifier.uri | https://hdl.handle.net/11441/136899 | |
dc.description | Article number 9469805 | es |
dc.description.abstract | The use of aerial manipulators for the inspection and maintenance of the power grid requires the
safe interaction of the robot with high voltage power lines. In order to identify possible faults or malfunctions
during the approaching or interaction phases, this paper presents experimental results in a real 15 kV
power line, considering four different configurations for the manipulator: 1) aluminum tube attached to
the landing gear, 2) robotic arm attached to the multi-rotor base, 3) shielded aerial manipulator, and 4) long
reach configuration (insulated). The paper investigates the electromagnetic susceptibility of the autopilot
and the electronic speed controllers to the electrostatic discharge (ESD) raised when the manipulator touches
the line, causing the momentary failure of the rotors. A model of the electromagnetic effects associated to
the interaction with the line is provided, comparing later the effectiveness of the two solutions for the aerial
manipulator: shielding, and insulation. | es |
dc.description.sponsorship | Comisión Europea H2020-2019-87147 | es |
dc.description.sponsorship | Consejo Europeo de Investigación 788247 | es |
dc.format | application/pdf | es |
dc.format.extent | 13 p. | es |
dc.language.iso | eng | es |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | es |
dc.relation.ispartof | IEEE Access, 9, 94573-94585. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Aerial manipulation | es |
dc.subject | Power lines | es |
dc.subject | Electrostatic discharge | es |
dc.title | Experimental Evaluation of Aerial Manipulation Robot in Contact With 15 kV Power Line: Shielded and Long Reach Configurations | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/publishedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería Eléctrica | es |
dc.relation.projectID | H2020-2019-87147 | es |
dc.relation.projectID | 788247 | es |
dc.relation.publisherversion | https://ieeexplore.ieee.org/abstract/document/9469805 | es |
dc.identifier.doi | 10.1109/ACCESS.2021.3093856 | es |
dc.journaltitle | IEEE Access | es |
dc.publication.volumen | 9 | es |
dc.publication.initialPage | 94573 | es |
dc.publication.endPage | 94585 | es |