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dc.creatorSuárez Fernández-Miranda, Alejandroes
dc.creatorSalmoral Lorenzo-Arroyo, Rafaeles
dc.creatorZarco Periñán, Pedro Javieres
dc.creatorOllero Baturone, Aníbales
dc.date.accessioned2022-09-08T13:16:02Z
dc.date.available2022-09-08T13:16:02Z
dc.date.issued2021
dc.identifier.citationSuárez 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.issn2169-3536es
dc.identifier.urihttps://hdl.handle.net/11441/136899
dc.descriptionArticle number 9469805es
dc.description.abstractThe 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.sponsorshipComisión Europea H2020-2019-87147es
dc.description.sponsorshipConsejo Europeo de Investigación 788247es
dc.formatapplication/pdfes
dc.format.extent13 p.es
dc.language.isoenges
dc.publisherInstitute of Electrical and Electronics Engineers Inc.es
dc.relation.ispartofIEEE Access, 9, 94573-94585.
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectAerial manipulationes
dc.subjectPower lineses
dc.subjectElectrostatic dischargees
dc.titleExperimental Evaluation of Aerial Manipulation Robot in Contact With 15 kV Power Line: Shielded and Long Reach Configurationses
dc.typeinfo:eu-repo/semantics/articlees
dcterms.identifierhttps://ror.org/03yxnpp24
dc.type.versioninfo:eu-repo/semantics/publishedVersiones
dc.rights.accessRightsinfo:eu-repo/semantics/openAccesses
dc.contributor.affiliationUniversidad de Sevilla. Departamento de Ingeniería de Sistemas y Automáticaes
dc.contributor.affiliationUniversidad de Sevilla. Departamento de Ingeniería Eléctricaes
dc.relation.projectIDH2020-2019-87147es
dc.relation.projectID788247es
dc.relation.publisherversionhttps://ieeexplore.ieee.org/abstract/document/9469805es
dc.identifier.doi10.1109/ACCESS.2021.3093856es
dc.journaltitleIEEE Accesses
dc.publication.volumen9es
dc.publication.initialPage94573es
dc.publication.endPage94585es

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