Yingxin He

Conceptual Design of a Power Distribution Line Maintenance Robot Using a Developed CG Simulator and Experimental Robot System

We have been developing a conceptual design for a power distribution line maintenance robot system using a CG (Computer Graphics) simulator and an experimental robot system. This system is a semi-autonomous robot system which performs - tasks with task level instructions. We developed the design while during construction of the CG simulator. We believe that we demonstrate a possible solution to working up a semi-autonomous robot system.

Task performance tests on inserting the bolts by an experimental system for power distribution line maintenance - grope action under compliance control

We are developing semi-autonomous robot system for power distribution line maintenance tasks to ensure workers safety and improve efficiency of task performance. This robot system works with task level instructions, for example, “Insert the bolt”.

A task skill for inserting bolt on power distribution line maintenance

We are developing a semi-autonomous power distribution line maintenance robot that operates by task level instructions. Also, we are conducting a feasibility study on CG-simulator [2] and experimental robot system [3] with task analysis [1]. We propose the task skill for inserting the bolt into the bolt hole in “Inserting the bolt into the bolt hole on arm tie” task. The task skill describes the bolts state by 12-dimensions space that is composed of its position and reactive force by work object. It considers the inserting bolt task as a trajectory generation from current position to goal position. With the task skill, the bolt tip moves to the goal position while groping the direction that makes the reaction force by a work object become smaller. We performed a verification experiment by experimental robot system on mock-up work environment. Then, we succeeded in inserting the bolt using the proposed skill. However, two problems were found in the result. One of the problems is the output of the force sensor contains a large noise, and the other is that the large reaction force appears soon after the groping motion. We consider these problems.

A task performance test on extracting the insulator by a power distribution line maintenance robot system-alignment of the gripper to the insulator in the image of cameras

We are developing a semi-autonomous robot system for a power distribution line maintenance tasks. The robot system executes primary tasks autonomously when the operator directs tasks, for example “Pull out the insulator”. In this paper, we propose the method for aligning the gripper to the insulator. The proposed method for alignment is as follows: 1) The gripper at the top of the arm approaches the insulator in the image of the hand-eye camera attached at the gripper. 2) The gripper stops when the image of gripper reaches in the center of the left camera attached at the base of the arm. Since the method aligns the gripper to the insulator in the picture images of the hand-eye and the left camera, the alignment is not affected by the errors on 3D-position measurements and the arm link parameters.

A task analysis and a controller system design for a power distribution line maintenance robot

We are conducting a feasibility study on a semi-autonomous maintenance robot for power distribution lines that works using task instructions. We are analyzing the task of “switch gear installation” in power distribution lines maintenance and describing a task scenario for it. We are also designing a controller for the robot system. In the controller, the tasks are described using robot motion commands in databases and the robot motion commands are executed by agents.

Development of a semi-autonomous remote maintenance robot

We are developing a proto-type of semi-autonomous remote maintenance robot which is for example used in a nuclear power plant. The image of the robot is shown in Fig.1. The robot is constructed of arms, mobile base and vision system. The robot is operated with task level instructions. Foe example, when we direct “Insert the bolt”, the robot search the instruction file in which the move sequences are described, and then the task is performed by moving the mobile base and arms.

Development of a remote visitor robot system — Attending a meeting

We are developing a remote visitor robot. We can join a conference from a remote place through Internet as if we ride in the robot. Our faces are shown in PC display. We communicate through Skype (TV phone system). The robot is constructed of a mobile wagon, PC for wagon control, and PC for TV phone. The controller software is a multi-agent system which is composed of Man-machine interface, Task planner, Mobile wagon controller. While the operator directs only the direction of the robot with a game pad or keyboard, the robot avoids obstacles and goes toward the target direction.