Run Yang, Jingru Li, Taiyun Zhu, Di Hu and Erbao Dong
Gas-insulated switchgear (GIS) stands as a pivotal component in power systems, susceptible to partial discharge occurrences. Nevertheless, manual inspection proves…
Abstract
Purpose
Gas-insulated switchgear (GIS) stands as a pivotal component in power systems, susceptible to partial discharge occurrences. Nevertheless, manual inspection proves labor-intensive, exhibits a low defect detection rate. Conventional inspection robots face limitations, unable to perform live line measurements or adapt effectively to diverse environmental conditions. This paper aims to introduce a novel solution: the GIS ultrasonic partial discharge detection robot (GBOT), designed to assume the role of substation personnel in inspection tasks.
Design/methodology/approach
GBOT is a mobile manipulator system divided into three subsystems: autonomous location and navigation, vision-guided and force-controlled manipulator and data detection and analysis. These subsystems collaborate, incorporating simultaneous localization and mapping, path planning, target recognition and signal processing, admittance control. This paper also introduces a path planning method designed to adapt to the substation environment. In addition, a flexible end effector is designed for full contact between the probe and the device.
Findings
The robot fulfills the requirements for substation GIS inspections. It can conduct efficient and low-cost path planning with narrow passages in the constructed substation map, realizes a sufficiently stable detection contact and perform high defect detection rate.
Practical implications
The robot mitigates the labor intensity of grid maintenance personnel, enhances inspection efficiency and safety and advances the intelligence and digitization of power equipment maintenance and monitoring. This research also provides valuable insights for the broader application of mobile manipulators in diverse fields.
Originality/value
The robot is a mobile manipulator system used in GIS detection, offering a viable alternative to grid personnel for equipment inspections. Comparing with the previous robotic systems, this system can work in live electrical detection, demonstrating robust environmental adaptability and superior efficiency.
Details
Keywords
Jingru Lian, Xiaobing Fan, Bin Xu, Shan Li, Zhiqing Tian, Mengdan Wang, Bingli Pan and Hongyu Liu
This paper aims to regulate the oil retention rate and tribological properties of pored polytetrafluoroethylene (PPTFE) using polyvinyl alcohol (PVA)-based oil gel.
Abstract
Purpose
This paper aims to regulate the oil retention rate and tribological properties of pored polytetrafluoroethylene (PPTFE) using polyvinyl alcohol (PVA)-based oil gel.
Design/methodology/approach
PPTFE was first prepared by using citric acid (CA) as an efficient pore-making agent. Subsequently, PVA and chitosan solution was introduced into the pores and experienced a freezing-thawing process, forming PVA-based gels inside the pores. Then, the PPTFE/PVA composite was impregnated with polyethylene glycol 200 (PEG200), yielding an oil-impregnated PPTFE/PVA/PEG200 composite.
Findings
It was found that the oil-impregnated PPTFE/PVA/PEG200 composite exhibited advanced tribological properties than neat PTFE with reductions of 53% and 70% in coefficient of friction and wear rate, respectively.
Originality/value
This study shows an efficient strategy to regulate the tribological property of PTFE using a PVA-based oil-containing gel.
Peer review
The peer review history for this article is available at: https://publons.com/publon/10.1108/ILT-11-2024-0432/