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By analyzing the shortcomings of existing insulator robots, a novel ultra high voltage (UHV) insulator climbing robot, which could transfer between adjacent insulator strings, is proposed for operation on 800KV multiple-string insulators. An extended inchworm-like configuration was chosen and a stable gripping claw suitable for the insulator string was designed to enable the robot to multiple-string insulators. Then a set of nonheuristic structural parameters that can influence energy consumption was chosen to formulate a nonlinear optimization problem based on the configuration, which improved the energy efficiency of the robot during progressing along a string of insulator.

The purpose of this paper is to design an insulator climbing robot for operation on UHV multiple-string insulators, which could transfer between adjacent insulator strings and progressed along a string of insulator with high energy efficiency.

A physical prototype was constructed that can operate at the speed of six pieces per minute (approximately 1.44 meters per minute) on a single string and complete transference between adjacent strings in 45 s. The energy consumption of joints during progressed along a string of insulator had been reduced by 38.8% with the optimized parameters, demonstrating the consistency between the experimental and simulation results.

An insulator climbing robot for operation on UHV multiple-string insulators has been developed with energy consumption optimization design. The robot can transfer between adjacent insulator strings and progressed along a string of insulator with high energy efficiency. The CLIBOT could be expanded to detect or clean the insulators with similar specification.

The purpose of this paper is to investigate the oscillating trajectory of the paddle of a fin-wheel underwater robot to enhance its propulsion efficiency in water. This robot can be used for underwater detection and military operations.

By studying the propulsion mode of underwater fin-based robots, it is found that such robots periodically generate a large reverse thrust during the swing process, resulting in low propulsion efficiency. Therefore, according to the propulsion characteristics of the oscillating paddle in the underwater environment, the hydrodynamic model and physical constraints of the oscillating paddle are established. Then, the oscillating gait trajectory of the paddle is optimized by the trajectory optimization method. The performance of the optimized trajectory was tested in the simulation environment and the actual underwater environment.

The prototype of the robot was built and tested in a small swimming pool. The research results confirm that the propulsion efficiency of the optimized trajectory is higher than that of the traditional trajectory under the condition of the same amplitude and period. Specifically, the maximum speed of the robot can reach 0.24 m/s when using the optimized trajectory, which is about 50% higher than that before optimization.

The optimized trajectory with the generated impulse as the optimization target is applied to the paddle oscillation, which can improve the thrust impulse generated by the fin-wheel underwater robot during underwater motion, thereby greatly improving the underwater propulsion efficiency and moving speed.

This paper aims to address the challenges of the capacitor tower maintenance robot during bolt tightening in high-voltage substations, including difficulties in bolt positioning due to tilted angles and anti-bird cover occlusion and issues with fast and accurate docking of bolts while the base is moving.

This paper proposes a visual servoing method for the capacitor tower maintenance robot, including bolt pose estimation and visual servoing control. Bolt pose estimation includes four components: constructing a keypoint detection network to identify the approximate position, precise positioning, rapid prediction and calculation of bolt pose. In visual servoing, an improved position-based visual servoing (PBVS) is proposed, which eliminate steady-state error and enhance response speed during dynamic tracking by incorporating integral and differential components.

The bolt detection method exhibits high robustness against varying lighting conditions, partial occlusions, shooting distances and angles. The maximum positioning error at a distance of 250 mm is 2.8 mm. The convergence speed of the improved PBVS is 10% higher than that of the traditional PBVS when the base and target remain relatively stationary. When the base moves at a constant speed, the improved method eliminates steady-state error in dynamic tracking. When the base moves rapidly and intermittently, the maximum error of the improved method in the tracking process is 30% smaller than that of traditional PBVS.

This method enables real-time detection and positioning of bolts in an unstructured environment with tilt angles, variable lighting conditions and occlusion by anti-bird covers. An improved PBVS is proposed to enhance its capability in tracking dynamic targets.

Building upon the resource-based view (RBV) and related research, this paper empirically examines the impact and specific mechanisms of artificial intelligence transformation on corporate innovation capabilities. It provides micro-level evidence of AI’s influence on innovation behavior.

Drawing upon data from Chinese listed companies spanning the period from 2011 to 2022, this study employs a dual fixed-effects model and a mediation effects model to empirically analyze the influence of enterprise AI transformation on its innovation capability as well as the specific mechanisms involved.

The research reveals that AI transformation significantly enhances the innovation capability of enterprises. Heterogeneity analysis indicates that AI transformation exerts a stronger promoting effect on the innovation capability of non-technology firms, large enterprises and those within the manufacturing sector. Mechanism analysis further reveals that AI transformation enhances innovation capability by boosting enterprise profits, reducing costs and reinforcing internal control mechanisms. Further examination demonstrates that AI transformation elevates the quality, efficiency and eco-friendliness of enterprise innovation.

Firstly, this study employs text analysis methods from machine learning to construct artificial intelligence indicators at the firm level, providing stronger evidence of AI’s impact on corporate innovation capabilities. Secondly, it extends corporate innovation behavior to include innovation quality, efficiency and green innovation practices, offering a more comprehensive validation of AI’s role in fostering corporate innovation.

The purpose of this paper is to study the pipe-type electromagnetic induction heating device under power frequency condition.

To reduce eddy current loss and improve heating efficiency, the structure of a pipe-type power-frequency electromagnetic heating device was optimized. Based on the maximum load flow formula, a parallel excitation winding structure is designed, and the distribution of electromagnetic field under four different powers is analyzed by simulation. Four heating modes were proposed according to the structure of diversion ring, inner wall and outer wall. Two heating modes with better heating effect were obtained by comprehensively considering the factors such as magnetic field distribution, thermal power and energy consumption.

The double-wall structure of the pipe-type electromagnetic heating device can make the heat source distribution more uniform, and the use of power-frequency power supply can increase security, the installation of diversion ring can make the heating more sufficient and the heating efficiency of the two heating methods selected according to the structural performance is more than 90%.

In view of the medium or high frequency of pipe-type electromagnetic heating device, it is necessary to configure high power electronic frequency conversion drive system, and eddy current can only be produced on the tube wall, resulting in uneven distribution of heat sources. A pipe-type power-frequency electromagnetic heating device with double-wall structure was proposed.