CAREER: Towards a Self-Powered Autonomous Robot for Intelligent Power Lines Vibration Control and Monitoring

职业：开发用于智能电力线振动控制和监测的自供电自主机器人

• 批准号: 1944032
• 负责人: Oumar Barry
• 金额: $ 50万
• 依托单位: Virginia Polytechnic Institute and State University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2020
• 资助国家: 美国
• 起止时间: 2020-02-01 至 2025-01-31
• 项目状态: 未结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1944032&HistoricalAwards=false
• 关键词: CAREER; Towards; Self; Powered; Autonomous

This proposal will support fundamental research to engender a self-powered autonomous robot to prevent electric power line defects. The US power grid is more than half-a-century old and runs more than 150,000 miles, often in remote locations. The overhead power lines (PLs) are exposed to harsh environments such as wind-induced vibrations (WIV), which limit their lifespan. Conventional techniques for suppressing the unwanted WIV rely on fixed passive vibration absorbers (FPVAs). These FPVAs are often ineffective because of their narrow frequency bandwidth, and inability to adapt to the changing wind characteristics. This poor WIV control contributes to fatigue damage in the strands of the cable, eventually resulting in PL failure. Relatedly, PL inspection and maintenance are often required because of fatigue damage and acid rain corrosion of the cables. These inspections are mostly conducted through foot patrol or helicopter-assisted inspection; both techniques are laborious, expensive, and dangerous to the maintenance personnel. Recently, PL inspection robots have emerged, but their implementations have been hindered by their bulky size, heavy weight, short operation time, energy inefficiency, and hefty price tag. In view of these shortcomings, this CAREER project proposes a shift from FPVAS and bulky robots to a multi-functional self-powered autonomous robot (SPAR) for intelligent vibration control and monitoring of PLs. However, the realization of such a robot requires a fundamental understanding of the nonlinear dynamic interactions between wind forces, a vibrating-cable, and a mobile robot. Such a problem has not been explored yet. The research goal of this project is to create the fundamental tools that will enable the construction of SPAR, which will help make US power grids smarter, more sustainable, and more robust. The educational and outreach impacts of this proposal are to broaden the representation and retention of underrepresented minority in the STEM field, enable dissemination and commercialization of the research findings to the power industry, and establish an interdisciplinary course focusing on nonlinear dynamics of electromechanical systems for graduate students and professional engineers. SPAR will provide fundamental breakthroughs at the interface of energy harvesting, fluid-structure interactions, and vibration control. The proposed research tasks are: (1) the construction of a multiphysics model to study wind-cable-robot interactions, (2) the creation of an effective and adaptive electromagnetic energy harvester to power the robot, (3) the development of a WIV control framework to optimize vibration suppression, and (4) the establishment of a testbed to experimentally investigate the performance of SPAR. This CAREER grant will advance scientific knowledge in the following ways. First, the multiphysics model will create a fundamental understanding of how a fluid interacts with an elastic continuum coupled with a traveling robot. Second, the simultaneous adaptive energy harvesting and vibration control technique will provide understanding of broadband energy harvesting and vibration suppression of infinite dimensional systems via passive self-tuning and active tracking of equilibrium positions. Overall, this CAREER will augment our understanding of simultaneously harvesting energy and controlling WIV of continuum systems.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该提案将支持基础研究，以产生自供电的自主机器人，以防止电力线缺陷。美国电网已有半个多世纪的历史，运行里程超过15万英里，通常位于偏远地区。架空电力线（PL）暴露于诸如风激振动（WIV）的恶劣环境中，这限制了它们的寿命。抑制不需要的WIV的传统技术依赖于固定的被动减振器（FPVA）。这些FPVA往往是无效的，因为它们的频带宽度窄，不能适应不断变化的风特性。 这种不良的WIV控制导致电缆股线的疲劳损坏，最终导致PL失效。相关地，由于电缆的疲劳损伤和酸雨腐蚀，经常需要PL检查和维护。这些检查大多是通过徒步巡逻或辅助检查进行的;这两种技术都是费力的，昂贵的，并且对维护人员有危险。 最近，PL检测机器人已经出现，但它们的实施受到体积庞大，重量重，操作时间短，能源效率低和价格昂贵的阻碍。鉴于这些缺点，该CAREER项目提出了从FPVAS和笨重的机器人到多功能自供电自主机器人（SPAR）的转变，用于PL的智能振动控制和监测。然而，这样的机器人的实现需要一个基本的了解风力，振动电缆，和移动的机器人之间的非线性动态相互作用。这样的问题还没有被探索过。该项目的研究目标是创建能够建设SPAR的基本工具，这将有助于使美国电网更智能，更可持续，更强大。 该提案的教育和推广影响是扩大STEM领域代表性不足的少数民族的代表性和保留，使研究成果能够传播和商业化到电力行业，并为研究生和专业工程师建立一个跨学科课程，重点是机电系统的非线性动力学。SPAR将在能量收集、流体-结构相互作用和振动控制等方面提供根本性的突破。建议的研究任务是：（1）多物理场模型的建设，研究风-电缆-机器人的相互作用，（2）创建一个有效的和自适应的电磁能量采集器，为机器人供电，（3）WIV控制框架的发展，以优化振动抑制，以及（4）建立一个试验台，以实验研究SPAR的性能。这项职业补助金将通过以下方式促进科学知识的发展。首先，多物理场模型将创建一个基本的理解，流体如何与弹性连续耦合移动机器人相互作用。第二，同时自适应能量收集和振动控制技术将通过被动自调整和主动跟踪平衡位置提供对无限维系统的宽带能量收集和振动抑制的理解。总的来说，这个职业生涯将增加我们对同时收集能量和控制连续系统WIV的理解。这个奖项反映了NSF的法定使命，并通过使用基金会的知识价值和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

On the vibration suppression of power lines using mobile damping robots

• DOI: 10.1016/j.engstruct.2021.112312
• 发表时间: 2021-04-19
• 期刊: ENGINEERING STRUCTURES
• 影响因子: 5.5
• 作者: Kakou, Paul;Bukhari, Mohammad;Barry, Oumar
• 通讯作者: Barry, Oumar

CONSIDERATIONS FOR THE TESTING AND VALIDATION OF A MOBILE DAMPING ROBOT FOR OVERHEAD POWER LINES

架空电力线路移动阻尼机器人测试和验证的考虑因素

• 发表时间: 2022
• 期刊: International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
• 作者: Andrew Choi, Paul-Camille Kakou

On a self-tuning sliding-mass electromagnetic energy harvester

• DOI: 10.1063/5.0005430
• 发表时间: 2020-09-01
• 期刊: AIP ADVANCES
• 影响因子: 1.6
• 作者: Bukhari, M.;Malla, A.;Zuo, L.
• 通讯作者: Zuo, L.

Simultaneous vibration reduction and energy harvesting of a nonlinear oscillator using a nonlinear electromagnetic vibration absorber-inerter

• DOI: 10.1016/j.ymssp.2021.107607
• 发表时间: 2021-07
• 期刊: Mechanical Systems and Signal Processing
• 影响因子: 8.4
• 作者: Paul Kakou;O. Barry

Free Vibration of Power Lines Conductors

电力线导体的自由振动

• 发表时间: 2023
• 期刊: MECC 2023
• 作者: Ranhee Yoon, Erdi Gulbahce