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Mobile Monitoring and Maintenance of Power …

,Energy,andAutomationLaboratory(SEAL)Dep artmentofElectricalEngineering,Universit yofWashingtonSeattle,WA98195, ,agingstatus, ,signalprocessing,control,communications ,optimiza-tiontheory,and,morerecently, ,namely, :distributionpowersystems,sensorarrays,r eal-timemonitoring,automatedmaintenance, ,theeffortsspentonsta-tusmonitoringofthe systemarejustifiedbyreducingtheoc-curren ceoffaultsandeliminatingconsequentlosses duetodis-ruptionofelectricpower,damageto equipment, [1].Inthesummerof1996,poweroutagesleftla rgeportionsoftheWesternUnitedStateswith- outelectricityforperiodsofupto14hours[2] .Morerecently, , , , ,thishasbeenconfirmedinnumerouscabletest -ingstudies, [3].Thisprincipleremainsinforceforalmost allsensingtechniques:itispossibletomonit oradistributedsystemwithaglobaldevice,fo rexample,usingterminalcharac-teristicsor propagatingwaves, , ,suchaslivemaintenanceofhighvoltagetrans missionlines, ,suchasradioac-tivelocationsinnuclearpla nts;accesstotightspaces,suchascableviadu ctsandcoolingpipes; , , (OPGW)above66kVpowertrans-missionlines[4 ,5].

Mobile Monitoring and Maintenance of Power Systems Bing JIANG and Alexander V. MAMISHEV Sensors, Energy, and Automation Laboratory (SEAL) Department of Electrical Engineering, University of Washington

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Transcription of Mobile Monitoring and Maintenance of Power …

1 ,Energy,andAutomationLaboratory(SEAL)Dep artmentofElectricalEngineering,Universit yofWashingtonSeattle,WA98195, ,agingstatus, ,signalprocessing,control,communications ,optimiza-tiontheory,and,morerecently, ,namely, :distributionpowersystems,sensorarrays,r eal-timemonitoring,automatedmaintenance, ,theeffortsspentonsta-tusmonitoringofthe systemarejustifiedbyreducingtheoc-curren ceoffaultsandeliminatingconsequentlosses duetodis-ruptionofelectricpower,damageto equipment, [1].Inthesummerof1996,poweroutagesleftla rgeportionsoftheWesternUnitedStateswith- outelectricityforperiodsofupto14hours[2] .Morerecently, , , , ,thishasbeenconfirmedinnumerouscabletest -ingstudies, [3].Thisprincipleremainsinforceforalmost allsensingtechniques:itispossibletomonit oradistributedsystemwithaglobaldevice,fo rexample,usingterminalcharac-teristicsor propagatingwaves, , ,suchaslivemaintenanceofhighvoltagetrans missionlines, ,suchasradioac-tivelocationsinnuclearpla nts;accesstotightspaces,suchascableviadu ctsandcoolingpipes; , , (OPGW)above66kVpowertrans-missionlines[4 ,5].

2 [6,7],Canada[8],Spain[9], ,Sawadaetal[10] ,forexample, ,abasicsynthesisconceptforaninspectionro botwasdescribedforfeedercables(electricp owercablesforrailways)[11].Sincethefeede rcablesareex-tremelylongandhavemanyirreg ularpoints,amulti-carstruc-turewithjoint connectionsandbiologicalcontrolarchitect urewasadopted;thus, ,therearealmostnosuccessfulrobotapplicat ionsreported, ,sizeandweightrestrictions,wirelessdesig nrequire-ments, ,microelectronics,andcommunicationtechno logies, Mobile sensor platformPower andcommunicationsmoduleFringing electric fieldsensor arrayAcoustic andinfrared sensorsSpring-loadedmotion [12].Figure1showsaconceptualdesignofamob ileplatform,amodularsystemwithasepa-rate unitprovidingautonomyofoperationandre- ,themobilemonitoringofpowersystemsinvolv esthefollowingissues:Sensorfusioninmobil eplatform:Monitorthecondi-tionofcablesre quiresincorporationofsophisticatedproper ty-monitoringsensorsinadditiontoposition ing,tactile, [11,13],whereasinternalunitsuseinnerspac esofductsandpipesandareoftenimplementeda strack-followingdeviceswithapredetermine droute,andalimitedsetofoperations[14].

3 :Sincetherobotneedstocrawlalongthelongca ble, , [15,16],batteries[17],microsystems[18], [19], , :Itincludesobjecttracking,collisionavoid -ance, , :a) )Itshouldincludealgorithmstopositionthes ensorarrayatop-timumlocationwithrespectt othecable, ) , ,thesmalleristhesen-sororactuator, ,whichultimatelytranslatesintoadditional computationalload[20].Accordingly, :Communicationmoduletransfersdatabetween themastercomputerandthemobilerobot, [21].Positioningsystem:Inmostapplication s,twobasicpositiones- ,theabsoluteonecancompensatetheerrorsint roduced[22]. ,dielectrometry,thermalimaging,eddycurre nts, , , ,requiringthemaintenancepersonneleithert opunctureorremovetheprotectiveconducting sheathsurroundingthecableinordertomeasur eemanatingelectricfield[23].Thismethodis dangerous, , senergizationstatus[24,25], ,whetherornotitiscarryingcurrent,sub-sta ntialsecondharmonic(120Hz) [25].Figure2showsprocessedacousticsignat uresofathree-phase14kVshieldeddistributi onpowercableintwostates:non-energizedwit hstrongambientnoise;andenergizedatlowvol tage, ,however, , ,includingeddycurrents,acousticsensing, (dielectricconductivityandresistivity,me asurementofpartialdischargeactivity, ,theapplicationofmultiplepenetrationdept helectricfieldsstartedinthe1960s[26].

4 Later,indepen-dentdielectrometrystudiesw ithsingle[27]andmultiple[28,29]penetrati ondepthsusinginterdigitalelectrodeshavec ontinued.(a)non-energizedcable(b) , , , ,thecapacitancebetweentwoco-planarstrips iscomparabletothestraycapacitanceofthele ads(conductorsthatconnecttheelectrodeswi ththeelectricalexcitationsource).Therefo re,inordertobuildupaneasilymeasurableele ctrodestructure, interdigital referstothedigit-likeorfinger-likeperiod icpatternofparallelin-planeelectrodes, [30 32]. ,combinedwiththevariationofelectricalexc itationfrequency, ,chemical,orstructuralpropertiesofmateri als,thedielectrometrymeasurementsprovide effectivemeansforindirectnon-destructive evaluationofvitalparametersinavarietyofi ndustrialandscientificapplications[33,34 ].Theartandscienceofdesigningsensorswith multipleinter-digitalelectrodepairs,andp rocessingtheoutputsignalstogainknowledge aboutthematerialundertestisthesubjectofi nterdig-italfrequency-wavenumber(!)

5 K) [35 42].Aconceptualschematicof! kdielectrometryispresentedinFigure3(a).F orahomogeneousmediumofsemi-infiniteexten t, (b) ,afollowerop-ampdrivestheguardplaneatthe substratebottomatthevoltageVG=VS, , ,thisproblemcanbesolvednumerically,analy tically,orthroughcalibration, ,airpollution, (PD)measurementisanimportantdiagnosticto ol,especiallyformediumandhighvoltagecabl es, ,currentandvoltage[44,45],electro-magnet ic[46,47],timeandfrequencydomainreflectr ometry[48],andopticalsensing[49].Afterac arefulreviewofvastliteratureonPD sandanalysisofapplicabilityofeachapproac h, [50,51],cableapplicationsaremuchmorescar ce[52]. (about20me-ters), ,thesematerialsexperienceadropintheglass transitiontemperature,whicheffectivelylo werstheupperservicetemperatureandsig-(a) Asingle-wavelengthgenericdesign.(b) ,namely,capacitanceandconductancebetween theinterdigitatedelectrodes, , , semittedinfrared(IR) , , , into pressboard, m ,ontheorderof100ppm[53].

6 Ahighlypolarmaterial, [54]. ,combinedwiththemois-turemeasurementdata oftheambientenvironment(airrelativehumid ityof12%), (atthetimemomentsoftwohoursandfourhours) , , ,multivariablepa-rameterestimationprovid estransformationofthevectorofinputparame tersxintoavectorofoutputsignalsC, ,thistransformationcanbeexpressedas:A x=C(1)ThecoefficientsofthesquarematrixAa rethepartialderiva-tivesoftheindividualo utputsignalswithrespecttotheinputM=0%M= CT=60 CT=50 CT=40 CT=30 :aij=@Ci@xj(2)Obtainingthephysicalvariab lesofinterestfromthemultidimen-sionalsen sorresponsemeanssolvingtheinverseproblem x=A 1C(3)Oneofthemostusefulselectivitycriter iaistheconditionnumber (A)=kAk A 1 =maxj sjminj sj(4)where (4) , ",themeasurementuncertaintyis ""=1"sXi d"dxi xi 2 (5)wherexiareindividualsensoroutputvaria bles(notparametersofinterest,butintermed iatevariables).Thedependenceof" x,thedevicecannotonlymeasurematerialprop erties, ,operatingconditions, ,analysisofacousticsignaturesofpartialdi scharges,thefringingelectricfieldsens-in g,acousticsensing, ,waterup-take, #0093716,SouthCaliforniaEdison,aswellast heElectricalInsulationIndustrialConsorti umandAdvancedPowerTechnologies(APT) ,CESI,LGIndustrialSystems, ,HansIsern, [1] , Newridersandrisingratesensureinsurancein dustry scontin-uedprofitfromelectricaldisturban ce, inProceedingsoftheSeventhInter-nationalP owerQualityTelecomputerInfrastructureCon ference,(Ventura,CA), 266, [2] , RecordingandanalyzingtheJuly2cas-cadingo utage[WesternUSApowersystem], IEEEC omputerApplicationsinPower, , 30, [3] , , , Practicalexperienceonpartialdischargemea surementandlocationonpowercables, inInternationalCon-ferenceonPartialDisch arge, 104,1993.

7 [4] , , , , , , , , Manipulatorsystemforconstructingoverhead distributionlines, IEEET ransactionsonPowerDelivery, , 1909,July1989.[5] , , , , , , , , , , Manipulatorsystemforconstructingoverhead distributionlines, inIEEEI nternationalWorkshoponRobotandHumanCommu nication, , 240, [6] , Remote-operatedroboticsystemforlive-line maintenancework, inESMO-93.,SixthInternationalConferenceo nTrans-missionandDistributionConstructio nandLiveLineMaintenance, 435,1993.[7] , , , , , , Applicationofsemi-automaticrobottechnolo gyonhot-linemainte-nancework, inIEEEI nternationalConferenceonRoboticsandAutom ation, , 850,1995.[8] , Systemsintegrationintelerobotics:Casestu dy:Maintenanceofelectricpowerlines, inIEEEI nternationalConferenceonRoboticsandAutom ation, , 1047,1996.[9] , , , , , , , , , Teleoperatedrobotsforlivepowerlinesmain- tenance(robtet), , , 31/5,1997.[10] , , , , , Amobilerobotforinspectionofpowertransmis sionlines, IEEET ransactionsonPowerDelivery, , 315, [11] , , , Aninspectionrobotforfeedercables-basicst ructureandcontrol, inInternationalConferenceonIndustrialEle ctronics,ControlandInstrumentation, , 995,1991.

8 [12] , , , , Microinspectionrobotfor1-inpipes, IEEE/ASMET ransactionsonMechatronics, , 292, [13] , , , , , Taskplanningexperimenttowardanautonomous robotsystemfortheconstructionofover-head distributionlines, inIEEE/RSJI nternationalConferenceonHumanRobotIntera ctionandCooperativeRobots, 455,1995.[14] , , , , , In-ternalpipeinspectionrobot, inIEEEI nternationalConferenceonRoboticsandAutom ation, 862,1995.[15] , Inductivepowertransfertoanelectricvehicl e-analyticalmodel, inProceedingsofIIII nternationalSeminar/WorkshoponDirectandI nverseProblemsofElectromagneticandAcoust icWaveTheory, 104,1990.[16] , , , Magneticallycoupledsystemsforpowertransf ertoelectricvehicles, inProceedingsof1995 InternationalConfer-enceonPowerElectroni csandDriveSystems, , 801,1995.[17] , , , , , Anultra-compacttransformerfora100 Wto120kWinductivecouplerforelectricvehic lebatterycharging, inEleventhAnnualAppliedPowerElectronicsC onferenceandExposition, , 38,1996.

9 [18] , On-chipcoilswithintegratedcoresforremote inductivepoweringofinegratedmicrosystems , inInternationalConferenceonSolidStateSen sorsandActuators, , 1002,1997.[19] , , , , , , , , Designconsiderationsfordistributedmi-cro sensorsystems, inCustomIntegratedCircuitsConference,(IE EECata-logNumber:99CH36327), 286,1999.[20] , Whithermicrobots?, inProceedingsoftheSeventhInternationalSy mposiumMicroMachineandHumanScience, 12,1996.[21] , , , Modelingmobilerobotwirelessreal-timecomm unication, inIEEE47thVehicularTechnologyConference, , 2064,1997.[22] , , , , Positioningandcommunica-tionsystemforaut onomousguidedvehiclesinindoorenvironment , in9thMediterraneanElectrotechnicalConfer ence, , 191,1998.[23] , Shieldedcableistestedtodetermineifitisen ergized, inTransmissionandDistribution, 51,July1991.[24] , , , , , Adetectortoidentifyade-energizedfeederam ongagroupofliveones, IEEET ransactionsonPowerDelivery, , 24, [25] , , , , Non-intrusivesensingtechniquesforthedisc riminationofenergizedelectriccables, IEEET ransactionsonPowerDelivery, , , 461,1996.

10 [26] , Onmultiparametercontrolofdielectricprope rtiesoflami-natepolymermaterials, LatvijasPSRZ inatnuAkademijasVestis,FizikasunTehnisko ZinatnuSerija, , 67,1966.[27] , Theuseofthecharge-flowtransistortodistin guishsurfaceandbulkcomponentsofthin-film sheetresistance, IEEET ransactionsonElectronDevices, , , [28] , Athin-filmcapacitancehumiditysen-sor, SensorsandActuators, , 186, [29] , Complexpermittivitymeasurementsofthinfil msusingmicrodielectrometry, inConferenceonElectricalInsulationandDie lectricPhenomena,(Claymont,DE), 471, [30] , , , Moisturesensingintransformeroilusingthin -filmmicrodielectrometry, IEEET ransactionsonElectricalInsulation, , 1176, [31] , , , Estimationofthickness,complexbulkpermitt ivityandsurfaceconductivityusinginterdig italdielectrometry, IEEET ransactionsonElectricalInsulation,, , 1166, [32] , Modelingconductivityandviscositychangesd uringepoxycureusingTEA,DMA,andDSC, ProceedingsoftheAmericanChemicalSociety, DivisionofPolymericMaterials:ScienceandE ngineering,FallMeeting, , , 452,1993.


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