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16 pages, 2212 KiB  
Article
Estimation of Remaining Insulation Lifetime of Aged XLPE Cables with Step-Stress Method Based on Physical-Driven Model
by Yingqiang Shang, Jingjiang Qu, Jingshuang Wang, Jiren Chen, Jingyue Ma, Jun Xiong, Yue Li and Zepeng Lv
Energies 2025, 18(12), 3179; https://doi.org/10.3390/en18123179 - 17 Jun 2025
Viewed by 329
Abstract
The remaining lifetime of the cable insulation is an important but hard topic for the industry and research groups as there are more and more cables nearing their designed life in China. However, it is hard to accurately and efficiently obtain the ageing [...] Read more.
The remaining lifetime of the cable insulation is an important but hard topic for the industry and research groups as there are more and more cables nearing their designed life in China. However, it is hard to accurately and efficiently obtain the ageing characteristic parameters of cross-linked polyethylene (XLPE) cable insulation. This study systematically analyzes the evolution of the remaining insulation lifetime of XLPE cables under different ageing states using the step-stress method combined with the inverse power model (IPM) and a physical-driven model (Crine model). By comparing un-aged and accelerated-aged specimens, the step-stress breakdown tests were conducted to obtain the Weibull distribution characteristics of breakdown voltage and breakdown time. Experimental results demonstrate that the characteristic breakdown field strength and remaining lifetime of the specimens decrease significantly with prolonged ageing. The ageing parameter of the IPM was calculated. It is found that the ageing parameter of IPM increases with the ageing time. However, it can hardly link to the other properties or physic parameters of the material. The activation energy and electron acceleration distance of the Crine model were also calculated. It is found that ageing activation energy stays almost the same in samples with different ageing time, showing that it is a material intrinsic parameter that will not change with the ageing; the electron acceleration distance increases with the ageing time, it makes sense that the ageing process may break the molecule chain of XLPE and increase the size of the free volume. It shows that the Crine model can better fit the physic process of ageing in theory and mathematic, and the acceleration distance of the Crine model is a physical driven parameter that can greatly reflect the ageing degree of the cable insulation and be used as an indicator of the ageing states. Full article
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26 pages, 5364 KiB  
Review
A Comprehensive Review of Cable Monitoring Techniques for Nuclear Power Plants
by Allan Ghaforian, Patrick Duggan and Lixuan Lu
Energies 2025, 18(9), 2333; https://doi.org/10.3390/en18092333 - 2 May 2025
Viewed by 847
Abstract
Cables are critical to the safe and reliable operation of nuclear power plants (NPPs) since they are widely used as a connection medium for various safety-critical equipment. According to research data and operational experience (OPEX), cable materials can degrade with time, resulting in [...] Read more.
Cables are critical to the safe and reliable operation of nuclear power plants (NPPs) since they are widely used as a connection medium for various safety-critical equipment. According to research data and operational experience (OPEX), cable materials can degrade with time, resulting in reduced dielectric strength and higher leakage current. Cables may degrade gradually over time under normal service conditions and fail unexpectedly as a result of sudden exposure to harsher environments, such as Secondary Steam Line Breaks (SSLBs), or when required to operate under the severe conditions of a design basis event, such as a Loss-of-Coolant Accident (LOCA). To assess the condition of medium- and low-voltage cables in Canadian nuclear power plants, numerous inspection methods and electrical testing techniques are employed. These techniques include dielectric spectroscopy, polarization/depolarization current analysis, reflectometry, dielectric standby tests, AC partial discharge, and very-low-frequency (VLF) Tan Delta assessments for medium-voltage (MV) cables. While these methods provide precise diagnostic insights, they require cables to be disconnected at both ends and de-energized, posing operational constraints. Consequently, on-line plant cable monitoring has garnered significant interest, particularly for new reactor developments and large-scale NPP refurbishments. This paper provides a comprehensive benchmarking of existing technologies and a state-of-the-art review of modern cable assessment methodologies. It examines commercially available solutions and ongoing research in power testing for low-voltage (LV) and MV cables, with a particular focus on their applicability in nuclear power settings. Full article
(This article belongs to the Section B4: Nuclear Energy)
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18 pages, 8946 KiB  
Article
Physical Simulation Tests on Deformation and Instability of Composite Roof in Large-Section Coal Roadway Under Different Burial Depths
by Sen Yang, Liqiang Ma, Weilong Wei and Shunjie Huang
Processes 2025, 13(4), 1003; https://doi.org/10.3390/pr13041003 - 27 Mar 2025
Viewed by 408
Abstract
In response to the difficulty of controlling the layered composite roof of large-section coal roadways and the problem of slow excavation speed caused by unreasonable support parameter values, a dynamic staged control principle for surrounding rock based on “high-strength passive temporary support near [...] Read more.
In response to the difficulty of controlling the layered composite roof of large-section coal roadways and the problem of slow excavation speed caused by unreasonable support parameter values, a dynamic staged control principle for surrounding rock based on “high-strength passive temporary support near the excavation face, combined with active support of rear bolts and anchor cables” is proposed by analyzing the evolution law of rock release stress under the spatial effect of excavation face. Based on the geological conditions of the 1211 (1) transportation roadway in Guqiao Coal Mine, a similar physical simulation test model was constructed to conduct experimental research on the bearing capacity and deformation instability mechanism of the surrounding rock of the layered-composite-roof coal roadway. The law of influence of staged support on the deformation and failure evolution of the surrounding rock was obtained. The research results show the following: (1) After loading above the model, the vertical stress on the roof increases rapidly in a “stepped” manner. After unloading the roadway excavation, due to the release of constraints on the roof above the roadway, the vertical stress on the roof rapidly decreases, especially in the temporary support area where the reduction in vertical stress on the roof is most significant. (2) As the vertical load increases, the displacement curve of the roof gradually evolves into a “V” shape. The farther away from the center of the roadway, the smaller the subsidence of the roof. When loaded to 54.45 kN, the subsidence of the roof increases, indicating that the development of roof delamination cracks is faster, and delamination occurs between 12 cm and 22 cm above the roof. (3) With the continuous increase of axial load, cracks first appear around the roof and slightly sink. Then, the cracks gradually expand and penetrate, causing instability and failure of the roadway roof. When the mining stress reaches 54.45 kN, the middle part of the roadway roof in the axial direction breaks, and the cracks penetrate, resulting in overall collapse. Full article
(This article belongs to the Section Energy Systems)
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14 pages, 6091 KiB  
Article
Insulation Aging Evaluation Method of High Voltage Cable Based on Dielectric Loss Characteristics
by Tao Han, Wenhao Li, Zeping Zheng, Yanqing Li, Jia Chu and Chunlin Hao
Energies 2025, 18(5), 1267; https://doi.org/10.3390/en18051267 - 5 Mar 2025
Cited by 1 | Viewed by 963
Abstract
Health assessments of high-voltage power cables are important for stable operations of power grids; however, most current health assessment model parameters lack whole cable test data, making them unable to effectively characterize the insulation aging state of whole cables. In this paper, a [...] Read more.
Health assessments of high-voltage power cables are important for stable operations of power grids; however, most current health assessment model parameters lack whole cable test data, making them unable to effectively characterize the insulation aging state of whole cables. In this paper, a dielectric loss measurement device for high-voltage cables is developed. Using a high-voltage amplifier and high-precision dielectric loss measurement algorithm, the dielectric loss values of whole cables at different aging stages are measured, and the physicochemical and electrical characteristics of XLPE slice samples at each aging stage are analyzed. Through the analysis of high-voltage dielectric loss, crystallinity, carbonyl index, AC breakdown field strength, and elongation at break, aging correlation parameters are determined. The characteristic high voltage frequency domain dielectric response and delamination degree are proposed to characterize the aging state of cable insulation. The correlation between the high voltage frequency domain dielectric characteristics and cable insulation aging state is established. Finally, an assessment method of the insulation aging state of high-voltage cable is developed, providing a reference for the diagnosis and assessment of the insulation state of high-voltage XLPE cable on site. Full article
(This article belongs to the Section F6: High Voltage)
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22 pages, 17254 KiB  
Article
An Operation State Detection Method of DC Grounding Electrodes Based on Surface Potential Distribution
by Yuan Jiang, Jing Zhou, Zhanlong Zhang, Yihua Dan and Hao Wu
Appl. Sci. 2025, 15(5), 2461; https://doi.org/10.3390/app15052461 - 25 Feb 2025
Viewed by 460
Abstract
During the long-term operation of the DC grounding electrode of the converter station, there are often hazards such as heating and aging of the coke layer, and burning and corrosion at the connection between the feed rod and the cable, resulting in break [...] Read more.
During the long-term operation of the DC grounding electrode of the converter station, there are often hazards such as heating and aging of the coke layer, and burning and corrosion at the connection between the feed rod and the cable, resulting in break problems at the connection between the cable and the feed rod. Currently, the operational status monitoring of grounding electrodes primarily relies on daily tracking of well temperature, humidity, and water level characteristics; periodic testing; and on-site excavation. However, the above methods cannot accurately obtain the breakage location information at the connection between the cable and the feed rod. To address these issues, this paper first analyzes the current distribution law in the feeder rod of the DC grounding electrode. Subsequently, it studies the impact of localized fractures in the DC grounding electrode on the surface potential distribution characteristics. Finally, an Operation State Detection Method (OSDM) based on potential distribution is proposed and validated through case studies, demonstrating high measurement accuracy. The results indicate that OSDM can effectively monitor the operational status of DC grounding electrodes, providing a reference for their maintenance and repair. Full article
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14 pages, 5644 KiB  
Article
Comprehensive Performance Regulation and Characterization of Polypropylene/Elastomer Composite Insulation Materials
by Xinhua Dong, Xianhao Fan and Wei Wang
Polymers 2025, 17(4), 530; https://doi.org/10.3390/polym17040530 - 18 Feb 2025
Cited by 1 | Viewed by 742
Abstract
Polypropylene (PP) represents an important development direction for recyclable cable insulation materials. This paper investigates the synergistic improvement mechanism of the mechanical and electrical properties of PP. The effect of elastomers on the aggregation structure and carrier migration of the samples was investigated [...] Read more.
Polypropylene (PP) represents an important development direction for recyclable cable insulation materials. This paper investigates the synergistic improvement mechanism of the mechanical and electrical properties of PP. The effect of elastomers on the aggregation structure and carrier migration of the samples was investigated by analyzing the microstructure, crystallization, and mechanical and electrical properties of PP/elastomer composites. The results show that elastomers can reduce the tensile modulus of PP, while improving the tensile strength and elongation at break, thereby enhancing the mechanical properties of PP. The elastomer and the PP matrix have better compatibility and introduce amorphous regions, generating a large number of crystalline–amorphous interfaces, which introduce deep traps and reduce the mobility of carriers. Meanwhile, with an increase in elastomer content, the breakdown strength and volume resistivity both increase and then decrease. Among the samples tested, PP/PBE-2 has the best electrical properties and is the insulation material with the best mechanical and electrical properties. This study provides an important reference for the comprehensive performance regulation of PP insulation materials for high-voltage cables. Full article
(This article belongs to the Section Smart and Functional Polymers)
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17 pages, 2098 KiB  
Article
Investigation of Near-Infrared Spectroscopy for Assessing the Macroscopic Mechanical Properties of Cross-Linked Polyethylene During Thermal Aging
by Chenying Li, Xiao Tan, Liguo Liu, Wei Zhang, Qiming Yang, Jingying Cao, Enci Zhou, Mingzhen Li and Zaixin Song
Materials 2025, 18(3), 504; https://doi.org/10.3390/ma18030504 - 22 Jan 2025
Cited by 2 | Viewed by 928
Abstract
The present study investigates the relationship between the near-infrared (NIR) spectral characteristics of cross-linked polyethylene (XLPE) insulation materials and their macroscopic properties, with the aim of establishing a reference framework for non-destructive material aging analysis. Accelerated thermal aging tests were conducted on samples [...] Read more.
The present study investigates the relationship between the near-infrared (NIR) spectral characteristics of cross-linked polyethylene (XLPE) insulation materials and their macroscopic properties, with the aim of establishing a reference framework for non-destructive material aging analysis. Accelerated thermal aging tests were conducted on samples of XLPE cables. These samples underwent Fourier-transform infrared spectroscopy (FTIR), elongation at break (EAB), and tensile strength (TS) tests. The temporal variation curves of the carbonyl index (CI), EAB, and TS were obtained at aging temperatures of 105 °C, 135 °C, 155 °C, and 180 °C. Additionally, NIR spectroscopy was performed on the aged XLPE samples, producing absorbance curves corresponding to different aging times at these temperatures. The absorption peaks of ‘C-H (-CH2-)’ (1730 nm/1764 nm) were analyzed to determine their temporal variation patterns. Finally, a correlation analysis was conducted between the NIR results and those of the FTIR, EAB, and TS tests, revealing numerical relationships between NIR characteristic peaks and FTIR, EAB, and TS data. These quantified correlations demonstrate that NIR can effectively represent macroscopic mechanical properties, thereby simplifying the procedures for monitoring material aging and providing valuable results without requiring destructive testing. Results indicate that there is a certain feasibility in replacing traditional cable aging tests with NIR. Full article
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39 pages, 11001 KiB  
Article
Fault Pinpointing in Underground Cables of Low-Voltage Distribution Networks with Inductive Wireless Power Transfer
by Amr A. Abd-Elaziz, Saad Khan, Ahmed A. Aboushady, Mohamed E. Farrag, Michael M. C. Merlin, Stephen Finney and Salah Abdel Maksoud
Energies 2024, 17(24), 6304; https://doi.org/10.3390/en17246304 - 13 Dec 2024
Viewed by 1442
Abstract
This paper aims to propose inductive wireless power transfer (IWPT) technology for pinpointing fault locations in LV distribution underground cables following the use of other pre-location methods. The proposed device is portable, hence battery-powered, and operates by scanning for faults above ground via [...] Read more.
This paper aims to propose inductive wireless power transfer (IWPT) technology for pinpointing fault locations in LV distribution underground cables following the use of other pre-location methods. The proposed device is portable, hence battery-powered, and operates by scanning for faults above ground via inductive coupling with the de-energized cable. This primarily relies on impedance changes in the cable due to permanent faults as the device scans the length of the cable. A detailed frequency domain mathematical model for the system is deduced and circuit design/parameters affecting the inductive coupling are investigated. An optimal design strategy for the portable device is demonstrated to achieve high fault-locating sensitivity with a minimum device VA rating. The device is tested under multiple fault scenarios (including shunt and open-circuit (cable break) faults) using a MATLAB/Simulink circuit model, and the results are validated against the mathematical model. The device’s performance with single-core and multi-core cables is examined. Finally, a critical comparative evaluation of the IWPT method with existing fault pinpointing techniques is conducted that highlights both the advantages and limitations of the proposed technique. The research shows that the proposed technology provides a promising new solution for LV network operators to minimize excavations for underground cable faults by pinpointing locations where a considerable deflection in induced cable current occurs when passing a fault point. Full article
(This article belongs to the Section F: Electrical Engineering)
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12 pages, 4503 KiB  
Article
Research on the Carrier Characteristics of Power Cables Considering the Aging Status of Insulation and Semiconducting Layers
by Xiaohua Yang, Zixuan Wang, Jiahao Li, Ming Wu, Guanpan Wang, Xueting Gao and Jinghui Gao
Energies 2024, 17(22), 5655; https://doi.org/10.3390/en17225655 - 12 Nov 2024
Viewed by 1129
Abstract
The 10 kV XPLE cable is widely used in highly cabled transmission and distribution networks. It is necessary to closely monitor the transient current, harmonic content, and electric field distribution of each layer of the insulation and semiconductive layers of the cable when [...] Read more.
The 10 kV XPLE cable is widely used in highly cabled transmission and distribution networks. It is necessary to closely monitor the transient current, harmonic content, and electric field distribution of each layer of the insulation and semiconductive layers of the cable when they age and deteriorate, so as to promptly carry out circuit breaking treatment and prevent safety accidents. Considering the frequency sensitivity and dielectric sensitivity of the distributed Runit, Lunit, Gunit, and Cunit parameters of long cables, this paper quantitatively analyzes the frequency variation of 10 kV cable parameters under different aging states. Reconstructing the frequency variation process of typical electrical quantities through MATLAB PSCAD joint simulation, constructing fault circuits for cable insulation and semiconducting layers, obtaining transient currents in each layer of the cable under aging conditions, and conducting total harmonic distortion (THD) analysis to provide theoretical guidance for the subsequent monitoring and fault diagnosis of distribution cable status. Full article
(This article belongs to the Section A1: Smart Grids and Microgrids)
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23 pages, 2249 KiB  
Article
Improved EMAT Sensor Design for Enhanced Ultrasonic Signal Detection in Steel Wire Ropes
by Immanuel Rossteutscher, Oliver Blaschke, Florian Dötzer, Thorsten Uphues and Klaus Stefan Drese
Sensors 2024, 24(22), 7114; https://doi.org/10.3390/s24227114 - 5 Nov 2024
Cited by 2 | Viewed by 1664
Abstract
This study is focused on optimizing electromagnetic acoustic transducer (EMAT) sensors for enhanced ultrasonic guided wave signal generation in steel cables using CAD and modern manufacturing to enable contactless ultrasonic signal transmission and reception. A lab test rig with advanced measurement and data [...] Read more.
This study is focused on optimizing electromagnetic acoustic transducer (EMAT) sensors for enhanced ultrasonic guided wave signal generation in steel cables using CAD and modern manufacturing to enable contactless ultrasonic signal transmission and reception. A lab test rig with advanced measurement and data processing was set up to test the sensors’ ability to detect cable damage, like wire breaks and abrasion, while also examining the effect of potential disruptors such as rope soiling. Machine learning algorithms were applied to improve the damage detection accuracy, leading to significant advancements in magnetostrictive measurement methods and providing a new standard for future development in this area. The use of the Vision Transformer Masked Autoencoder Architecture (ViTMAE) and generative pre-training has shown that reliable damage detection is possible despite the considerable signal fluctuations caused by rope movement. Full article
(This article belongs to the Special Issue Feature Papers in Physical Sensors 2024)
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17 pages, 4106 KiB  
Article
Research and Application of the Synergistic Support System of “LDAGF” in an Extremely Soft and Fragile Fully Mechanized Caving Face Roadway
by Xianjie Ni, Yuan Yuan, Xinzhu Hua and Ke Ding
Appl. Sci. 2024, 14(18), 8485; https://doi.org/10.3390/app14188485 - 20 Sep 2024
Viewed by 832
Abstract
This study aims to alleviate the serious deformation of surrounding rock (SR) in an extremely soft and fragile fully mechanized caving face roadway (ESFFMCFR, the 8# coal seam, Huaibei mining area) under a conventional support. Laboratory tests of roadway SR were conducted. The [...] Read more.
This study aims to alleviate the serious deformation of surrounding rock (SR) in an extremely soft and fragile fully mechanized caving face roadway (ESFFMCFR, the 8# coal seam, Huaibei mining area) under a conventional support. Laboratory tests of roadway SR were conducted. The results show that in this coal seam, the extremely soft and fragile coal body has a high clay mineral content, so it is of low strength and breaks and softens easily. With reference to the mechanical tests on coal and rock mass around the coal seam and the monitoring results of roadway deformation, the roadway deformation is mainly caused by the development of fractures in the roadway SR, the separation of the support body and SR and the loose supporting structure. Considering the engineering environment and deformation characteristics of SR in the ESFFMCFR (the 8# coal seam, Huaibei mining area), this study proposed a synergistic support system of “lowering, drilling, anchoring, grouting and flatting (LDAGF)” for the ESFFMCFR based on the synergistic mechanism of support and SR under the basic principles of synergetics. Specifically, the synergistic support system of “LDAGF” includes the following measures: floor breaking and side lowering, bolt advance support, anchor cable support, advance water injection and grouting and flat-roof U-shaped steel shed support. Furthermore, this synergistic support system was applied on the ESFFMCFR in the 8# coal seam of Xinhu and Guobei coal mines, Huaibei mining area. The on-site application results reveal that when the synergistic support system is adopted, the maximum subsidence values in the above roadway roofs are 117 mm and 121 mm and the maximum displacement values of the two sides are 66 mm and 74 mm, respectively, which proves an excellent support effect. The synergistic support system, which can effectively control the serious deformation of the SR in ESFFMCFRs and ensure long-term stability and safety of the roadways, is suitable for the support of ESFFMCFRs and is of great guiding significance for roadways of the same type. Full article
(This article belongs to the Special Issue Advances and Challenges in Rock Mechanics and Rock Engineering)
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19 pages, 16368 KiB  
Article
Study on Roof-Cutting and Support of a Retreating Roadway under the Double Influence of Large Mining Heights
by Linjun Peng, Weidong Liu and Chengyuan Peng
Appl. Sci. 2024, 14(17), 7946; https://doi.org/10.3390/app14177946 - 6 Sep 2024
Cited by 4 | Viewed by 1058
Abstract
When the coal mining face enters the final stage of mining, the roadway faces the superimposed influence of surrounding rock stress redistribution and roof rotary moment. As affected by the strong disturbance in the coal mining process, the roof plate of the roadway [...] Read more.
When the coal mining face enters the final stage of mining, the roadway faces the superimposed influence of surrounding rock stress redistribution and roof rotary moment. As affected by the strong disturbance in the coal mining process, the roof plate of the roadway has undergone serious deformation, which seriously affects the stability of the roadway. Taking the 108 working face of the Jinjitan coal mine as the engineering background, a comprehensive study was conducted on the control of the perimeter rock in the retracement of a tunnel in a heavy coal seam with a large mining height. By analyzing the physical properties of the enclosing rock of the retreated roadway, and using theoretical analysis, numerical simulation, on-site monitoring, and other methods, the characteristics of the peripheral rock’s movement relationship and mineral pressure manifestation in the final mining stage of the large-height working face have been studied. The structural mechanics model was established, and in the case where the support cannot be solved just by strengthening the support, the design scheme of “blasting roof break + constant resistance anchor cable support” was innovatively tried. FLAC3D simulation results show that the stress release of the surrounding rock is more adequate when the height of roof cutting is 20 m. The stress of the surrounding rock near the roadway is reduced by 30~40%, and the stress state is reasonable. The constant resistance and large deformation anchors can absorb the deformation energy of the rock body, maintain constant working resistance and stable deformation, and have good rock stability control, which is conducive to the stability of the roadway. Full article
(This article belongs to the Section Civil Engineering)
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17 pages, 4416 KiB  
Article
Crystallinity of Halogen-Free Flame-Retardant Polyolefin Compounds Loaded with Natural Magnesium Hydroxide
by Vanessa Matteucci, Michela Meucci, Sara Haveriku, Camillo Cardelli and Andrea Pucci
Eng 2024, 5(3), 2050-2066; https://doi.org/10.3390/eng5030109 - 1 Sep 2024
Cited by 3 | Viewed by 2211
Abstract
A typical halogen-free flame-retardant (HFFR) formulation for electric cables may contain polymers, various additives, and fire-retardant fillers. In this study, composites are prepared by mixing natural magnesium hydroxide (n-MDH) with linear low-density polyethylene (LLDPE) and a few types of ethylene–octene copolymers (C8 [...] Read more.
A typical halogen-free flame-retardant (HFFR) formulation for electric cables may contain polymers, various additives, and fire-retardant fillers. In this study, composites are prepared by mixing natural magnesium hydroxide (n-MDH) with linear low-density polyethylene (LLDPE) and a few types of ethylene–octene copolymers (C8-POE). Depending on the content of LLDPE and C8-POE, we obtained composites with different crystallinities that affected the final mechanical properties. The nucleation effect of the n-MDH and the variations in crystallinity caused by the blending of C8-POE/LLDPE/n-MDH were investigated. Notably, in the C8-POE/LLDPE blend, we found a decrease in the crystallization temperature of LLPDE compared to pure LLDPE and an increase in the crystallization temperature of C8-POE compared to pure C8-POE. On the contrary, the addition of n-MDH led to an increase in the crystallization temperature of LLDPE. As expected, the increase in the crystallinity of the polyolefin matrix of composites led to higher elastic modulus, higher tensile strength, and lower elongation at break. It has been observed that crystallinity also influences fire performance. Overall, these results show how to obtain the required mechanical features for halogen-free flame-retardant compounds for electric cable applications, depending on the quantities of the two miscible components in the final blend. Full article
(This article belongs to the Section Chemical, Civil and Environmental Engineering)
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12 pages, 24771 KiB  
Article
Characterization of Friction within a Novel 3 mm Wristed Robotic Instrument
by Caitlin Ho, Thomas Looi, Glenn Maguire and Dale J. Podolsky
Actuators 2024, 13(9), 326; https://doi.org/10.3390/act13090326 - 27 Aug 2024
Cited by 1 | Viewed by 1177
Abstract
Surgical robotic tools are being developed for a variety of surgical procedures that are executed within small workspaces. Novel designs of miniaturized cable-actuated surgical tools for cleft palate repair have previously been developed. However, the behavior and significance of friction within these tools [...] Read more.
Surgical robotic tools are being developed for a variety of surgical procedures that are executed within small workspaces. Novel designs of miniaturized cable-actuated surgical tools for cleft palate repair have previously been developed. However, the behavior and significance of friction within these tools are largely unknown. A study was conducted to investigate the friction in a pulleyless 3 mm diameter wristed instrument. The wrist utilizes cable guide channels that allow for miniaturization at the cost of increased friction. An experimental rig was developed to measure friction within the wrist link mechanism when the tool is positioned at various pitch angles. A strong relationship between the cable tension and the tool’s pitch angle was found as a result of friction. The cable tension increased as the pitch angle approached extreme values (percent increases in the cable tension of 33% and 67.3% at a pitch of 90° and −90°, respectively). However, the resultant cable tension was below the failure strength of the cable, indicating that the design is feasible. The results of this study would be useful to those considering the design of miniature robotic surgical tools that are cable-driven. Significant tool reduction can be achieved by employing static guide channels for the cables, forgoing the use of additional moving components like pulleys while maintaining cable tension well within its break strength. Future work in the design and optimization of novel miniaturized wrist mechanisms should consider frictional effects and their impact on mechanism function. Full article
(This article belongs to the Section Actuators for Robotics)
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21 pages, 6038 KiB  
Article
An Enhanced SL-YOLOv8-Based Lightweight Remote Sensing Detection Algorithm for Identifying Broken Strands in Transmission Lines
by Xiang Zhang, Jianwei Zhang and Xiaoqiang Jia
Appl. Sci. 2024, 14(17), 7469; https://doi.org/10.3390/app14177469 - 23 Aug 2024
Cited by 3 | Viewed by 1168
Abstract
Power transmission lines frequently face threats from lightning strikes, severe storms, and chemical corrosion, which can lead to damage in steel–aluminum-stranded wires, thereby seriously affecting the stability of the power system. Currently, manual inspections are relatively inefficient and high risk, while drone inspections [...] Read more.
Power transmission lines frequently face threats from lightning strikes, severe storms, and chemical corrosion, which can lead to damage in steel–aluminum-stranded wires, thereby seriously affecting the stability of the power system. Currently, manual inspections are relatively inefficient and high risk, while drone inspections are often limited by complex environments and obstacles. Existing detection algorithms still face difficulties in identifying broken strands. To address these issues, this paper proposes a new method called SL-YOLOv8. This method incorporates an improved You Only Look Once version 8 (YOLOv8) algorithm, specifically designed for online intelligent inspection robots to detect broken strands in transmission lines. Transmission lines are susceptible to lightning strikes, storms, and chemical corrosion, which is leading to the potential failure of steel- and aluminum-stranded lines, and significantly impacting the stability of the power system. Currently, manual inspections come with relatively low efficiency and high risk, and Unmanned Aerial Vehicle (UAV) inspections are hindered by complex situations and obstacles, with current algorithms making it difficult to detect the broken strand lines. This paper proposes SL-YOLOv8, which is a broken transmission line strand detection method for an online intelligent inspection robot combined with an improved You Only Look Once version 8 (YOLOv8). By incorporating the Squeeze-and-Excitation Network version 2 (SENet_v2) into the feature fusion network, the method effectively enhances adaptive feature representation by focusing on and amplifying key information, thereby improving the network’s capability to detect small objects. Additionally, the introduction of the LSKblockAttention module, which combines Large Selective Kernels (LSKs) and the attention mechanism, allows the model to dynamically select and enhance critical features, significantly enhancing detection accuracy and robustness while maintaining model precision. Compared with the original YOLOv8 algorithm, SL-YOLOv8 demonstrates improved precision recognition accuracy in Break-ID-1632 and cable damage datasets. The precision is increased by 3.9% and 2.7%, and the recall is increased by 12.2% and 2.3%, respectively, for the two datasets. The mean average precision (mAP) at the Intersection over Union (IoU) threshold of 0.5 is also increased by 4.9% and 1.2%, showing the SL-YOLOv8’s effectiveness in accurately identifying small objects in complex situations. Full article
(This article belongs to the Special Issue Advanced Pattern Recognition & Computer Vision)
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