Search Results (27)

This paper presents a novel gait design for serpentine robots to smoothly wrap around and traverse vibration-damping hammers along overhead power lines. Cubic quasi-uniform B-spline curves are utilized to seamlessly transition between helical segments of varying diameters during obstacle crossing, effectively reducing motion-induced impacts. The design begins by determining the control points of the B-spline curves to ensure posture continuity and prevent collisions with surrounding hardware obstacles, resulting in the derivation of an obstacle-crossing curve equation. Using this equation, the node coordinates and postures of individual robot units are computed, followed by the calculation of joint angles via inverse kinematics. A dual-chain Hopf oscillator is then employed to generate the obstacle-crossing gait. The feasibility of the proposed gait is validated through simulations in CoppeliaSim and Simulink, which model the robot’s motion as it wraps around and crosses eccentric obstacles with varying diameters. Additionally, a simulation platform is developed to analyze variations in joint angles and angular velocities during obstacle traversal. Results demonstrate that the gait, generated by combining cubic quasi-uniform B-spline curves with a dual-chain Hopf oscillator, achieves smooth and stable wrapping and crossing of vibration-damping hammers. The robot exhibits no abrupt changes in joint angles, smooth angular velocity profiles without sharp peaks, and impact-free joint interactions, ensuring reliable performance in complex environments. Full article

Onboard millimeter-wave radar is one way to improve helicopter flight safety at low altitudes in difficult meteorological conditions. Low-altitude flight is associated with the risk of collision with low-visibility obstacles such as power lines. Since power lines have the property of polarization anisotropy, it is necessary to use radar polarimetry methods to increase the radar visibility of such obstacles for detection. This paper investigates the possibility of identifying low-visibility polarization-anisotropic objects, such as power lines, in polarimetric images obtained by onboard helicopter radars to warn the pilot about the danger of a collision with a low-visibility object. Consequently, the use of a polarimetric radar with a polarization modulation of the emitted signal, the two-channel polarization synchronous reception of reflected signals and Eigenvalue signal processing in real time was proposed, aiming to eliminate the dependence of reflected signals on the spatial orientation of power transmission line wires. Additionally, an optimal algorithm for adaptive polarization selection, obtained by the maximum likelihood method, was proposed to detect such objects against the background of the underlying surface. The effectiveness of the proposed algorithm was tested using computer modeling methods. Moreover, a W-band polarimetric radar system was designed for experimental studies of this concept. The developed radar system provides digital real-time signal processing and the reconstruction of composite polarimetric images. It displays information about the polarization characteristics of the objects in the scanned area and the results of their polarization selection. Therefore, the system informs the pilot about dangerous objects along the helicopter’s route. Radar experimental tests in actual environmental conditions have confirmed the proposed concept’s correctness and the proposed method and algorithm’s effectiveness. Full article

Unmanned aerial vehicles (UAVs) offer an efficient solution for power grid maintenance, but collision avoidance during return flights is challenged by crossing power lines, especially for small drones with limited computational resources. Conventional visual systems struggle to detect thin, intricate power lines, which are often overlooked or misinterpreted. While deep learning methods have improved static power line detection in images, they still struggle with dynamic scenarios where collision risks are not detected in real time. Inspired by the hypothesis that the Lobula Giant Movement Detector (LGMD) distinguishes sparse and incoherent motion in the background by detecting continuous and clustered motion contours of the looming object, we propose a Scale-Invariant Looming Detector (SILD). SILD detects motion by preprocessing video frames, enhances motion regions using attention masks, and simulates biological arousal to recognize looming threats while suppressing noise. It also predicts impending collisions during high-speed flight and overcomes the limitations of motion vision to ensure consistent sensitivity to looming objects at different scales. We compare SILD with existing static power line detection techniques, including the Hough transform and D-LinkNet with a dilated convolution-based encoder–decoder architecture. Our results show that SILD strikes an effective balance between detection accuracy and real-time processing efficiency. It is well suited for UAV-based power line detection, where high precision and low-latency performance are essential. Furthermore, we evaluated the performance of the model under various conditions and successfully deployed it on a UAV-embedded board for collision avoidance testing at power lines. This approach provides a novel perspective for UAV obstacle avoidance in power line scenarios. Full article

Floating offshore wind turbines (FOWTs) have become a promising solution for harnessing wind energy in deeper seas. However, the complex interplay between FOWT layout, mooring line patterns, and wake effects significantly influences the overall performance of a floating offshore wind farm (FOWF). This paper proposes a novel optimization methodology that integrates mooring line constraints into the FOWF layout optimization process. The wake-induced power deficit is considered, whereas the vortices are neglected. The new method considers the constraint areas for each FOWT, which are defined based on both mooring line buffer zones and wind turbine buffer zones. By defining constraint areas, the optimization process ensures that FOWTs are optimally positioned while avoiding interference and collisions. By carefully considering the buffer zones, the power potential of FOWFs with three-line, four-line, and six-line mooring configurations can be improved by 122%, 100%, and 78%, respectively. Then, a genetic algorithm is employed to optimize the FOWT positions and mooring line angles simultaneously. The effectiveness of the proposed method is demonstrated through a case study in Guangdong, resulting in a significant 5% increase in power output potential compared to conventional approaches. This research contributes to the advancement of FOWT layout optimization and provides valuable insights for the design and deployment of future FOWFs. Full article

The mortality of birds resulting from collisions and electrocutions with overhead lines, such as power lines and phone lines, among others, has been implicated in the decline of various avian species globally. Specifically, overhead line collisions pose a significant threat to the conservation of the Canarian houbara bustard (Chlamydotis undulata fuertaventurae), an endangered subspecies endemic to the Canary Islands. This study centers on the postmortem findings of Canarian houbara bustards that have collided with overhead lines, providing insights into the post-collision outcomes for these birds. A complete standardized necropsy of nine Canarian houbara bustards revealed that trauma was the cause of death in all cases. The most notable gross lesions associated with trauma included bone fractures, soft tissue lacerations, hemorrhages, luxations, and hemocoelom. The inguinal area, chest, and wings were the body regions more frequently affected. A histopathology, immunohistochemistry, and entomology analysis confirmed that numerous birds survived the initial trauma. We concluded that when a houbara bustard collides with an overhead line, it frequently survives the initial trauma, with a survival time ranging from minutes to hours. The histopathology, immunohistochemistry, or entomologic analysis may be helpful to approximate the timing interval between trauma and death. Full article

Wind power is commonly used to reduce greenhouse gas emissions but often has negative effects on biodiversity. In this study, I investigated the effects of wind farm and power line construction on the territory status of the Eurasian goshawk Accipiter gentilis, whether fledglings were produced or not, and the number of fledglings. Included were 55 goshawk territories investigated before and after the construction period. I found that the territory status declined significantly in the influence area within 3 km from the disturbance compared to the control area more than 7 km away. Interestingly, the decline in territory status was similar in the distance categories 0–1 km, 1–2 km, and 2–3 km, while there was nearly no change in territory status in the control area, thus indicating that the influence area from this kind of disturbance was minimum 3 km from the nest. The number of breeding pairs declined significantly during the construction period only in the influence area. Possible reasons might be higher mortality caused by collisions with power lines, desertion, avoidance of the areas with noise and disturbance from the constructions, and possible indirect effects caused by reductions in prey species. I found no effects of the construction on the number of fledglings. Full article

Lesser Flamingos Phoeniconaias minor regularly collide with power lines in South Africa. Attaching light-emitting markers to overhead wires seems to be an effective mitigation measure; however, the cost of these devices is prohibitive of large-scale installation. Spatial predictions about flamingo collision risk are thus important for achieving efficient and effective proactive mitigation. In this study, collision risk was defined as a combination of factors related to threat exposure. A habitat suitability index was developed according to changes in surface water occurrence and Chlorophyll-a concentrations, which proved accurate in predicting Lesser Flamingo occurrence. Habitat suitability, and three other species and threat exposure variables, were then used in logistic regression models predicting the occurrence of historic collisions. The most parsimonious model included habitat suitability and flight height. Flamingos were only at risk of collision with power lines when flying lower than 50 m and within 3 km from the water’s edge. High-risk power line sections were thus identified from 3 km buffers around waterbodies ranked according to habitat suitability, which significantly reduced the number of power line spans predicted for proactive marking. While our models indicated that aspects related to exposure were important for predicting flamingo power line collisions, aspects related to sensitivity (e.g., nocturnal behavior) must also guide the choice of mitigation. Full article

Ion implantation is a key capability for the semiconductor industry. As devices shrink, novel materials enter the manufacturing line, and quantum technologies transition to being more mainstream. Traditional implantation methods fall short in terms of energy, ion species, and positional precision. Here, we demonstrate 1 keV focused ion beam Au implantation into Si and validate the results via atom probe tomography. We show the Au implant depth at 1 keV is 0.8 nm and that identical results for low-energy ion implants can be achieved by either lowering the column voltage or decelerating ions using bias while maintaining a sub-micron beam focus. We compare our experimental results to static calculations using SRIM and dynamic calculations using binary collision approximation codes TRIDYN and IMSIL. A large discrepancy between the static and dynamic simulation is found, which is due to lattice enrichment with high-stopping-power Au and surface sputtering. Additionally, we demonstrate how model details are particularly important to the simulation of these low-energy heavy-ion implantations. Finally, we discuss how our results pave a way towards much lower implantation energies while maintaining high spatial resolution. Full article

This study presents an innovative, intelligent obstacle avoidance module intended to significantly enhance the collision prevention capabilities of the robotic arm mechanism onboard a high-speed rail tunnel lining inspection train. The proposed module employs a fusion of ORB-SLAM3 and Normal Distribution Transform (NDT) point cloud registration techniques to achieve real-time point cloud densification, ensuring reliable detection of small-volume targets. By leveraging spatial filtering, cluster computation, and feature extraction, precise obstacle localization information is further obtained. A fusion of multi-modal data is achieved by jointly calibrating 3D LiDAR and camera images. Upon validation through field testing, it is demonstrated that the module can effectively detect obstacles with a minimum diameter of 0.5 cm, with an average deviation controlled within a 1–2 cm range and a safety margin of 3 cm, effectively preventing collisions. Compared to traditional obstacle avoidance sensors, this module provides information across more dimensions, offering robust support for the construction of powerful automated tunnel inspection control systems and digital twin lifecycle analysis techniques for railway tunnels. Full article

Due to the advantages of strong mobility, flexible deployment, and low cost, unmanned aerial vehicles (UAVs) are widely used in various industries. As a flying relay, UAVs can establish line-of-sight (LOS) links for different scenarios, effectively improving communication quality. In this paper, considering the limited energy budget of UAVs and the existence of multiple jammers, we introduce a simultaneous wireless information and power transfer (SWIPT) technology and study the problems of joint-trajectory planning, time, and power allocation to increase communication performance. Specifically, the network includes multiple UAVs, source nodes (SNs), destination nodes (DNs), and jammers. We assume that the UAVs need to communicate with DNs, the SNs use the SWIPT technology to transmit wireless energy and information to UAVs, and the jammers can interfere with the channel from UAVs to DNs. In this network, our target was to maximize the throughput of DNs by optimizing the UAV’s trajectory, time, and power allocation under the constraints of jammers and the actual motion of UAVs (including UAV energy budget, maximum speed, and anti-collision constraints). Since the formulated problem was non-convex and difficult to solve directly, we first decomposed the original problem into three subproblems. We then solved the subproblems by applying a successive convex optimization technology and a slack variables method. Finally, an efficient joint optimization algorithm was proposed to obtain a sub-optimal solution by using a block coordinate descent method. Simulation results indicated that the proposed algorithm has better performance than the four baseline schemes. Full article

Energy grids represent a fundamental infrastructure of any country. These structures consist of many kilometres of power lines that must be periodically inspected and maintained. Among the necessary operations are installing and removing bird diverters to reduce bird strikes on power lines. These devices are intended to improve birds’ detection of power lines and reduce the risk of collision. Often, the installation and removal of bird diverters from power lines is accomplished by humans operating from helicopters or directly on the power lines. Apart from the considerable cost of these operations, working in elevated environments creates human safety risks. To reduce these risks, this paper proposes a novel solution to automatize these tasks. The proposed solution is a prototype gripper that can be mounted on unmanned aerial vehicles (UAVs) and remotely operated to install or remove bird diverters. This work presents a mechatronic device and software architecture system that is experimentally evaluated in a laboratory mock-up, which consists of a manipulator equipped with the proposed tool for removing a bird diverter. Future work is needed to deploy the proposed tool on a UAV. Full article

The design of bird diverters should be based upon the perception of birds, not the perception of humans, but until now it is human vision that has guided diverter design. Aspects of bird vision pertinent to diverter design are reviewed. These are applied in an example that uses Canada Geese Branta canadensis as a putative worst-case example of a collision-prone species. The proposed design uses an achromatic checkerboard pattern of high contrast whose elements match the low spatial resolution of these birds when they are active under twilight light levels. The detectability of the device will be increased by movement, and this is best achieved with a device that rotates on its own axis driven by the wind. The recommended spacing of diverters along a power line is based upon the maximum width of the bird’s binocular field and the linear distance that it subtends at a distance sufficient to allow a bird to alter its flight path before possible impact. Given the worst-case nature of this example, other bird species should detect and avoid such a device. The basic design can be modified for use with specific target species if sufficient is known about their vision. Field trials of devices based on these design criteria are now required. Full article

Energy infrastructure is expanding at a global scale and can represent a major threat to wildlife populations. Power lines are one of the main sources of human-induced avian mortality due to electrocution or collision, but many species use electricity pylons as a structure for nesting. Pylon nesting results in human-wildlife conflict because it can cause power outages and structural damage to power lines. The white stork (Ciconia ciconia) is a large-size semicolonial species that increasingly nests on pylons, causing growing operational and economic issues to power companies and energy consumers. In this study, the likelihood of problematic pylon use by nesting storks was predicted using a suite of explanatory variables related to the availability of foraging habitat and human disturbance. During a five-year period (2015–2019), we assessed the distribution of stork nests removed from the highly-risky top part of transmission pylons (220–400 kV) by power company technicians in South western Spain. A total of 839 nests were removed from 11% of the transmission pylons (n = 1196) during the study period. Pylon use intensified on pylons located near to landfills, surrounded by high proportion of grassland, and when close to freshwater sources (water body or river) and other occupied pylons. Human disturbance was unlikely to deter storks from using pylons and pylon use increased in urban areas. The approach used here to predict pylon use by nesting birds has applications for both human-wildlife conflict mitigation and conservation purposes where endangered species use human infrastructure. Power companies may use this kind of information to install anti-nesting devices (to reduce power outages and avian mortality or nesting platforms on suitable pylons (to promote pylons use by endangered species), and to account for the likelihood of conflict-prone use of pylons when siting future power lines. Full article

Electrical risk has a particular impact within the construction sector. This leads to the development of regulations to mitigate it, but correct application of regulations is impossible with a traditional 2D analysis. The construction sector is using technologies from the industrial sector (Construction 4.0), with BIM as the main enabling technology. Thus, the objective of this article is the evaluation of the risk produced by Overhead Power Lines (OPL) through BIM integration. The OPL, its risk zones, the affected road, and the envelope resulting from the geometry of the necessary machines to build it were digitized, converging in a single model to perform a 4D risk analysis. The risks of the execution of the embankment and road surface of a road section passing through an OPL were analyzed by means of the collision of the envelope with its risk zones, resulting in an integration of their evaluation, to which was added the introduction of preventive measures and their re-evaluation. The parametric 3D modelling allowed a better definition of the risk zones and the BIM management minimized errors, providing traceability of decisions from the design phase, complying with health and safety regulations and applying the principle of Prevention through Design (PtD). Full article

With the growing number of unintentional interactions occurring in underground mines, Collision Avoidance System (CAS) establishment and maintenance has become an urgent need for mining industries to enhance their risk profile and improve construction safety. Usually, most collision accidents can be divided into three different categories in line with the involved participants and infrastructure condition. The accidents pose a great risk of financial cost to mining companies and even cause casualties. In detail, this paper presents an intensive study survey of positioning techniques, including ranging algorithms, to accommodate the demands of various proximity sensors and improve the capability of situational awareness. Then, we exploit the importance of the communication system, prevalent low-power wide-area technologies and related communication protocols. The effectiveness of communication systems decides and facilitates the success of the final integrated system that can be used to fundamentally address the problem of collision avoidance. For the purpose of collaboration between communication systems and other executive departments, a series of systematic comparisons of pertinent technologies and algorithms is given near the end, followed by a brief discussion on the best choice among these options. In the proposed solution, the overall end-to-end delay can be minimised to a few nanoseconds and the localisation accuracy can achieve centimetre level when operating in the range of 100 m. Full article