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dc.contributor.authorBanthia, Vikram
dc.contributor.authorMaddahi, Yaser
dc.contributor.authorZareinia, Kourosh
dc.contributor.authorLiao, Stephen
dc.contributor.authorOlson, Tim
dc.contributor.authorFung, Wai-Keung
dc.contributor.authorBalakrishnan, Subramaniam
dc.contributor.authorSepehri, Nariman
dc.date.accessioned2017-02-16T09:28:44Z
dc.date.available2017-02-16T09:28:44Z
dc.date.issued2017-02-08en
dc.identifier.citationBANTHIA, V., MADDAHI, Y., ZAREINIA, K., LIAO, S., OLSON, T., FUNG, W-K., BALAKRISHNAN, S. and SEPEHRI, N. 2018. A prototype telerobotic platform for live transmission line maintenance: Review of design and development. Transactions of the institute of measurement and control [online], 40(11), pages 3273-3292. Available from: https://doi.org/10.1177/0142331216687021en
dc.identifier.issn0142-3312en
dc.identifier.issn1477-0369en
dc.identifier.urihttp://hdl.handle.net/10059/2171
dc.description.abstractThis paper reports technical design of a novel experimental test facility, using haptic-enabled teleoperation of robotic manipulators, for live transmission line maintenance. The goal is to study and develop appropriate techniques in repair overhead power transmission lines by allowing linemen to wirelessly guide a remote manipulator, installed on a crane bucket, to execute dexterous maintenance tasks, such as twisting a tie wire around a cable. Challenges and solutions for developing such a system are outlined. The test facility consists of a PHANToM Desktop haptic device (master site), an industrial hydraulic manipulator (slave site) mounted atop a Stewart platform, and a wireless communication channel connecting the master and slave sites. The teleoperated system is tested under different force feedback schemes, while the base is excited and the communication channel is delayed and/or lossy to emulate realistic network behaviors. The force feedback schemes are: virtual fixture, augmentation force and augmented virtual fixture. Performance of each scheme is evaluated under three measures: task completion time, number of failed trials and displacement of the slave manipulator end-effector. The developed test rig has been shown to be successful in performing haptic-enabled teleoperation for live-line maintenance in a laboratory setting. The authors aim at establishing a benchmark test facility for objective evaluation of ideas and concepts in the teleoperation of live-line maintenance tasks.en
dc.description.sponsorshipManitoba Hydro and Natural Sciences ; Engineering Research Council (NSERC) of Canadaen
dc.language.isoengen
dc.publisherSageen
dc.rightshttps://creativecommons.org/licences/by-nc-nd/4.0en
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectTeleoperationen
dc.subjectHapticsen
dc.subjectLive-line maintenanceen
dc.subjectHydraulic manipulatorsen
dc.subjectWireless channelsen
dc.subjectStewart platformen
dc.subjectVirtual fixtureen
dc.titleA prototype telerobotic platform for live transmission line maintenance: Review of design and development.en
dc.typeJournal articlesen
dc.publisher.urihttps://doi.org/10.1177/0142331216687021en
dcterms.dateAccepted2017-02-08en
dcterms.publicationdate2018-07-01
refterms.accessExceptionNAen
refterms.dateDeposit2017-02-16en
refterms.dateFCA2017-02-16en
refterms.dateFCD2017-02-16en
refterms.dateFreeToDownload2017-02-16en
refterms.dateFreeToRead2017-02-16en
refterms.dateToSearch2017-02-16en
refterms.depositExceptionNAen
refterms.panelBen
refterms.technicalExceptionNAen
refterms.versionAMen
rioxxterms.publicationdate2017-02-08en
rioxxterms.typeJournal Article/Reviewen
rioxxterms.versionAMen


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