A R DIGITECH International Journal Of Engineering, Education And Technology (ARDIJEET) www.ardigitech.in ISSN 2320-883X,VOLUME 05 ISSUE 02 01/04/2017

OVERHEAD FAULT DETECTION SYSTEM ON TRANSMISSION LINE:AUTOMATED

Bhople T.L.*1, Shelke P.B.*2, ,Mohod A.V.*3 *1(Miss TruptiL.Bhople,PG Student,Department of Electrical Engineering,PankajLaddhad Institute Of

Technology And Management,Studies,SantGadge Baba Amrawti university Amrawti,india) *2 (Dr.P.B.Shelke, Department of Electrical Engineering,PankajLaddhad Institute Of Technology And

Management,Studies,india) *3(Prof.Amit V.Mohod Department of Electrical Engineering,Prof.RamMeghe College of Engineering and

Management ,Amravat) trupti02bhople@gmail.com*1

Abstract- A mobile robot based on novel line-

walking mechanism is proposed for inspecting

power transmission lines. The novel mechanism

enables the centroid of the robot to concentrate on

the hip joint to minimize the drive torque of the hip

joint and keep the robot stable when only one leg is

hung on line. After reviewing of the line-walking

mechanism, power line inspection robot is

described in detail. The pose adjustment analysis is

carried out to make sure that the robot will keep in

stable state when rolling on the power transmission

line which forms a catenary curve. The obstacle-

navigation cycle of the designed inspection robot is

composed of a single-support phase and a double-

support phase. The centroid of the robot will be

adjusted to shift to the other leg to start a new

single-support phase. The feasibility of this concept

is then confirmed by performing experiments with a

simulated line environment.

Inspection robot is a promising technique in

automatic fault detecting for high-voltage power

transmission lines. However, the small energy

capacity and poor life of the battery hold back the

application of inspection robots. To solve this

problem, a self-power supply system is designed to

realize the online battery charging by utilizing the

voltage induced from the current on the

transmission line in this paper. The key issues in

the optimal design and practical implementation

are discussed in details, including the induction

module, the power conversion module. Experiments

have been carried on to demonstrate the validity

and effectiveness of the designed self-power supply

system for inspection robots.

Keywords: IR Sensor, ATMEGA-328 IC

Microcontroller circuit ,Bluetooth-HC-05, L298N

Motor Driver IC, Inspection Robot, Hilly Area

Transmission Line.

1. INTRODUCTION:-

Fault detection and location has been a goal of

power system engineers since the creation of

distribution and transmission systems. Quick fault

detection can help protect equipment by allowing

the disconnection of faulted lines before any

significant damage is done. Accurate fault location

can help utility personnel remove persistent faults

and locate areas where faults regularly occur, thus

reducing the frequency and length of power

outages. As a result, while fault detection and

location schemes have been developed in the past,

a variety of algorithms continue to be developed to

perform this task more accurately and more

effectively. Most analysis methods rely on the

values of either current or voltage phasors

Measured by means of current or voltage

transformers at substations or switching stations

together this information, at least three

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A R DIGITECH International Journal Of Engineering, Education And Technology (ARDIJEET) www.ardigitech.in ISSN 2320-883X,VOLUME 05 ISSUE 02 01/04/2017 transformers are typically required at each end of

the sub transmission or transmission line. Constant

energy supply to the customers requires performing

all the inspection tasks without de-energizing the

line, so live line inspection methods are of the most

interest to power companies. These companies

perform patrol inspection mainly using helicopters

equipped with infrared and corona cameras to

detect observable physical damages as well as

some internal deterioration to the line and line

equipment. However, aerial inspection is costly

and always there is a risk of contact with live lines

and loss of life. Moreover, there are some critical

specifications of the line such as internal

corrosion of steel reinforced aluminum conductors

that should be inspected precisely from close

distances to the line that are not accessible by a

mobile platform such as a helicopter or even an

unmanned aerial vehicle (UAV). Hence, power

companies have endeavored to make especial

cable-climbing robots to accomplish inspection

tasks from close distances to the hot line. The

procedure used for inspection and verification of

damages in cables is highly dependent on the

experience of a skilled technician who, using

binoculars, covers the transmission lines in a

helicopter, and is able of victualing points where

seems to exist damaged spots in the wires and in

insulators of the transmission lines . After this

previous identification, teams are sent to verify,

with greater detail , if the imperfection is relevant

.To confirm the relevance of imperfections, the

lines are de-energized and the repair or substitution

can be carried out. With the objective of

complementing the service of inspection in

transmission lines and making it less dependent of

the technician skill, the development of a system of

services in lines of energy transmission that

includes the automation as an auxiliary tool in the

identification of imperfections and as a mechanism

of diminishing the lines disconnection time.

2.LITERATURE SURVEY:1] Line Scout

Technology Opens the Way Inspection and

Maintenance of High Voltage Power Lines

Historically,

AUTHOR: NICOLAS POULIOT, PIERRE-LUC

RICHARD (Member, IEEE), AND SERGE

MONTAMBAULT (Member, IEEE)

He Proposed that the inspection and maintenance

of high-voltage power lines have been performed

by linemen using various traditional means. In

recent years, the use of robots appeared as a new

and complementary method of performing such

tasks, as several initiatives have been explored

around the world. Among them is the tele-operated

robotic platform called Line Scout Technology,

developed by Hydro-Québec, which has the

capacity to clear most obstacles found on the grid.

Since its 2006 introduction in the operations, it is

considered by many utilities as the pioneer project

in the domain. This paper’s purpose is to present

the mobile platform design and its main

mechatronics subsystems to support a

comprehensive description of the main functions

and application modules it offers. This includes

sensors and a compact modular arm equipped with

tools to repair cables and broken conductor strands.

This system has now been used on many occasions

to assess the condition of power line infrastructure

and some results are presented. Finally, future

developments and potential technologies roadmap

are briefly discussed.

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A R DIGITECH International Journal Of Engineering, Education And Technology (ARDIJEET) www.ardigitech.in ISSN 2320-883X,VOLUME 05 ISSUE 02 01/04/2017 TRANSMISSION LINE INSPECTION ROBOT

USING IOT

AUTHOR: SurajGhodake1 , Sameer Bonde2 ,

Harshal Gaikawad3 , Mr. Sunil M. More4

He propos that, This project is designed to

inspect high voltage transmission lines or overhead

transmission wires. This project consists of an

inspection robot which is equipped with various

sensors for parameter sensing, after sensing the

parameters and conditions of the parallel

transmission lines, robot moves forward from

starting point till the ending point of the parallel

line. This proposed system is an inspection robot

and it eliminates the need or intervention of human

operator. Thus, any human error is ruled out. In this

project microcontroller family (atemega328) has

been used as CPU. Whenever the robot starts

inspecting on the transmission line it senses three

main parameters as current, voltage and

temperature and it displays them on alcd display

which is mounted on the inspection robot itself.

After sensing the parameters of the transmission

line it moves further on to the line and hence

inspect the total length of the parallel line for any

defects and deviations in them. The line inspector

then sends all of these parameters to a station

which is nothing but a personal computer situated

at stations side using transceivers. The station side

operator is operating the robot and also receiving

parameters as well as video and images of the

transmission line. The station side operator would

be using a small visual basic based interface in

which two operating button with commands like

forward and reverse are present and this interface

would also be containing space where the

parameter readings shall be displayed. The robot is

also equipped with a wireless camera device, which

captures the whole transmission line inspection

process. Further the project can be enhanced by

making this system more advanced by adding more

parameter sensor and replacing the wheels of the

robot with more grip. Also the robot can be

modified by adding propeller to the inspection

robot hence increasing flexibility of its travelling

process.

ARDUINO:ATMEGA-328

MICROCONTROLLER

AUTHOR: R.HARI SUDHAN1 M.GANESH

KUMAR2 A.UDHAYA PRAKASH3 S.ANU

ROOPA DEVI4 P. SATHIYA5

His says that Arduino ATMEGA-328

microcontroller has been programmed for various

applications. By using the power jack cable,

arduino microcontroller has been programmed so

that the execution of the program may takes place.

Various kinds of arduino board are present in the

market. In this paper, Arduino UNO ATMEGA-

328 microcontroller is described in a detailed

manner. Arduino software is installed in the

computer and so that we can edit and upload the

program according to the applications. Mainly

these arduino software supports c and c++

programming languages. Various inputs and

outputs are present in the arduino board and

therefore simultaneously 8 input and output ports

can be used for various applications. Some of the

applications used by using arduino boards are

rotating general motor, stepper motor, control valve

open, etc.,

Working Principal: The working of

arduino microcontroller is where the proper

connection is made. Checking all the input ports as

well as the power supply connection. The output of

the pins can be connected with the external devices

according to their applications. The program to be

executed for the applications can be done by using

arduino software. From this arduino software, we

can edit according to the applications. This

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A R DIGITECH International Journal Of Engineering, Education And Technology (ARDIJEET) www.ardigitech.in ISSN 2320-883X,VOLUME 05 ISSUE 02 01/04/2017 software can works on c and c++ programming

language. It is fully a high level language. By using

the conditions of working, we can create a program

to proceed for the applications. Then after, these

programs can be uploaded through the arduino

microcontroller by using the power jack cable. The

program can be uploaded to the microcontroller

and ready for further process. ATMEGA-328

microcontroller can saves a program and these IC

can acts as a processor to do the process without

any error. After by giving an analog or digital input

to the system, we can do the process according to

the applications. We can control the process of the

application by editing the program in the arduino

software and again can be uploaded to the arduino

microcontroller via power jack cable. There is an

option of reset button. The purpose of reset button

is to reset the program which means the previous

programs are deleted and we can use the arduino

for the other application purposes. Likewise, these

arduino ATMEGA-328 microcontrollers can be

used for n number of applications. These arduino

microcontrollers are widely used in automation

industries for controlling the process and to work

the system in an automation mode.

3. RELETED WORK:- 3.1 History of Fault on Transmission line: -

Variety of methods of detecting and locating faults

on power transmission lines exist. Most of these

methods utilize the measurements from voltage and

current review of common methods of fault

location is presented. This review is focused on

impedance-based and traveling wave-based fault

location as they are the most common traditional

methods. An implementation of a complete fault

detection and location procedure which uses these

algorithms in conjunction with one another is then

described. This implementation is then used to test

the combined effectiveness of the algorithms for a

variety of fault types and fault resistances. The

fault location errors for these tests are then

presented. These piezoelectric materials are

integrated into a small circuit board. They are

wired in such a way so that when the sensor detects

an increase in the heat of a small part of its field of

view, it will trigger the motion detector's alarm. It

is very common for an infrared sensor to be

integrated into motion detectors like those used as

part of a residential or commercial security system

In normal condition, power

inspection vehicle will shows normal value of

obstacle detection. In this project, the IR sensor

which is installed on the front side of power

inspection vehicle. When robot runs on the

transmission conductor, the IR Sensor will

continuously detect the Obstacle. If the Obstacle is

detected by the IR Sensor, then the faulty signal

will be sent to the Analog& Digital IC which

converts the Analog Signal into the Digital Form.

Then this Signal will Sent to the Microcontroller,

the Oscillator generates the Pulses which is given

to the Microcontroller AT89C52. At the same time

the Microcontroller will give the output signal to

the Buzzer Circuit, Relay Circuit and the LCD

Display will represent the value which is less or

more than the determine value. As the signal output

from Microcontroller is given to the Relay Circuit

then this signal will given to the Power Inspection

Vehicle. Due to this, the vehicle will stop at that

place and shows that the fault is detected.

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A R DIGITECH International Journal Of Engineering, Education And Technology (ARDIJEET) www.ardigitech.in ISSN 2320-883X,VOLUME 05 ISSUE 02 01/04/2017

4.BLOCK DIAGRAM AND

CONNECTION DIAGRAM :-

Fig.4.1 Block Diagram

Fig.4.2 Connection Diagram

5.ATMEGA-328 Aurdino Uno IC:

This ATMEGA-328 integrated chip

consists of 28 pins. It consists of 6 analog inputs

that are shown in the pin diagram. Analog inputs

can be represented as PC0 to PC5. These analog

input pins possess the continuous time signal which

acts as an analog input for the system. Further it

also consists of 12 digital inputs. It can be

represented as PD1 to PD11 which act as an digital

input ports based on pulse width modulation

(PWM). These PWM, which transmits the signal in

the form of discredited form. Both analog and

digital input ports can be used for various

applications for the input power supply, VCC and

GND pins are used. Pins PB6 and PB7, which acts

as a crystal to generate a clock signal. By using

these crystal, we can generate the clock signals and

by these clock signals, we can use this clock signals

for input sources. PC6 pin are the one where it can

be used for the reset option. Resetting the program

can be done by using this PC6 pin.

Fig 5.1 ATMEGA 328-Aurdino-uno

5.1 WORKING PRINCIPLE:-

Battery

ATMEGA 328

Aurdino Uno IC

CAMERA TX

IR MODULE BLUE

TOOTH HC05

L298N MOTOR DRIVER

DISPLAY CAMERA RX

Smart phone Remote

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A R DIGITECH International Journal Of Engineering, Education And Technology (ARDIJEET) www.ardigitech.in ISSN 2320-883X,VOLUME 05 ISSUE 02 01/04/2017

The working of arduino microcontroller is

where the proper connection is made. Checking all

the input ports as well as the power supply

connection. The output of the pins can be

connected with the external devices according to

their applications. The program to be executed for

the applications can be done by using arduino

software. From this arduino software, we can edit

according to the applications. This software can

works on c and c++ programming language. It is

fully a high level language. By using the conditions

of working, we can create a program to proceed for

the applications. Then after, these programs can be

uploaded through the arduino microcontroller by

using the power jack cable. The program can be

uploaded to the microcontroller and ready for

further process. ATMEGA-328 microcontroller can

saves a program and these IC can acts as a

processor to do the process without any error. After

by giving an analog or digital input to the system,

we can do the process according to the

applications. We can control the process of the

application by editing the program in the arduino

software and again can be uploaded to the arduino

microcontroller via power jack cable. There is an

option of reset button. The purpose of reset button

is to reset the program which means the previous

programs are deleted and we can use the arduino

for the other application purposes. Likewise, these

arduino ATMEGA-328 microcontrollers can be

used for n number of applications. These arduino

microcontrollers are widely used in automation

industries for controlling the process and to work

the system in an automation mode. Here, I have

provided a simple arduino program to do the

process of rotating a stepper motor for one

revolution. There are many number of example

programs that are present in the arduino software.

We can edit these programs for our applications

purposes.

6.IR SENSOR :-

Fig.6.1.The Basic Design of the infrared proximity sensor

detect an object's The photo depicts the schematics

for an infrared sensor which allows you to distance

from the robot. The big picture problem is attach

this infrared sensor on both wings of the aerial

robot. Attaching these sensors on the wing tips will

help the robot navigate through the halls of any

building.. This tutorial shows you how to construct

and test one infrared sensor and takes approximately 3 hours to complete.

6.1 PRINCIPLE AND OPERATION Of I.R SENSOR.:-

A Photodiode is a p-n junction or p-i-n

structure. When an infrared photon of sufficient

energy strikes the diode, it excites an electron

thereby creating a mobile electron and a positively

charged electron hole. If the absorption occurs in

the junction's depletion region, or one diffusion

length away from it, these carriers are swept from

the junction by the built-in field of the depletion

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A R DIGITECH International Journal Of Engineering, Education And Technology (ARDIJEET) www.ardigitech.in ISSN 2320-883X,VOLUME 05 ISSUE 02 01/04/2017 region, producing a photo-current. Photo diodes

can be used under either zero bias (photovoltaic

mode) or reverse bias (photoconductive mode).

Reverse bias induces only little current (known as

saturation or back current) along its direction. But a

more important effect of reverse bias is widening of

the depletion layer (therefore expanding the

reaction volume) and strengthening the

photocurrent when infrared falls on it. There is a

limit on the distance between I.R. L.E.D. and

infrared sensor for the pair to operate in the desired

manner. In our case distance is about 5mm.

Sensors are very important part of electronics,

especially in Robotics and Automations. Sensors in

electronic devices make our life easy by

automatically sense and control the devices,

without human interaction. There are many kinds

of sensors like Fire sensor, humidity sensor, motion

sensor, temperature sensor, IR sensor etc. In this

article, we will explain about IR sensor (Infrared

sensor), how it works and how to build an IR

sensor Module.IR sensor is very popular sensor,

which is used in many applications in electronics,

like it is used in Remote control system, motion

detector, Product counter, Line follower Robots,

Alarms etc.IR sensor basically consist an IR LED

and a Photodiode, this pair is generally called IR

pair or Photo coupler. IR sensor work on the

principal in which IR LED emits IR radiation and

Photodiode sense that IR radiation. Photodiode

resistance changes according to the amount of IR

radiation falling on it, hence the voltage drop

across it also changes and by using the voltage

comparator (like LM358) we can sense the voltage

change and generate the output accordingly. The

placing of IR LED and Photodiode can be done in

two ways: Direct and Indirect. In Direct incidence,

IR LED and photodiode are kept in front of one

another, so that IR radiation can directly falls on

photodiode. If we place any object between them,

then it stops the falling of IR light on photodiode In

Indirect Incidence, both the IR LED and Photo

diode are placed in parallel (side by side), facing

both in same direction. In that fashion, when a

object is kept in front of IR pair, the IR light gets

reflected by the object and gets absorbed by

photodiode. Note that object shouldn’t be black as

it will absorb all the IR light, instead of reflect.

Generally IR pair is placed in this fashion in IR

sensor Module.

Fig.6.2 IR LED

7.L298N Motor Driver IC:- Features:-

a) OPERATING SUPPLY VOLTAGE UP TO 46

V .

b) TOTAL DC CURRENT UP TO 4 A .

c) LOW SATURATION VOLTAGE .

d) OVERTEMPERATURE PROTECTION .

In this tutorial we'll explain how to use our L298N

H-bridge Dual Motor Controller Module 2A with.

This allows you to control the speed and direction

of two DC motors, or control one bipolar stepper

motor with ease. The L298N H-bridge module can

be used with motors that have a voltage of between

5 and 35V DC. There is also an onboard 5V

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A R DIGITECH International Journal Of Engineering, Education And Technology (ARDIJEET) www.ardigitech.in ISSN 2320-883X,VOLUME 05 ISSUE 02 01/04/2017 regulator, so if your supply voltage is up to 12V

you can also source 5V from the board.

Fig.7.1 L298N Motor Driver IC

8.Bluetooth HC-05:-HC-05Bluetooth module

is an easy to use Bluetooth SPP (Serial Port

Protocol) module, designed for transparent wireless

serial connection setup.

Serial port Bluetooth module is fully qualified

Bluetooth V2.0+EDR (Enhanced Data Rate)

3Mbps Modulation with complete 2.4GHz radio

transceiver and baseband. It uses CSR Blue-core

04-External single chip Bluetooth system with

CMOS technology and with AFH(Adaptive

Frequency Hopping Feature). It has the footprint as

small as 12.7mmx27mm. Hope it will simplify

your overall design/development cycle.

8.1 Hardware Features

• Typical -80dBm sensitivity

• Up to +4dBm RF transmit power

• Low Power 1.8V Operation ,1.8 to 3.6V I/O

• PIO control

• UART interface with programmable baud rate

• With integrated antenna

• With edge connector

8.2 Software Features

• Default Baud rate: 38400, Data bits:8, Stop

bit:1,Parity:No parity, Data control: has.

Supported baud rate:

9600,19200,38400,57600,115200,230400,460800.

• Given a rising pulse in PIO0, device will be

disconnected.

• Status instruction port PIO1: low-

disconnected, high-connected;

• PIO10 and PIO11 can be connected to red and

blue led separately. When master and slave

are paired, red and blue led blinks 1time/2s in

interval, while disconnected only blue led blinks

2times/s.

• Auto-connect to the last device on power as

default.

• Permit pairing device to connect as default.

• Auto-pairing PINCODE:”0000” as default

• Auto-reconnect in 30 min when disconnected

as a result of beyond the range of connection.

Fig.8.1 HC-05 Bluetooth

9.WIRELESS VIDEO TRANSMITTER

AND WIRELESS VIDEO RECEIVER

CAMERA:-Our wireless video transmitters and

video receivers make wireless video easy and

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A R DIGITECH International Journal Of Engineering, Education And Technology (ARDIJEET) www.ardigitech.in ISSN 2320-883X,VOLUME 05 ISSUE 02 01/04/2017 reliable. Whether it is using highly reliable FM

wireless video or 2.4 GHz to 5.8 GHz Wi-Fi, our

wireless video transmitters and wireless video

receivers are the perfect solution when it is difficult

or impossible to run cables. A wireless transmitter

and receiver can easily be used in conjunction with

hidden video cameras. Our wireless video

surveillance receivers are ideal for receiving video

over long distances and save you time and

frustration.

Fig 9.1 Wireless Video Receiver and Wireless Video Transmitter

10.WORKINGPRINCIPLE:-A transmission line inspection robot consists platform driven by two dc motors. Same platform houses the circuit components. The vehicle is to be operated in three modes i.e. forward, backward and stop. These operations are controlled by operator through smart phones.

Many apps are available to control such vehicles through Bluetooth. App generates the signal according to operators command, and send to the vehicle. Bluetooth receives the command and it is processed by arduino. Arduino accordingly provides signal to motor driver L298N. So that platform can move in desired direction or stop.

In case of any obstacle within the way, IR sensors acts as avoider. It will interrupt the operation and vehicle can not move further. This is important in safety point of view.

Platform is provided with a wireless camera whose angle can be adjusted by operator remotely, so that complete conductor can be monitored. Camera pic-up visuals of conductor which are sent to camera receiver unit. The visuals are displayed to inspect the fault.

11.ADVANTAGES AND

APPLICATION :-

11.1ADVANTAGES :-

1. It is highly accurate and precise and also very

reliable.

2. Reduce the man power and human accidents

while power line application.

3. The Power Inspection robot reduce the helicopter

cost.

4. Without Power Interruption the power inspection

can be done.

5. The fault location can be detected by using

camera system.

11.2 APPLICATION :-

1.This Power Inspection Vehicle can be use on

725KV AC Transmission Line.

2.This can be use for the weather information.

12.CONCLUSION:-This problems on fault of Transmission line can be minimize by selecting advance and appropriate inspection robot technique. The work represented in this seminar is focused on identification of simple power system faults or faults on transmission line simple power system faults or faults on transmission line.

13.ACKNOWLEDGEMENT:-

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A R DIGITECH International Journal Of Engineering, Education And Technology (ARDIJEET) www.ardigitech.in ISSN 2320-883X,VOLUME 05 ISSUE 02 01/04/2017 From the time immemorial man has

been helping each other no one carries out his/her

work alone.

I thank especially to our respected guide

Prof.A.V.Mohodfor constant inspiration through

our Project work.

I thank especially to our respected head of

DepartmentProf..R.B.Pandhare for constant

inspiration through our seminar work.

Under his guidance I have learned the art of

using our skills in the most fruitful way. He was a

rigid moral support to me .

My sincere thanks to Principal Dr.P.M.Jawandhiya, who is source of inspiration to everybody and always ready to extend helping hands.

At last I am thankful to the staff of the institute, friends and all our well-wishers.

14.REFERENCES:- “LineScout Technology Opens the Way to Robotic Inspection

and Maintenance of High-Voltage Power Lines” NICOLAS

POULIOT, PIERRE-LUC RICHARD (Member, IEEE), AND

SERGE MONTAMBAULT (Member, IEEE) Hydro-Québec’s

Research Institute, Varennes, QC J3X 1S1, Canada

CORRESPONDING AUTHOR: N. POULIOT

(pouliot.nicolas@ireq.ca).

2]. “TRANSMISSION LINE INSPECTION ROBOT USING

IOT” Suraj Ghodake1 , Sameer Bonde2 , Harshal Gaikawad3 ,

Mr. Sunil M. More4 1,2,3Third Year Electrical Students,

Department of Electrical Engineering, Guru Gobind Singh

Polytechnic Nashik Maharashtra, (India) 4HoD, Department of

Electrical Engineering, Guru Gobind Singh Polytechnic Nashik,

Maharashtra, (India).

3]“ARDUINO ATMEGA-328MICROCONTROLLERR.”HARI

SUDHAN1 M.GANESH KUMAR2 A.UDHAYA

PRAKASH3S.ANU ROOPA DEVI4 P. SATHIYA5Student,

Instrumentation and Control Engineering, Saranathan College of

Engineering, Trichy, India1,2,3,4Assistant Professor,

Instrumentation and Control Engineering, Saranathan College of

Engineering, Trichy, India5

3]. “Structure Design and Stable-balancing Control of a Kind of

Wire-moving Robot” Lei Guo1,*, Guanglei Lu1 , Qizheng Liao1

, Yanbo Cui1 , Dongqiang Liu1 , Deng Guo1 and Zeyan Hu

4] “Online monitoring of Transmission Line” Hitendra Thakre1

, Swapnil Agrelwar2 , Shubham Bhisikar3 , Pallavi Manwatkar4

1234(Electrical Engineering, AGPCE Nagpur/RTMNU, INDIA)

5] “INSPECTION ROBOT FOR HIGH-VOLTAGE

TRANSMISSION LINES” Adinan de Souza EscolaPolitécnica

da USP adinan@usp.br Lucas Antonio

MoscatoEscolaPolitécnica da USP lamoscat@usp.br

Melquisedec Francisco dos Santos EscolaPolitécnica da USP

melki@usp.br Walter de Britto Vidal FilhoEscolaPolitécnica da

USP wbritto@usp.br Gustavo André Nunes Ferreira

EscolaPolitécnica da USP gandre@usp.br Armindo Gustavo

Ventrella CTEEP - Companhia de Transmissão de

EnergiaElétricaPaulista aventrella@cteep.com.br.

6] “Robotic Power Line Inspection System” SidhantPoddar B.E.

(EEE) PESIT Bangalore. lllrd Year.

7] “Autonomous Inspection Robot for Power Transmission

Lines Maintenance While Operating on the Overhead Ground

Wires” Zheng Li1,2 and Yi Ruan2 1 School of Optical‐Electrical

& Computer Engineering, University of Shanghai for Science

and Technology, China 2 School of Mechanical Engineering &

Automation, Shanghai University, 200072, Shanghai,

China E‐mail: Li_zheng@ usst.edu.cn

8] “Implementation of Robotics in Transmission Line

Monitoring” K. N. LakshmanKumar1 , D.V. Harish2 , N. R.

Amuthan3 , T. R. Siva Prasath4 1,2,3Mepco Schlenk

Engineering College 4 Sethu Institute of Technology

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