TY - CHAP

T1 - Model and Validation of the Electromagnetic Interference Produced by Power Transmission Lines in Robotic Systems

AU - Silva, M. F.

AU - Honorio, L. M.

AU - Santos, M. F.

AU - Vidal, V. F.

AU - Mercorelli, P.

N1 - Conference code: 25

PY - 2021

Y1 - 2021

N2 - One of the most difficult tasks for a robotic system is to perform missions in areas with strong electromagnetic fields, such as power plants and high-voltage power lines. These disturbances affect the reading of onboard sensors and can cause the robot to become unstable or create conditions that make the task at hand an unpredictable one. To mitigate this effect, this work aims to model and validate the electromagnetic interference field around a power line to enable prediction. In this approach, the electromagnetic field of the Power Transmission Line (PTL) is considered as a function of its position, electric current and tower topology. With the prediction, it is possible to correct the disturbances measured by the sensors, which facilitates the work of robotic systems at a short distance from electromagnetic sources. To prove the model effectiveness, theoretical and practical results are demonstrated in the study of PTLs.

AB - One of the most difficult tasks for a robotic system is to perform missions in areas with strong electromagnetic fields, such as power plants and high-voltage power lines. These disturbances affect the reading of onboard sensors and can cause the robot to become unstable or create conditions that make the task at hand an unpredictable one. To mitigate this effect, this work aims to model and validate the electromagnetic interference field around a power line to enable prediction. In this approach, the electromagnetic field of the Power Transmission Line (PTL) is considered as a function of its position, electric current and tower topology. With the prediction, it is possible to correct the disturbances measured by the sensors, which facilitates the work of robotic systems at a short distance from electromagnetic sources. To prove the model effectiveness, theoretical and practical results are demonstrated in the study of PTLs.

KW - Electromagnetic interference

KW - Robotic systems

KW - Transmission lines

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85123302853&partnerID=8YFLogxK

U2 - 10.1109/ICSTCC52150.2021.9607293

DO - 10.1109/ICSTCC52150.2021.9607293

M3 - Article in conference proceedings

AN - SCOPUS:85123302853

SN - 978-1-6654-3055-5

T3 - International Conference on System Theory, Control and Computing

SP - 519

EP - 524

BT - 2021 25th International Conference on System Theory, Control and Computing (ICSTCC)

A2 - Ferariu, Lavinia

A2 - Matcovschi, Mihaela-Hanako

A2 - Ungureanu, Florina

PB - Institute of Electrical and Electronics Engineers Inc.

CY - Piscataway

T2 - 25th International Conference on System Theory, Control and Computing

Y2 - 20 October 2021 through 23 October 2021

ER -