This document discusses a mobile robot system for monitoring underground power cables. The robot, called CRUISER, is equipped with multiple sensors to detect factors that could cause cable faults. It uses infrared sensors to detect excess heat, acoustic sensors to detect partial discharges, and electric field sensors to measure cable properties. The robot can inspect cables in hazardous environments and tightly enclosed spaces. Its goal is to effectively monitor cable condition and prevent failures through early fault detection.

1. Presented by
SRIHARSHA SILIVERU
10K91A0252

2.  To detect the various factors that
cause the faults in the underground
cables before the occurrence of the
fault and monitor them by using a
mobile robot.

3.  An electric power system is a network of
electrical components used to supply,
transmit and distribute electric power.
 There are various types of faults that occur
in a transmission lines due to various reasons
and they can be detected and monitored by
various maintenance methods.

4. Corrective maintenance method
Scheduled maintenance method
Condition-based maintenance
method

5.  In order to have effective monitoring and
indication of the occurrence of faults, mobile
robot monitoring is the best way.
 This type of monitoring is mostly used for
underground cables.

7.  A robotic platform has been developed which
autonomously monitors the network
structure of underground cables.
 This type of robot is generally called as
“CRUISER”
CR- crawling
U-underground
I-Inspection
S-search and
E-exploration
R- Robot

10.  This mobile robot consists of a array of
sensors.
 Video camera:
-Allows a remote user to inspect the
environment and cables
 Infrared sensor:
-Detects excess heat buildup caused by
partial discharges.
-Helps to locate hotspots in the cable.

11.  Acoustic sensor:
-Detects acoustic waves from partial
discharges.
-Helps to locate partial discharges.
 Fringing electric field sensor:
-Measures the dielectrometric properties of
the cables.
-Indicates the amount of water uptake.

12.  Principle: The intensity of an object emitted
infrared energy is proportinal to its
temperature. This sensor measures the
temperature of objects . Insulation materials
are thermally sensitive.
ACOUSTIC SENSOR FOR PD’S:
 Principle:The PD acts as a small local
explosion giving rise to a pressure
propagating towards the outer surface.

13.  Economically effective maintenance and
monitoring of power systems to ensure high
quality and reliability of electric power supplied
to customers has been obtained.
 Replacing human workers for dangerous and
highly specialized operations, such as live
maintenance of high-voltage transmission lines.
 operation in hazardous environments, such as
radioactive locations in nuclear plants, access to
tight spaces, such as cable via ducts and cooling
pipes, and precise positioning of measurement
equipment is obtained.

14.  Robotic maintenance can prevent cable
failures effectively.
 The main purpose of this multi-sensor system
is to monitor the aging status, water uptake,
and incipient faults in electrical insulation.

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