基于Pioneer 3-AT的变电站巡检控制系统设计与实现
|
摘要
变电站巡检机器人是实现变电站自动化巡检的一种重要形式。设计方便稳定可靠的机器人控制系统是使巡检机器人正常工作,提高巡检作业效率和质量的有效手段。
论文在重庆市科委科技攻关计划项目“变电站巡检机器人关键技术研究及开发(CSTC2009AB2139)”的支持下,开展基于Pioneer 3-AT移动平台的巡检机器人控制系统的研究。主要工作包括以下五个方面:
①根据变电站的巡检工作需求,构建了基于Pioneer 3-AT移动平台的巡检机器人系统,包括控制系统、通讯系统、监控系统、导航系统和避障系统。
②基于客户端/服务器(C/S: Client/Server)模型构建了巡检机器人本地控制系统。基于ArNetworking软件系统设计了客户端与服务器的连接与通讯,基于VS.2003 MFC和数据库系统设计了控制中心界面并编程实现了对地图和实时图像的接收和操作。
③基于浏览器/服务器(B/S: Browser/Server)模型设计了巡检机器人远程控制系统。利用Windows下的IIS服务构建Web服务器系统,利用视频服务器进行视频的传输与处理,利用ASP. NET编写友好的人机交互动态页面,利用ActiveX控件实现与服务端机器人实时交互。
④设计了基于局部任务的巡检机器人直接控制系统,将工作人员控制操作标记为局部任务命令序列发送给机器人,机器人根据检测传感器的输入动态调整和重新规划局部任务序列,克服了时延对机器人直接控制带来的影响与不确定性。
⑤提出了基于全局任务的巡检机器人监督控制系统,将变电站巡检要求标记为全局任务。根据不同需求,工作人员可以对全局任务进行制定、设置和修改,机器人根据全局任务要求自动执行巡检任务,它的优先级低于基于局部任务的直接控制模式,操作人员可以在需要的时候通过直接控制介入机器人全局任务运行中,克服了机器人在执行任务过程中不能自主解决遇到的问题或者不能完全按照人的意识执行的缺点。同时,在设定或修改某些具体设备巡检要求的过程中需通过直接控制系统操作机器人实现。
实验结果表明,用户能够通过本地控制中心准确的控制和操作机器人执行巡检工作。远程控制中心可以方便无人值守或少人值守变电站的管理人员在任何时间、任何地点通过WWW浏览器访问和控制巡检机器人。用户可以通过基于局部任务的直接控制系统可靠的控制机器人到达指定位置,客服了时延的影响,消除了机器人控制中的不稳定性和不确定性。通过基于全局任务的监督控制系统,提高了变电站机器人的自动化水平,同时,工作人员可以通过任务反馈界面实时查看视频及传感器等的监测数据。
Inspection work is a vital task in maintaining the substation equipment security and reliability. It is the effective implement of substation inspection task through the robot. The design of control system with efficient and reliable in substation inspection robot is an important job.
A robot inspection system for substation equipment based on Pioneer 3-AT is presented in this paper, and it focused on the control system including local control system and remote control system. The work described in this paper was supported by Scientific and Technological Project of Chongqing (CSTC2009AB2139). This work includes the following five aspects:
1) The hardware subsystem of the robot inspection system based on Pioneer 3-AT is constructed by this paper according to the requirements of the substation inspection task, including the control subsystem, communication subsystem, monitoring subsystem, guidance subsystem and obstacle avoidance subsystem.
2) The local control center based on Client/Server (C/S) is designed in this paper. The software system of connection and communication of client and server based on ArNetworking is described. The Graphic User Interface (GUI) of local control center is designed based on VS.2003 MFC and SQL server. The operator can control the robot conveniently and get the results quickly through GUI .
3) The remote control center based on Browser/Server (B/S) is designed. The server system is constructed using the IIS server in Windows environment. The dynamic interactive interface webpage is designed based on ASP.NET and the ActiveX. This is very convenient to the users far away form the substation who want to control the robot or take a look at the status of the robot. Because they can use the WWW browser anywhere through getting access to the Internet.
4) The direct control system of the robot based on part task is proposed. By dividing the direct control command to the part task array, the robot can plan and adjust the order according to the monitoring sensor. This method improves the flexibility and convenience of the robot control, and it also overcomes the disadvantage of the influence of the time delay in the command transmission.
5) The supervisory control system based on global task is designed. The inspection requirement is marked as the global task in the system. The manager can set and modify and send the task to the robot as required of the inspection. The robot can perform the task automatically. This method increases the automation level of the inspection work and decrease the requirement for the operator.
The experimental results demonstrate that the user can control the robot and get the monitoring data of the substation conveniently through the local control center and the remote center. The direct control system based on part task contributes to reduce the influence of time delay and improve the stability in the control of the robot. The supervisory control system based on global task is beneficial to the increase of the automation in the substation inspection. Also, the user can get the clear grasp of the monitoring data including video and sensor through the interface of the control center
论文在重庆市科委科技攻关计划项目“变电站巡检机器人关键技术研究及开发(CSTC2009AB2139)”的支持下,开展基于Pioneer 3-AT移动平台的巡检机器人控制系统的研究。主要工作包括以下五个方面:
①根据变电站的巡检工作需求,构建了基于Pioneer 3-AT移动平台的巡检机器人系统,包括控制系统、通讯系统、监控系统、导航系统和避障系统。
②基于客户端/服务器(C/S: Client/Server)模型构建了巡检机器人本地控制系统。基于ArNetworking软件系统设计了客户端与服务器的连接与通讯,基于VS.2003 MFC和数据库系统设计了控制中心界面并编程实现了对地图和实时图像的接收和操作。
③基于浏览器/服务器(B/S: Browser/Server)模型设计了巡检机器人远程控制系统。利用Windows下的IIS服务构建Web服务器系统,利用视频服务器进行视频的传输与处理,利用ASP. NET编写友好的人机交互动态页面,利用ActiveX控件实现与服务端机器人实时交互。
④设计了基于局部任务的巡检机器人直接控制系统,将工作人员控制操作标记为局部任务命令序列发送给机器人,机器人根据检测传感器的输入动态调整和重新规划局部任务序列,克服了时延对机器人直接控制带来的影响与不确定性。
⑤提出了基于全局任务的巡检机器人监督控制系统,将变电站巡检要求标记为全局任务。根据不同需求,工作人员可以对全局任务进行制定、设置和修改,机器人根据全局任务要求自动执行巡检任务,它的优先级低于基于局部任务的直接控制模式,操作人员可以在需要的时候通过直接控制介入机器人全局任务运行中,克服了机器人在执行任务过程中不能自主解决遇到的问题或者不能完全按照人的意识执行的缺点。同时,在设定或修改某些具体设备巡检要求的过程中需通过直接控制系统操作机器人实现。
实验结果表明,用户能够通过本地控制中心准确的控制和操作机器人执行巡检工作。远程控制中心可以方便无人值守或少人值守变电站的管理人员在任何时间、任何地点通过WWW浏览器访问和控制巡检机器人。用户可以通过基于局部任务的直接控制系统可靠的控制机器人到达指定位置,客服了时延的影响,消除了机器人控制中的不稳定性和不确定性。通过基于全局任务的监督控制系统,提高了变电站机器人的自动化水平,同时,工作人员可以通过任务反馈界面实时查看视频及传感器等的监测数据。
Inspection work is a vital task in maintaining the substation equipment security and reliability. It is the effective implement of substation inspection task through the robot. The design of control system with efficient and reliable in substation inspection robot is an important job.
A robot inspection system for substation equipment based on Pioneer 3-AT is presented in this paper, and it focused on the control system including local control system and remote control system. The work described in this paper was supported by Scientific and Technological Project of Chongqing (CSTC2009AB2139). This work includes the following five aspects:
1) The hardware subsystem of the robot inspection system based on Pioneer 3-AT is constructed by this paper according to the requirements of the substation inspection task, including the control subsystem, communication subsystem, monitoring subsystem, guidance subsystem and obstacle avoidance subsystem.
2) The local control center based on Client/Server (C/S) is designed in this paper. The software system of connection and communication of client and server based on ArNetworking is described. The Graphic User Interface (GUI) of local control center is designed based on VS.2003 MFC and SQL server. The operator can control the robot conveniently and get the results quickly through GUI .
3) The remote control center based on Browser/Server (B/S) is designed. The server system is constructed using the IIS server in Windows environment. The dynamic interactive interface webpage is designed based on ASP.NET and the ActiveX. This is very convenient to the users far away form the substation who want to control the robot or take a look at the status of the robot. Because they can use the WWW browser anywhere through getting access to the Internet.
4) The direct control system of the robot based on part task is proposed. By dividing the direct control command to the part task array, the robot can plan and adjust the order according to the monitoring sensor. This method improves the flexibility and convenience of the robot control, and it also overcomes the disadvantage of the influence of the time delay in the command transmission.
5) The supervisory control system based on global task is designed. The inspection requirement is marked as the global task in the system. The manager can set and modify and send the task to the robot as required of the inspection. The robot can perform the task automatically. This method increases the automation level of the inspection work and decrease the requirement for the operator.
The experimental results demonstrate that the user can control the robot and get the monitoring data of the substation conveniently through the local control center and the remote center. The direct control system based on part task contributes to reduce the influence of time delay and improve the stability in the control of the robot. The supervisory control system based on global task is beneficial to the increase of the automation in the substation inspection. Also, the user can get the clear grasp of the monitoring data including video and sensor through the interface of the control center
引文
[1] Hong C S, Cho J, Lee K W, et al. Developing a context-aware system for providing intelligent robot services[C]. Proceedings of Smart Sensing and Context. 2006, 4272: 174-189.
[2] Kemp C, Edsinger A, Torres-jara E. Challenges for robot manipulation in human environments - Developing robots that perform useful work in everyday settings[J]. IEEE Robotics & Automation Magazine. 2007, 14(1): 20-29.
[3] Mo H, Huang P, Hu Q, et al. Analysis of dynamic response of explosive disposal robot to rough road excitation[J]. Journal of Wuhan University of Technology. 2006, 28: 513-516.
[4] Zimmerman T, Hacker K, Czop A. Development of an expendable robot for explosive ordnance disposal[C]. Salt Lake City, UT, United states: American Nuclear Society, 2006:247-251.
[5]王维,赵红超,刘浩.矿井救灾机器人[J].山东煤炭科技. 2009(4): 83-85.
[6]宋金泽,袁启平,李焱.一种面向行星探测的多轮机器人协调控制方法[J].机器人. 2009, 31(5): 433-436.
[7] Sjostrand N S, Lundberg I S, Gunnar J S, et al. Detection of condition changes in an industrial robot system[P]. EP1967334. 2008.
[8] Junyao G, Jianguo Z, Xueshan G, et al. Electric and control technique research of a coal mine detect robot[C]. Beijing, China: IEEE Computer Society, 2009:3729-3735.
[9] Gao X, Liao M H, Wu X H, et al. Run-time error detection of space-robot based on adaptive redundancy[J]. Aircraft Engineering and Aerospace Technology. 2009, 81(1): 14-18.
[10] Loffler K, Gienger M, Pfeiffer F, et al. Sensors and control concept of a biped robot[J]. IEEE Transactions on Industrial Electronics. 2004, 51(5): 972-980.
[11] Tachi S, Komoriya K, Sawada K, et al. Telexistence cockpit for humanoid robot control[J]. Advanced Robotics. 2003, 17: 199-217.
[12] Kennedy C W, Desai J P. Modeling and control of the Mitsubishi PA-10 robot arm harmonic drive system[J]. IEEE-ASME Transactions on Mechatronics. 2005, 10(3): 263-274.
[13] Wang W, Zhuang Y, Yun W M. Innovative control education using a low cost intelligent robot platform[J]. Robotica. 2003, 21: 283-288.
[14]刘军传,张玉茹,李振.神经外科机器人定位精度研究[J].机器人. 2007, 29(2): 123-127.
[15] Fujita M, Kitano H. Development of an autonomous quadruped robot for Robot Entertainment[J]. Autonomous Robots. 1998, 5(1): 7-18.
[16] Hibino A, Kawai T, Nako M, et al. Development of a semi-autonomous remote maintenancerobot[J]. 2009 International Symposium on Micro-NanoMechatronics and Human Science. 2009: 396-401.
[17]李猛,卢海霞,王泽河.轮式移动机器人遥控系统控制方案设计[J].制造业自动化. 2008(4): 58-60.
[18] Van H E, Hemming J, Van T B, et al. An autonomous robot for harvesting cucumbers in greenhouses[J]. Autonomous Robots. 2002, 13(3): 241-258.
[19] Andry P, Gaussier P, Moga S, et al. Learning and communication via imitation: An autonomous robot perspective[J]. IEEE Transactions on Systems Man and Cybernetics Part A-Systems and Humans. 2001, 31(5): 431-442.
[20] Matthies L, Xiong Y, Hogg R, et al. A portable, autonomous, urban reconnaissance robot[J]. Robotics and Autonomous Systems. 2002, 40(2-3): 163-172.
[21] Chen G, Pham M T, Redarce T. A guidance control strategy for semi-autonomous colonoscopy using a continuum robot[J]. Recent Progress in Robotics: Viable Robotic Service to Human. 2008, 370: 63-78.
[22] Lee J K, Stiehl W D, Toscano R L, et al. Semi-Autonomous robot avatar as a medium for family communication and education[J]. Advanced Robotics. 2009, 23(14): 1925-1949.
[23] Dumpert J, Lehman A C, Wood N A, et al. Semi-autonomous surgical tasks using a miniature in vivo surgical robot.[C]. Conf Proc IEEE Eng Med Biol Soc. 2009, 1: 266-269.
[24] Jonathan C, Paul V. Cooperative control of a semi-autonomous mobile robot[C]. IEEE International Conference on Robotics and Automation.1990:1118-1121.
[25] Rosenstein M T, Fagg A H, Platt J R, et al. Remote supervisory control of a humanoid robot[C]. Pittsburgh, PA, United states: American Association for Artificial Intelligence, 2005:1702-1703.
[26] Fraisse P, Andreu D, Zapata R, et al. Remote decentralized control strategy for cooperative mobile robots[C]. Kunming, China: Institute of Electrical and Electronics Engineers Inc., 2004:1011-1016.
[27] Zhang J, Zhang F, Ito M. Image processing based remote control with robot arm simulator[C]. Fukuoka, Japan: Society of Instrument and Control Engineers, 2009:174.
[28] Belotti V, Hemapala M U, Michelini R C, et al. Robot remote control and mine sweeping[C]. Haifa, Israel: ASME, 2009:453-462.
[29] Hentout A, Bouzouia B, Toukal Z, et al. Multi-agent remote control of the RobuTER/ULM mobile manipulator robot[C]. IEEE International Conference on Mechatronics. 2009: 1.
[30] Song J K, Jeung S K, Lim K K, et al. Mobile robot system and method of remote-controlling the same[P]. EP1761019. 2007.
[31] Lian X, Na J, Liu Z, et al. Remote control for robot manipulators with neural network compensation[C]. Kunming, Yunnan, China: Inst. of Elec. and Elec. Eng. Computer Society, 2008:180-184.
[32] R W C, G R. NASA robotics research for planetary surface exploration[J]. IEEE Robotics&Automation Magazine. 2000, 7(4): 25-34.
[33] http://www.costind.gov.cn/htm/kpyd/kpyd_brow.asp?xh=16.
[34]洪炳镕,阮玉峰,高庆吉. HIT足球移动机器人硬件系统的设计与实现[J].哈尔滨工业大学学报. 2003, 35(9): 1025-1028.
[35] http://news.sohu.com/29/79/news147287929.shtml.
[36] Yoerger D, Weiman R, Somers T. Remote control of a telerobotic underwater vehicle via satellite[C]. Telesystems Conference. 1991:333-336.
[37] Xinghua L, Jianfeng M, Sangjae M. Security analysis of the authentication modules of Chinese WLAN standard and its implementation plan[C]. Network and Parallel Computing. Proceedings IFIP International Conference. 2007: 306-314.
[38] Leu F Y, Chen Y H, Kuan C C, et al. An efficient bandwidth-use scheme over WLAN with IEEE 802.11e standard[J]. Standards, Architectures and Managements of Broadband Convergence Networks. 2007: 214-218.
[39] Ku F, Lategahn J, Ro C. WLAN mobile robot localization with sensor fusion[C]. Proceedings of the 2009 IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications. 2009: 649-654.
[40] Johansson M, Haataja K, Mielikainen J, et al. Designing and implementing an intelligent Zigbee and WLAN enabled robot car[C]. 4th IEEE/IFIP International Conference on Central Asia on Internet. 2008: 6.
[41] Ching-heng K, Yen-chieh C. Remote surveillance by network robot using WLAN and mobile IPv6 techniques[C]. TENCON 2007 - 2007 IEEE Region 10 Conference. 2007: 769-772.
[42] Xiao-Lin Long, Jing-Ping Jiang,Kui Xiang. Towards multirobot communication[C]. IEEE International Conference on Robotics and Biomimetics, 2005:307.
[43] Rohrig C, Kunemund F. Mobile robot localization using WLAN signal strengths[C]. 4TH IEEE Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications. 2007: 704-709.
[44] Hao L, Li Q, Wang D, et al. Research on test system of competitive tele-operated robot[J]. Journal of Northeastern University. 2006, 27(3): 264-267.
[45] Wang H, Yan G, Lin L. Research and application on robot controller based on client/server model[J]. Robot. 2002, vol.24, no.3: 228-267.
[46] Ye Y C, Yan B D, Wang J. Remote control of B/S mode robot based on ActiveX and ISAPI application[J]. Journal of Henan University of Science & Technology, Natural Science. 2007: 25-28.
[47] L. Shouyin, et al., Design and implement of control system for power substation equipment inspection robot[C]. International Conference on Intelligent Robots and Systems, 2009:93-96.
[48] J. Quintana and E. Mendoza, 3D Virtual models applied in power substation projects[C]. 15th International Conference on Intelligent System Applications to Power Systems, 2009:1-3.
[49] F. Meng and T. Jiang, Components-based VRS-Engine for substation simulation[C]. Second International Conference on Intelligent Computation Technology and Automation, 2009: 529-532.
[50] E. Arroyo and J.L.L. Arcos, SRV: a virtual reality application to electrical substations[C]. IEEE International Conference on Multimedia Computing and Systems,1999:835 - 839
[51] S. Li and X. Hou, Research on the AGV based robot system used in substation inspection[C]. International Conference on Power System Technology, 2006:1-4.
[52] C. Rohrig and F. Kunemund, Mobile robot localization using WLAN signal strengths[C]. 4th IEEE Workshop on Intelligent Data Acquisition and Advanced Computing Systems, 2007: 704-709.
[53] W. Fahs, et al., Multicast strategies for robots moving within the coverage of a WLAN[C]. 2006 IEEE Conference on Vehicular Technology, 2006:1-5.
[54] Mateosian, R.; Tomcat: The definitive guide[M].2003.5: 7.
[55] Moriyuki NAKASHIMA, Kyoji YANO, Yoshinaga MARUYAMA,etc.,The Hot-line work robot system Phase 2 and its Human-Robot Interface MOS[C]. IEEE International Conference on Transmission and Distribution Construction and Live Line Maintenance, 1995:212-218.
[56] Keiichi TAKAOKA, Kazuhiko YOKOYAMA, Hitoshi WAKISAKO, Development of the fully-Automatic live-line maintenance robot Phase3[C]. Proceedings of the 4th IEEE International Symposium on Assembly and Task Planning Soft Research Park, 2001:28-29.
[57] Aracil R, Pinto E, Ferre M. Robots for live-power lines: Maintenance and inspection task[C].15th Triennial Work Congress, 2002.
[58]鲁守银,钱庆林.机器人在变电站设备巡检中的应用[J].机器人技术与应用.2007.5: 33-36.
[59]鲁守银,苏建军.变电站设备巡检机器人的研制[J].电力系统自动化. 2006.07: 94-98.
[60]山东电力研究院.变电站设备巡检智能移动机器人[J].机器人技术与应用. 2003.03: 36-37.
[61] CANON INC. Canon VC-C50i VC-C50iR Instruction Manual. 2003.
[62] Xi N, Event-based planning and control for robotic systems[D].Washington University, 1996.
[63] Goldberg K, Mascha M, Gentner S, etc. Desktop teleoperation via the World Wide Web[J]. Robotics and Automation, 1995(1): 654-659.
[64] K. Goldberg, M. Mascha, S. Genmer, etc. Beyond the web: Manipulating the physical world via the www[J]. Computer Networks and ISDN Systems Journa1. 1995. 28(1).
[65] K. Taylor and J. Trevelyan. Australia's telerobot on the Web[C]. Proc. 26th Int. Symp. Industrial Robots, 1995:39-44.
[66] K.J.Brady. Time-delayed control of telerobotic manipulators[D]. Washington University. 1997.
[67] Xavier.http://www-2.cs.cmu.edu/xavier/.
[68]樊滨温.遥操作空间机器人系统研究[J].哈尔滨工业大学学报. 1999.31(l): 111-114.
[69]戴矩.异结构遥控主从手的双向力反应.控制理论与应用[J]. 1996,13:259-261.
[70] Patrick Saucy, Fracesco Mondada. Keep On The Web: Open access to a mobile robot on the Internet[J]. IEEE Robotics& Automation Magazine, 2000: 41-47.
[71] Michel, P. Saucy, and F. Mondada. Keep On The Web: An experimental demonstrator in telerobotics and virtual reality[C]. IEEE International Conference on Virtual Systems and Multimedia, 1997: 90-98.
[72] Tsumaki Y, Hoshi Y, et al.,Virtual reality based teleoperation which tolerates geometrical modeling errors[C]. Int.Conf.on Intelligent Robots and Systems, 1996:1023-1030.
[73]陈果.数字化巡检技术在华葵山变电站的应用[D].重庆大学工程硕士论文. 2008.
[74] http://www.sp.com.cn/kjzl/kjdt/200802/t20080225_59873.htm.
[75] Elliott E D, Eagleson R,Web-based tele-operated systems using EAI[C]. Proc.of the IEEE International Conference on Systems,Man and Cybernetics 1997:749-754.
[76] Backes P G, et al.,Mar Pathfinder Mission Internet-Based Operation Using WITS[C]. Proc.of the IEEE Int.Conf.on Robotics and Automation, 1998:284-291.
[77] MobileRobots, Pioneer 3 Operations Manual Book, 2006.
[78] Yang S H, Zuo X,Yang L,Control system design for Internet-enabled arm robots[C]. Lecture Notes in Artificial Intelligence, 2004:663-672.
[79] Song BooHoen, Event-based multimedia synchronization with Internet robot telerobot[M], Michigan State University, 2003.
[80]陈一宁.基于PDA和.NET平台的变电站设备巡检管理系统的设计与实现[D].厦门大学硕士学位论文. 2009.
[81]谈笑天.变电站自动化系统远动通信模式探讨[J].信息技术. 2009.9.
[82]张斌.基于差分式高精度GPS的变电站移动机器人导航系统[D].山东大学硕士学位论文. 2008.
[83]李向东.基于移动机器人的变电站设备巡检系统[D].山东大学硕士学位论文. 2007.
[84]李晓明.基于外骨骼技术的机器人远程控制[D].浙江大学博士学位论文. 2004.
[2] Kemp C, Edsinger A, Torres-jara E. Challenges for robot manipulation in human environments - Developing robots that perform useful work in everyday settings[J]. IEEE Robotics & Automation Magazine. 2007, 14(1): 20-29.
[3] Mo H, Huang P, Hu Q, et al. Analysis of dynamic response of explosive disposal robot to rough road excitation[J]. Journal of Wuhan University of Technology. 2006, 28: 513-516.
[4] Zimmerman T, Hacker K, Czop A. Development of an expendable robot for explosive ordnance disposal[C]. Salt Lake City, UT, United states: American Nuclear Society, 2006:247-251.
[5]王维,赵红超,刘浩.矿井救灾机器人[J].山东煤炭科技. 2009(4): 83-85.
[6]宋金泽,袁启平,李焱.一种面向行星探测的多轮机器人协调控制方法[J].机器人. 2009, 31(5): 433-436.
[7] Sjostrand N S, Lundberg I S, Gunnar J S, et al. Detection of condition changes in an industrial robot system[P]. EP1967334. 2008.
[8] Junyao G, Jianguo Z, Xueshan G, et al. Electric and control technique research of a coal mine detect robot[C]. Beijing, China: IEEE Computer Society, 2009:3729-3735.
[9] Gao X, Liao M H, Wu X H, et al. Run-time error detection of space-robot based on adaptive redundancy[J]. Aircraft Engineering and Aerospace Technology. 2009, 81(1): 14-18.
[10] Loffler K, Gienger M, Pfeiffer F, et al. Sensors and control concept of a biped robot[J]. IEEE Transactions on Industrial Electronics. 2004, 51(5): 972-980.
[11] Tachi S, Komoriya K, Sawada K, et al. Telexistence cockpit for humanoid robot control[J]. Advanced Robotics. 2003, 17: 199-217.
[12] Kennedy C W, Desai J P. Modeling and control of the Mitsubishi PA-10 robot arm harmonic drive system[J]. IEEE-ASME Transactions on Mechatronics. 2005, 10(3): 263-274.
[13] Wang W, Zhuang Y, Yun W M. Innovative control education using a low cost intelligent robot platform[J]. Robotica. 2003, 21: 283-288.
[14]刘军传,张玉茹,李振.神经外科机器人定位精度研究[J].机器人. 2007, 29(2): 123-127.
[15] Fujita M, Kitano H. Development of an autonomous quadruped robot for Robot Entertainment[J]. Autonomous Robots. 1998, 5(1): 7-18.
[16] Hibino A, Kawai T, Nako M, et al. Development of a semi-autonomous remote maintenancerobot[J]. 2009 International Symposium on Micro-NanoMechatronics and Human Science. 2009: 396-401.
[17]李猛,卢海霞,王泽河.轮式移动机器人遥控系统控制方案设计[J].制造业自动化. 2008(4): 58-60.
[18] Van H E, Hemming J, Van T B, et al. An autonomous robot for harvesting cucumbers in greenhouses[J]. Autonomous Robots. 2002, 13(3): 241-258.
[19] Andry P, Gaussier P, Moga S, et al. Learning and communication via imitation: An autonomous robot perspective[J]. IEEE Transactions on Systems Man and Cybernetics Part A-Systems and Humans. 2001, 31(5): 431-442.
[20] Matthies L, Xiong Y, Hogg R, et al. A portable, autonomous, urban reconnaissance robot[J]. Robotics and Autonomous Systems. 2002, 40(2-3): 163-172.
[21] Chen G, Pham M T, Redarce T. A guidance control strategy for semi-autonomous colonoscopy using a continuum robot[J]. Recent Progress in Robotics: Viable Robotic Service to Human. 2008, 370: 63-78.
[22] Lee J K, Stiehl W D, Toscano R L, et al. Semi-Autonomous robot avatar as a medium for family communication and education[J]. Advanced Robotics. 2009, 23(14): 1925-1949.
[23] Dumpert J, Lehman A C, Wood N A, et al. Semi-autonomous surgical tasks using a miniature in vivo surgical robot.[C]. Conf Proc IEEE Eng Med Biol Soc. 2009, 1: 266-269.
[24] Jonathan C, Paul V. Cooperative control of a semi-autonomous mobile robot[C]. IEEE International Conference on Robotics and Automation.1990:1118-1121.
[25] Rosenstein M T, Fagg A H, Platt J R, et al. Remote supervisory control of a humanoid robot[C]. Pittsburgh, PA, United states: American Association for Artificial Intelligence, 2005:1702-1703.
[26] Fraisse P, Andreu D, Zapata R, et al. Remote decentralized control strategy for cooperative mobile robots[C]. Kunming, China: Institute of Electrical and Electronics Engineers Inc., 2004:1011-1016.
[27] Zhang J, Zhang F, Ito M. Image processing based remote control with robot arm simulator[C]. Fukuoka, Japan: Society of Instrument and Control Engineers, 2009:174.
[28] Belotti V, Hemapala M U, Michelini R C, et al. Robot remote control and mine sweeping[C]. Haifa, Israel: ASME, 2009:453-462.
[29] Hentout A, Bouzouia B, Toukal Z, et al. Multi-agent remote control of the RobuTER/ULM mobile manipulator robot[C]. IEEE International Conference on Mechatronics. 2009: 1.
[30] Song J K, Jeung S K, Lim K K, et al. Mobile robot system and method of remote-controlling the same[P]. EP1761019. 2007.
[31] Lian X, Na J, Liu Z, et al. Remote control for robot manipulators with neural network compensation[C]. Kunming, Yunnan, China: Inst. of Elec. and Elec. Eng. Computer Society, 2008:180-184.
[32] R W C, G R. NASA robotics research for planetary surface exploration[J]. IEEE Robotics&Automation Magazine. 2000, 7(4): 25-34.
[33] http://www.costind.gov.cn/htm/kpyd/kpyd_brow.asp?xh=16.
[34]洪炳镕,阮玉峰,高庆吉. HIT足球移动机器人硬件系统的设计与实现[J].哈尔滨工业大学学报. 2003, 35(9): 1025-1028.
[35] http://news.sohu.com/29/79/news147287929.shtml.
[36] Yoerger D, Weiman R, Somers T. Remote control of a telerobotic underwater vehicle via satellite[C]. Telesystems Conference. 1991:333-336.
[37] Xinghua L, Jianfeng M, Sangjae M. Security analysis of the authentication modules of Chinese WLAN standard and its implementation plan[C]. Network and Parallel Computing. Proceedings IFIP International Conference. 2007: 306-314.
[38] Leu F Y, Chen Y H, Kuan C C, et al. An efficient bandwidth-use scheme over WLAN with IEEE 802.11e standard[J]. Standards, Architectures and Managements of Broadband Convergence Networks. 2007: 214-218.
[39] Ku F, Lategahn J, Ro C. WLAN mobile robot localization with sensor fusion[C]. Proceedings of the 2009 IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications. 2009: 649-654.
[40] Johansson M, Haataja K, Mielikainen J, et al. Designing and implementing an intelligent Zigbee and WLAN enabled robot car[C]. 4th IEEE/IFIP International Conference on Central Asia on Internet. 2008: 6.
[41] Ching-heng K, Yen-chieh C. Remote surveillance by network robot using WLAN and mobile IPv6 techniques[C]. TENCON 2007 - 2007 IEEE Region 10 Conference. 2007: 769-772.
[42] Xiao-Lin Long, Jing-Ping Jiang,Kui Xiang. Towards multirobot communication[C]. IEEE International Conference on Robotics and Biomimetics, 2005:307.
[43] Rohrig C, Kunemund F. Mobile robot localization using WLAN signal strengths[C]. 4TH IEEE Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications. 2007: 704-709.
[44] Hao L, Li Q, Wang D, et al. Research on test system of competitive tele-operated robot[J]. Journal of Northeastern University. 2006, 27(3): 264-267.
[45] Wang H, Yan G, Lin L. Research and application on robot controller based on client/server model[J]. Robot. 2002, vol.24, no.3: 228-267.
[46] Ye Y C, Yan B D, Wang J. Remote control of B/S mode robot based on ActiveX and ISAPI application[J]. Journal of Henan University of Science & Technology, Natural Science. 2007: 25-28.
[47] L. Shouyin, et al., Design and implement of control system for power substation equipment inspection robot[C]. International Conference on Intelligent Robots and Systems, 2009:93-96.
[48] J. Quintana and E. Mendoza, 3D Virtual models applied in power substation projects[C]. 15th International Conference on Intelligent System Applications to Power Systems, 2009:1-3.
[49] F. Meng and T. Jiang, Components-based VRS-Engine for substation simulation[C]. Second International Conference on Intelligent Computation Technology and Automation, 2009: 529-532.
[50] E. Arroyo and J.L.L. Arcos, SRV: a virtual reality application to electrical substations[C]. IEEE International Conference on Multimedia Computing and Systems,1999:835 - 839
[51] S. Li and X. Hou, Research on the AGV based robot system used in substation inspection[C]. International Conference on Power System Technology, 2006:1-4.
[52] C. Rohrig and F. Kunemund, Mobile robot localization using WLAN signal strengths[C]. 4th IEEE Workshop on Intelligent Data Acquisition and Advanced Computing Systems, 2007: 704-709.
[53] W. Fahs, et al., Multicast strategies for robots moving within the coverage of a WLAN[C]. 2006 IEEE Conference on Vehicular Technology, 2006:1-5.
[54] Mateosian, R.; Tomcat: The definitive guide[M].2003.5: 7.
[55] Moriyuki NAKASHIMA, Kyoji YANO, Yoshinaga MARUYAMA,etc.,The Hot-line work robot system Phase 2 and its Human-Robot Interface MOS[C]. IEEE International Conference on Transmission and Distribution Construction and Live Line Maintenance, 1995:212-218.
[56] Keiichi TAKAOKA, Kazuhiko YOKOYAMA, Hitoshi WAKISAKO, Development of the fully-Automatic live-line maintenance robot Phase3[C]. Proceedings of the 4th IEEE International Symposium on Assembly and Task Planning Soft Research Park, 2001:28-29.
[57] Aracil R, Pinto E, Ferre M. Robots for live-power lines: Maintenance and inspection task[C].15th Triennial Work Congress, 2002.
[58]鲁守银,钱庆林.机器人在变电站设备巡检中的应用[J].机器人技术与应用.2007.5: 33-36.
[59]鲁守银,苏建军.变电站设备巡检机器人的研制[J].电力系统自动化. 2006.07: 94-98.
[60]山东电力研究院.变电站设备巡检智能移动机器人[J].机器人技术与应用. 2003.03: 36-37.
[61] CANON INC. Canon VC-C50i VC-C50iR Instruction Manual. 2003.
[62] Xi N, Event-based planning and control for robotic systems[D].Washington University, 1996.
[63] Goldberg K, Mascha M, Gentner S, etc. Desktop teleoperation via the World Wide Web[J]. Robotics and Automation, 1995(1): 654-659.
[64] K. Goldberg, M. Mascha, S. Genmer, etc. Beyond the web: Manipulating the physical world via the www[J]. Computer Networks and ISDN Systems Journa1. 1995. 28(1).
[65] K. Taylor and J. Trevelyan. Australia's telerobot on the Web[C]. Proc. 26th Int. Symp. Industrial Robots, 1995:39-44.
[66] K.J.Brady. Time-delayed control of telerobotic manipulators[D]. Washington University. 1997.
[67] Xavier.http://www-2.cs.cmu.edu/xavier/.
[68]樊滨温.遥操作空间机器人系统研究[J].哈尔滨工业大学学报. 1999.31(l): 111-114.
[69]戴矩.异结构遥控主从手的双向力反应.控制理论与应用[J]. 1996,13:259-261.
[70] Patrick Saucy, Fracesco Mondada. Keep On The Web: Open access to a mobile robot on the Internet[J]. IEEE Robotics& Automation Magazine, 2000: 41-47.
[71] Michel, P. Saucy, and F. Mondada. Keep On The Web: An experimental demonstrator in telerobotics and virtual reality[C]. IEEE International Conference on Virtual Systems and Multimedia, 1997: 90-98.
[72] Tsumaki Y, Hoshi Y, et al.,Virtual reality based teleoperation which tolerates geometrical modeling errors[C]. Int.Conf.on Intelligent Robots and Systems, 1996:1023-1030.
[73]陈果.数字化巡检技术在华葵山变电站的应用[D].重庆大学工程硕士论文. 2008.
[74] http://www.sp.com.cn/kjzl/kjdt/200802/t20080225_59873.htm.
[75] Elliott E D, Eagleson R,Web-based tele-operated systems using EAI[C]. Proc.of the IEEE International Conference on Systems,Man and Cybernetics 1997:749-754.
[76] Backes P G, et al.,Mar Pathfinder Mission Internet-Based Operation Using WITS[C]. Proc.of the IEEE Int.Conf.on Robotics and Automation, 1998:284-291.
[77] MobileRobots, Pioneer 3 Operations Manual Book, 2006.
[78] Yang S H, Zuo X,Yang L,Control system design for Internet-enabled arm robots[C]. Lecture Notes in Artificial Intelligence, 2004:663-672.
[79] Song BooHoen, Event-based multimedia synchronization with Internet robot telerobot[M], Michigan State University, 2003.
[80]陈一宁.基于PDA和.NET平台的变电站设备巡检管理系统的设计与实现[D].厦门大学硕士学位论文. 2009.
[81]谈笑天.变电站自动化系统远动通信模式探讨[J].信息技术. 2009.9.
[82]张斌.基于差分式高精度GPS的变电站移动机器人导航系统[D].山东大学硕士学位论文. 2008.
[83]李向东.基于移动机器人的变电站设备巡检系统[D].山东大学硕士学位论文. 2007.
[84]李晓明.基于外骨骼技术的机器人远程控制[D].浙江大学博士学位论文. 2004.