Contact Localization of Continuum and Flexible Robot Using Data-driven Approach

Continuum robots such as robotic catheters are increasingly being used in minimally invasive surgery. Compliance contributes to enhanced safety during e.g. catheter insertion, however, estimation of contact force and location may help clinicians avoiding exerting excessive force. Ultimately this could lead to faster and safer interventions....

Partial discharges activated by impulses and superimposed voltages in a high voltage cable model

In practice, High-voltage (HV) cables are occasionally exposed to impulse and superimposed transient conditions, which may initiate partial discharges (PD) temporarily. Whether such PDs persist under AC voltage after the transient conditions have vanished, is at focus in the research described in this paper. Since for cross-linked polyethylene ...

Automatic partial discharge recognition using the cross wavelet transform in high voltage cable joint measuring systems using two opposite polarity sensors

This paper presents a new wavelet analysis approach in partial discharges cable joint measurements in noisy environments. The proposed technique uses the Cross Wavelet Transform (XWT) to separate PD signals from noise and external disturbances in partial discharges measurements in cable joints using two opposite polarity sensors. The partial...

Measuring method for partial discharges in a high voltage cable system subjected to impulse and superimposed voltage under laboratory conditions

A partial discharge (PD) measuring system has been deployed in order to identify and measure PD in a high voltage (HV) cable joint under impulse and superimposed voltages under laboratory conditions. The challenge is to enable the detection of PD during the impulse conditions. The method of measurement has been investigated by introducing an...

The effects of superimposed impulse transients on partial discharge in XLPE cable joint

In practice, cross-linked polyethylene (XLPE) power cables can be subjected to alternating voltage with superimposed impulse transients. Such impulse transients may initiate partial discharges (PD) in insulation defects even below AC inception voltage. An initiated PD may persist under AC, which will cause insulation degradation. This paper...