Smart Robot

High Power Transmission Line Monitoring Smart Robot
ABSTRACT
India relies heavily on electric power systems for industrial as well as

home utilization. Unfortunately, the electrical power distribution
systems are inefficient causing wastage of about 30% during
transmission from power plants to the end point. Our project revolves
around the creation of a mobile device designed to move along the high
power transmission lines continuously analyzing varying parameters
including rate of power loss during transmission of energy from the
power plants to the homes of the consumers. In case of any
malfunctioning or abnormality, the device intimates the people
responsible through IoT. Parameters like GPS, temperature and
distance are measured and solar panel is used by coupling with battery
making the device eco-friendly. The most frequent cause of
technological disturbances on the overhead and cable power
transmission lines is insulation breakdown and flashover. The considers
current and voltage sensor designed to be used in the device
controlling the insulation condition. However, the construction of the
sensor allows decision of several additional issues. They are:
calculations of the current thermal effect, analysis of electrical energy
quality indicators, electrical power accounting. Data processing
techniques using microprocessor engineering are considered. The
proposed construction of the sensor allows for the decision of all
enumerated issues. However, electric power accounting demands high
accuracy of measurement. So, the research of the sensor metrological
characteristics is to be done.
Department Of Electrical & Electronic Page 1

CHAPTER 1
INTRODUCTION
1.1. General Introduction :
In a developing country like India, the usage of electric power has risen
to an alarming amount due to increase in user and industry
consumption. Regardless of how cautiously the designing of the circuit
is carried out, losses are existent in these transmission lines. External
factors or internal factors result in the development of wasteful electric
power losses, and thus energy is dissipated in the system. Some of the
power losses include losses due to resistance, atmospheric conditions,
miscalculations etc. during transmission between sources of supply to
the consumers (or load Centre). Survey tells us that only around 35-40%
of the total power generated in the power plants reach the end user.
This causes extensive power loss which, in the long run, will affect the
economic and electrical stand of our land. Hence, we decided to design
a machine that will travel along the high power transmission lines
where normal manual inspection cannot be done frequently. The
device keeps track of environmental conditions such as temperature
and transmission line parameters such as current. Conventional
methods need manual inspections which are dangerous due to the high
power in the transmission lines. Through these devices, periodical
check-ups can be avoided. High Voltage DC transmission is a lucrative
technology that incurs fewer losses for long distance transmission of
electricity. HVDC also stabilizes the grid and can interconnect with AC
networks. More electrical power can be transmitted over long distances
through HVDC systems than AC transmission systems, thus money and
land is saved by the requirement of fewer transmission lines. Along

with this electrical losses over long distances are reduced. Also HVDC
transmission is very stable and controllable, and can stabilize and
interconnect AC power networks that are otherwise incompatible. The
rapid growing market of HVDC has become an important part of many
transmission grids because of its ability to connect remote sources of
electrical generation to load Centre thousands of kilometers away. The
HVDC transmission is an integral part of the electrical power systems
improving their overall stability and reliability. The core component of
HVDC systems is the power converter, which serves as the interface
with the AC transmission system. The conversion from AC to direct
current (DC), and vice versa, is achieved by controllable electronic
switches, called valves. Any damage in the transmission lines can be
detected only after conditions like low-voltage or power cuts occurs. By
using these machines, future mishaps can be prevented. High power
transmission lines stretch out for long distances, sometimes exceeding
50-100 kilometers. It is futile to check every inch of these lines to
pinpoint the location of the distress. This device contains a GPS which
will intimate the necessary authority about the precise latitude and
longitude.
In electrical utilities, transmission lines frame the spine of intensity

frameworks. As to unwavering quality and upkeep expenses of intensity
conveyance, exact fault location for transmission lines is of imperative
significance in reestablishing power administration, and diminishing
blackout time however much as could reasonably be expected.
Numerous fault location procedures have been proposed in open
writing. Among these methods, particularly Takagi et al. Connected the
superposition standard to evaluate single-finished fault location
calculations. The said creators' methodologies were exceptionally
appealing as they didn't require correspondence to acquire comes
about. Be that as it may, calculations in light of single ended
information will influence exactness because of varieties in source
impedances, fault frequency point, fault impedance, and stacking
conditions. With the approach of worldwide situating framework (GPS)-

based synchronously estimating units including phasor estimation
units .
The primary preferred standpoint of GPS-based methods is that fault

location estimation precision is unaffected by varieties in source
impedances and fault impedances because of the accessibility of two-
terminal synchronized information. Kezunovc utilized synchronized
voltages and streams tests at two terminals to appraise the fault
location. They received a period area demonstrate as reason for the
calculation improvement. In any case, information must be gained at an
adequately high inspecting rate to give sufficient estimation of the
subsidiaries. As far as concerns them, Lee et al. used synchronized
phasors at the two terminals to get the fault location. Their calculation
depended on positive and zero succession parts of post fault voltages
and streams. Specifically, blunders will be given when managing three-
stage faults where zero grouping segments are truant. In addition, their
work just considered a short line demonstrate that proved unable
mirror the idea of transmission lines. In the interim, our past works
proposed fault location/recognition strategies for transmission lines
utilizing synchronized phasor estimations.
With the need of increase power transfer transient and dynamic

stability is an important factor for secure operation of power system.
The system (UPFC) is suitable control strategy that has the potential to
significantly improve the transient stability margin. UPFC is the most
versatile and can be used to enhance the system stability and is capable
of both supplying and absorbing real and reactive power with respect
to AC-DC-AC transmission line.
The UPFC is in phase with dc bus voltage and inject voltage of variable
magnitude and phase angle and can exchange real power with
transmission line and thus improve power flow capability of the line.
The UPFC is robust and system specially designs for most technically in
the flexible ac transmission. The UPFC consist of series branches of R-L-
C to balance the power between power between shunt and series
converter and to maintain constant voltage across transmission line.
The optimal design of UPFC has many positive influences on validating
of the power system running. These UPFC belongs to the family of the
family of FACT controllers
1.2. Literature survey :
On 31 August 2018, the Indian utility electricity sector installed one

National Grid with a capacity power of about 344.69 Giga Watts. More
than 33.60% of total installed capacity was established by the
renewable power plants. The years 2017-18 saw that the gross
electricity produced by utilities in India was 1,303.49TWh and the total
electricity generation including non-utilities in the nation was around
1,486.5 TWh. As the world's third largest producer and third largest
consumer of electricity, India shows a statistic of the gross electricity
consumption as 1,149 kWh per capita in the year 2017-18. The total
electrical power consumed in the field of agriculture was documented
to be the highest (17.89%) in 2015-16 among all countries while the per
capita electricity consumption is little when equated to other countries
regardless of cheaper electricity tariff in India. In conclusion, though our
nation has vast capacity for power generation, the requisite
infrastructure for supplying electricity to all destitute people is wanting.
Addressing the crucial crisis of providing adequate electricity supply
throughout the nation, the Government of India launched a scheme
called "Power for All" on March 2019. This scheme strives to ensure
incessant and uninterrupted electricity supply to all homes, industries
and commercial establishments by fashioning and refining required
infrastructure. This united collaboration of the Government of India

with its states enables the country to share funding and generate
overall economic growth. 2019 5th International Conference on
Advanced Computing & Communication Systems (ICACCS) 978-1-5386-
9533-3/19/$31.00
TITLE1: Inspection Robot Based Mobile Sensing and

Power Line Tracking for Smart Grid
YEAR: 19 February 2016
AUTHORS: Bat-erdene Byambasuren, Donghan Kim, Mandakh

Oyun-Erdene
Smart sensing and power line tracking is very important in a smart grid
system. Illegal electricity usage can be detected by remote current
measurement on overhead power lines using an inspection robot.
There is a need for accurate detection methods of illegal electricity
usage. Stable and correct power line tracking is a very prominent issue.
In order to correctly track and make accurate measurements, the swing
path of a power line should be previously fitted and predicted by a
mathematical function using an inspection robot. After this, the remote
inspection robot can follow the power line and measure the current.
This paper presents a new power line tracking method using parabolic
and circle fitting algorithms for illegal electricity detection. We
demonstrate the effectiveness of the proposed tracking method by
simulation and experimental results.

TITLE2: Feasibility Study of Conversion of Double Circuit

ac Transmission Line for Simultaneous ac-dc Power
Transmission
YEAR: 2005
AUTHORS: K.P. Basu ; H. Rahman
Long EHV ac lines cannot be loaded to its thermal limit to keep

sufficient margin against transient instability. EHV lines may be loaded
to a very high value if the conductors are allowed to carry
superimposed dc current along with ac current. The added dc power
flow does not cause any transient instability. In HVDC line the
capacitive VAR of the line cannot be tapped to compensate a part of
the lagging VAR consumed by the converters. Present paper studies the
feasibility of converting a double circuit ac line for simultaneous ac-dc
power flow to get the advantages of parallel ac-dc transmission to
improve stability and damping oscillations as well as for independent
control of ac and dc power transmission. No alterations of conductors,
insulator strings and towers of the original line are needed. Substantial
gain in the loadability of the line is obtained. Unlike HVDC line,
capacitive VAR of the line is available to compensate a part of the
lagging VAR.
TITLE3: Fault Detection in Overhead Power Transmission
YEAR: April 2016

AUTHORS: A SPawar, SJJamadar, PCMandle,
VVChavan, VSWadkar
Transmission of electricity through over head transmission lines is a

widely used method for power transmission from one location to
another. Failure is a critical issue in this essential service. The location
of the fault must be identified for recovery from the failure. Though
there is human effort involved in fault detection, technology assisted
solutions can save time and resources. In this paper, some of the
potential strategies for fault detection are proposed for effective
detection failure in power transmission.
TITLE4: Real-Time Overhead Transmission-Line

Monitoring for Dynamic Rating
YEAR: 18 DECEMBER 2014
AUTHORS:VDale Douglass ; William Chisholm ; Glenn Davidson ;

Ian Grant ; Keith Lindsey ; Mark Lancaster
This paper discusses the wide range of real-time line monitoring devices
which can be used to determine the dynamic thermal rating of an
overhead transmission line with the power system operating normally
or during a system contingency. The most common types of real-time
monitors are described including those that measure the line clearance,
conductor temperature, and weather data in the line right of way. The
strengths and weaknesses of the various monitoring methods are
evaluated, concluding that some are more effective during system
normal and others during system contingency conditions.

TITLE 5: FACTS-flexible AC transmission system

YEAR: 15 April 2003
AUTHOR: N.G. Hingorani
For economic reasons most if not all of the worlds electric power
supply are widely interconnected, involving interconnections inside
utilities own territories which extend to inter-utility interconnections
and then to inter-regionals. The author describes how with this in mind,
the Electric Power Research Institute representing the collaborative
R&D arm of the US utilities, has put forward a concept, a vision of the
future based on silicon science, called flexible AC transmission system
(FACTS). While some of the relevant technology i.e., static VAR
compensation is already in wide use, the FACTS concept has brought to
the table a tremendous potential for thyristor based controllers which
will surely revolutionize the power system.
1.3. Problem Statement :
To reduce the duration of outages and minimize response time to

major faults, and to optimize reliability of supply, it is inevitable for
power transmission companies such as GRID co to search for a low-cost
communicating device with low power consumption that will relay
accurate fault information at real-time back to the control centre. This
research work seeks to design an automatic and efficient fault
detection and location system for both overhead and underground
power transmission network system using both existing fault indicator
technology and commercially proven communication technology to
quickly and accurately pin point faulted sections of a transmission
system. There is no fault – free system existing and it is neither
practical nor efficient to manufacture a fault – free system. Different

instances of unusual conditions such as natural events, physical
accidents, equipment failures and mal -operation generate faults in
the power system. Faults can occur anytime at any location. The
electrical system faults are one of the greatest threats to the
continuity of electrical supply. Furthermore, some faults cannot be
easily identified Therefore, a good fault detection system which
provides an effective, reliable, fast and secure way of a relaying
operation is essential to maintain a healthy power system. It is possible
to predict the occurrence of these faults using ANN based
algorithm effectively. Using this method, it is also possible to locate a
fault at a remote location without human interaction. Conventional
methods need manual inspections which are dangerous due to the high
power in the transmission lines. Through these devices, periodical
check-ups can be avoided. Any damage in the transmission lines can be
detected only after conditions like low-voltage or power cuts occurs. By
using these machines, future mishaps can be prevented. High power
transmission lines stretch out for long distances, sometimes exceeding
50-100 kms. It is futile to check every inch of these lines to pinpoint the
location of the distress. This device contains an GPS which will intimate
the necessary authority about the precise latitude and longitude. Theft
of power: In India, financial loss due to theft of electricity may be
around $16 billion yearly. Some power companies continue to bleed
and lead to bankruptcy due to one of these factors. This may also lead
the legalized users to pay more. This creates a scenario where
numerous villages have huge cut in power supply and altogether
availability of power in the grid with no purchase.2019 5th International
Conference on Advanced Computing & Communication Systems
(ICACCS)

CHAPTER 2
DESIGN CONSIDERATIONS
2.1. Block Diagram
Internet
iInternet
Wi-Fi
Module
Ultrasonic Sensor L293D DC Motor BRUSH
GPS Module
Temp. Sensor DC Motor 1 wheel
Color Sensor Arduino L293D
Current Sensor DC Motor2 wheel
Battery
Solar Panel




CHAPTER 3
HARDWARE COMPONENTS
The hardware components used in our projects is listed below.
1. NODE MCU
2. ARDUINO UNO
3. TEMPERATURE SENSOR
4. VOLTAGE SENSOR
5. CURRENT SENSOR
6. ULTRASONIC SENSOR
7. GPS
8. MOTOR DRIVER(L293D)
3.1.NODEMCU
NodeMCU is an open source LUA based firmware developed for

ESP8266 wifi chip. By exploring functionality with ESP8266 chip,
NodeMCU firmware comes with ESP8266 Development board/kit i.e.
NodeMCU Development board. Since NodeMCU is open source
platform, their hardware design is open for edit/modify/build.
NodeMCU Dev Kit/board consist of ESP8266 wifi enabled chip.

The ESP8266 is a low-cost Wi-Fi chip developed by Espressif Systems
with TCP/IP protocol. For more information about ESP8266, you can
refer ESP8266 WiFi Module.
3.2.ARDUINO UNO
The Arduino microcontroller is an easy to use yet powerful single board

computer that has gained considerable traction in the hobby and
professional market. The Arduino is open-source, which means
hardware is reasonably priced and development software is free. This
guide is for students in ME 2011, or students anywhere who are
confronting the Arduino for the first time. For advanced Arduino users,
prowl the web; there are lots of resources. This is what the Arduino
board looks like.
The Arduino programming language is a simplified version of C/C++. A
few commands are needed to perform useful functions.
Fig: Schematic of Arduino

.

An important feature of the Arduino is that you can create a control

program on the host PC, download it to the Arduino and it will run
automatically. Remove the USB cable connection to the PC, and the
program will still run from the top each time you push the reset button.
Remove the battery and put the Arduino board in a closet for six
months. When you reconnect the battery, the last program you stored
will run. This means that you connect the board to the host PC to
develop and debug your program, but once that is done, you no longer
need the PC to run the program.
3.2.1.PIN DESCRIPTION

3.3.TEMPERATURE SENSOR
A temperature sensor is a device, usually an RTD (resistance

temperature detector) or a thermocouple, that collects the data about
temperature from a particular source and converts the data into
understandable form for a device or an observer. Temperature sensors
are used in many applications like HV and AC system environmental
controls, food processing units, medical devices, chemical handling and

automotive under the hood monitoring and controlling systems, etc.
The most common type of temperature sensor is a thermometer, which

is used to measure temperature of solids, liquids and gases. It is also a
common type of temperature sensor mostly used for non-scientific
purposes because it is not so accurate.
3.3.1.Types of Temperature Sensors
There are different types of temperature sensors that have sensing

capacity depending upon their range of application. Different types of
temperature sensors are as follows:
 Thermocouples
 Resistor temperature detectors
 Thermistors
 Infrared sensors
 Semiconductors sensors
 Thermometers

3.3.1(a).Thermocouples
Thermocouple sensor is the most commonly used temperature sensor

and it is abbreviated as TC. This sensor is extremely rugged, low-cost,
self-powered and can be used for long distance. There are many types
of temperature sensors that have a wide range of applications.
3.3.1(b).Semiconductor Sensors

Semiconductor sensors are the devices that come in the form of ICs.
Popularly, these sensors are known as an IC temperature sensor. They
are classified into different types: Current output temperature sensor,
Voltage output temperature sensor, Resistance output silicon
temperature sensor, Diode temperature sensors and Digital output
temperature sensor. Present semiconductor temperature sensors offer
high linearity and high accuracy over an operating range of about 55°C
to +150°C. However, AD590 and LM35 temperature sensors are the
most popular temperature sensors
3.4.VOLTAGE SENSOR
A voltage sensor is a sensor is used to calculate and monitor the

amount of voltage in an object. Voltage sensors can determine both the
AC voltage or DC voltage level. The input of this sensor can be the
voltage whereas the output is the switches, analog voltage signal, a
current signal, an audible signal, etc.
Sensors are basically a device which can sense or identify and react to
certain types of electrical or some optical signals. Implementation of

voltage sensor and current sensor techniques have become an

excellent choice to the conventional current and voltage measurement
methods.
The advantage of voltage sensors include:

 Small in weight and size.
 Personnel safety is high.
 Degree of accuracy is very high.
 It is non-saturable.
 Wide dynamic range.
 Eco-friendly.
 It is possible to combine both the voltage and current
measurement into a single physical device with small and
compact dimensions.
3.4.1.Types of Voltage Sensors
In this article, we can discuss in detail about voltage sensor. A voltage

sensor can in fact determine, monitor and can measure the supply of
voltage. It can measure AC level or/and DC voltage level. The input to
the voltage sensor is the voltage itself and the output can be analog
voltage signals, switches, audible signals, analog current level,
frequency or even frequency modulated outputs.
That is, some voltage sensors can provide sine or pulse trains as output
and others can produce Amplitude Modulation, Pulse Width
Modulation or Frequency Modulation outputs.
3.4.1(a)Capacitive Voltage Sensor

As we know that a capacitor comprises of two conductors or simply two

plates and in between these plates, a non-conductor is kept. That non-
conducting material is termed as dielectric. When an AC voltage is
provided across these plates, current will start to pass owing to either
the attraction or the repulsion of electrons by means of the voltage
present on the opposite plate. The field among the plates will create a
complete AC circuit without any hardware connection. This is how a
capacitor works.
Next, we can discuss about the voltage division in two capacitors which
are in series. Usually in series circuits, high voltage will develop across
the component which is having high impedance. In the case of
capacitors, capacitance and impedance (capacitive reactance) are
always inversely proportional.
3.4.1(b).Resistive Voltage Sensor
There are two ways in converting the resistance of the sensing element
to the voltage. First one is the simplest method that is to provide a
voltage to the resistor divider circuit. The voltage that is developed
across the reference resistor or sensor is buffered and then given to the
ADC. The output voltage of the sensor can be expressed as
The drawback of this circuit is the amplifier present here will amplify
the whole voltage developed across the sensor. But, it is better to
amplify only the voltage change due to the change in resistance of the
sensor.
Application of Voltage Sensor

The application of voltages sensors include:

 Power failure detection.
 Load sensing.
 Safety switching.
 Temperature control.
 Power demand control.
 Fault detection.
3.5. CURRENT SENSOR
A current sensor is a device that detects electric current in a wire, and

generates a signal proportional to that current. The generated signal
could be analog voltage or current or even a digital output. The
generated signal can be then used to display the measured current in
an ammeter, or can be stored for further analysis in a data acquisition
system, or can be used for the purpose of control.
The sensed current and the output signal can be:
Alternating current input,
analog output, which duplicates the wave shape of the sensed current.

bipolar output, which duplicates the wave shape of the sensed current.
unipolar output, which is proportional to the average or RMS value of
the sensed current.
Direct current input,
unipolar, with a unipolar output, which duplicates the wave shape of
the sensed current
digital output, which switches when the sensed current exceeds a
certain threshold
Current sensor is a device which detects and converts current to get an

output voltage, which is directly proportional to the current in the
designed path. When current is passing through the circuit, a voltage
drops across the path where the current is flowing. Also a magnetic
field is generated near the current carrying conductor. These above
phenomenon are used in the current sensor design technique.
3.5.1.Current Sensing Element- Sense resistor:
Current sensing refers to generation of the voltage signal which is

related to the current passing in the circuit. A conventional way of
sensing current is to insert a resistor in the path of current to be sense.
Then we can place the sensed resistor at anywhere in series with the
circuit it may be load or switch. Therefore current sensing devices are
to be considered as current to voltage converter.
Factors on which the functioning of the sensing element depends
 Values must be taken low in order to minimize the power losses:

 The current sensed values usually depend on the threshold
voltage of the circuit whose operation is completely based on the
sensed current information.
 To increase the accuracy we must consider low temperature co

efficient.
3.5.2.Two methods of current sensing:
3.5.2(a).Direct current sensing:
Direct current sensing is dependent upon Ohm’s law. By putting a shunt

resistor in arrangement with the system load, a voltage is generated
across the shunt resistor that is proportional to the system load
current. The voltage over the shunt could be measured by differential
amplifiers for example current shunt amplifiers, operational amplifiers
or difference amplifiers. It is typically implemented for load currents
<100A.
3.5.2(b).Indirect current sensing:
Indirect current sensing is dependent upon Ampere’s and Faraday’s

laws. By putting a loop around a current carrying conductor, a voltage is
induced over the loop that is proportional to the current. This type
sensing method is utilized for 100A – 1000A load currents.
Applications of current sensor:
 Open loop current sensor using TLE4998S.

 Current sensor using TLE4998S in range selection mode.

3.6. ULTRASONIC SENSOR
An ultrasonic sensor is an instrument that measures the distance to

an object using ultrasonic sound waves.
An ultrasonic sensor uses a transducer to send and receive ultrasonic

pulses that relay back information about an object’s proximity.

High-frequency sound waves reflect from boundaries to produce
distinct echo patterns.
Ultrasonic sensors work by sending out a sound wave at a frequency

above the range of human hearing. The transducer of the sensor
acts as a microphone to receive and send the ultrasonic
sound. Our ultrasonic sensors, like many others, use a single
transducer to send a pulse and to receive the echo. The sensor
determines the distance to a target by measuring time lapses
between the sending and receiving of the ultrasonic pulse.
The HC-SR04 ultrasonic sensor uses SONAR to determine the distance

of an object just like the bats do. It offers excellent non-contact range

detection with high accuracy and stable readings in an easy-to-use

package from 2 cm to 400 cm or 1” to 13 feet.
The operation is not affected by sunlight or black material, although

acoustically, soft materials like cloth can be difficult to detect. It comes
complete with ultrasonic transmitter and receiver module.
Ultrasonic sensors work by sending out a sound wave at a frequency

above the range of human hearing. The transducer of the sensor
acts as a microphone to receive and send the ultrasonic
sound. Our ultrasonic sensors, like many others, use a single
transducer to send a pulse and to receive the echo. The sensor
determines the distance to a target by measuring time lapses
between the sending and receiving of the ultrasonic pulse.
The working principle of this module is simple. It sends an ultrasonic

pulse out at 40kHz which travels through the air and if there is an
obstacle or object, it will bounce back to the sensor. By calculating
the travel time and the speed of sound, the distance can be
calculated.
3.6.1.Operation of ultrasonic sensors:
When an electrical pulse of high voltage is applied to the ultrasonic

transducer it vibrates across a specific spectrum of frequencies and
generates a burst of sound waves. Whenever any obstacle comes
ahead of the ultrasonic sensor the sound waves will reflect back in the
form of echo and generates an electric pulse. It calculates the time
taken between sending sound waves and receiving echo. The echo
patterns will be compared with the patterns of sound waves to
determine detected signal’s condition.
In ultrasonic module HCSR04, we have to give trigger pulse, so that it

will generate ultrasound of frequency 40 kHz. After generating
ultrasound i.e. 8 pulses of 40 kHz, it makes echo pin high. Echo pin
remains high until it does not get the echo sound back. So the width of
echo pin will be the time for sound to travel to the object and return
back. Once we get the time we can calculate distance, as we know the
speed of sound.
HC-SR04 can measure up to range from 2 cm - 400 cm.
1. We need to transmit trigger pulse of at least 10 us to the HC-SR04

Trig Pin.
2. Then the HC-SR04 automatically sends Eight 40 kHz sound wave
and wait for rising edge output at Echo pin.
3. When the rising edge capture occurs at Echo pin, start the Timer
and wait for falling edge on Echo pin.
4. As soon as the falling edge is captured at the Echo pin, read the
count of the Timer. This time count is the time required by the
sensor to detect an object and return back from an object.
3.7 GPS(Global Positioning System)
Stands for "Global Positioning System." GPS is a satellite navigation

system used to determine the ground position of an object. GPS
technology was first used by the United States military in the 1960s and
expanded into civilian use over the next few decades. Today, GPS
receivers are included in many commercial products, such as
automobiles, smartphones, exercise watches, and GIS devices.
The GPS system includes 24 satellites deployed in space about 12,000

miles (19,300 kilometers) above the earth's surface. They orbit the
earth once every 12 hours at an extremely fast pace of roughly 7,000
miles per hour (11,200 kilometers per hour). The satellites are evenly
spread out so that four satellites are accessible via direct line-of-sight
from anywhere on the globe.
Each GPS satellite broadcasts a message that includes the satellite's

current position, orbit, and exact time. A GPS receiver combines the
broadcasts from multiple satellites to calculate its exact position using a
process called triangulation. Three satellites are required in order to
determine a receiver's location, though a connection to four satellites is
ideal since it provides greater accuracy.

In order for a GPS device to work correctly, it must first establish a

connection to the required number of satellites. This process can take
anywhere from a few seconds to a few minutes, depending on the
strength of the receiver. For example, a car's GPS unit will typically
establish a GPS connection faster than the receiver in a watch or
smartphone. Most GPS devices also use some type of
location caching to speed up GPS detection. By memorizing its previous
location, a GPS device can quickly determine what satellites will be
available the next time it scans for a GPS signal.
Global Positioning System was developed by the United States'

Department of Defense. It uses between 24 and 32 Medium Earth Orbit
satellites that transmit precise microwave signals. This enables GPS
receivers to determine their current location, time and velocity. The
GPS satellites are maintained by the United States Air Force.
GPS is often used by civilians as a navigation system. On the ground,

any GPS receiver contains a computer that "triangulates" its own
position by getting bearings from at least three satellites. The result is
provided in the form of a geographic position - longitude and latitude -
to, for most receivers, within an accuracy of 10 to 100 meters. Software
applications can then use those coordinates to provide driving or
walking instructions.
Getting a lock on by the GPS receivers on the ground usually takes

some time especially where the receiver is in a moving vehicle or in
dense urban areas. The initial time needed for a GPS lock is usually
dependent on how the GPS receiver starts. There are three types of
start - hot, warm and cold.
The hot start is when the GPS device remembers its last calculated
position and the satellites in view, the almanac used (information about
all the satellites in the constellation), the UTC Time and makes an
attempt to lock onto the same satellites and calculate a new position
based upon the previous information. This is the quickest GPS lock but
it only works if you are generally in the same location as you were when
the GPS was last turned off.
The warm start is when the GPS device remembers its last calculated
position, almanac used, and UTC Time, but not which satellites were in
view. It then performs a reset and attempts to obtain the satellite
signals and calculates a new position.
The receiver has a general idea of which satellites to look for because it
knows its last position and the almanac data helps identify which
satellites are visible in the sky. This takes longer than a hot start but not
as long as a cold start.
And finally – the cold start is when the GPS device dumps all the
information, attempts to locate satellites and then calculates a GPS
lock. This takes the longest because there is no known information.
The GPS receiver has to attempt to lock onto a satellite signal from any
available satellites, basically like polling, which takes a lot longer than
knowing which satellites to look for. This GPS lock takes the longest.
In an attempt to improve lock times, cellphone manufacturers and

operators have introduced the Assisted GPS technology, which
downloads the current ephemeris for a few days ahead via the wireless
networks and helps triangulate the general user’s position with the cell
towers thus allowing the GPS receiver to get a faster lock at the
expense of several (kilo)bytes.

3.8.MOTOR DRIVER (L293D)
L293D is a typical Motor driver or Motor Driver IC which allows

DC motor to drive on either direction. L293D is a 16-pin IC which can
control a set of two DC motors simultaneously in any direction. It
means that you can control two DC motor with a single L293D IC. Dual
H-bridge Motor Driver integrated circuit (IC).
It works on the concept of H-bridge. H-bridge is a circuit which allows

the voltage to be flown in either direction. As you know voltage need to
change its direction for being able to rotate the motor in clockwise or
anticlockwise direction, Hence H-bridge IC are ideal for driving a DC
motor.
In a single L293D chip there are two h-Bridge circuit inside the IC which
can rotate two dc motor independently. Due its size it is very much
used in robotic application for controlling DC motors. Given below is
the pin diagram of a L293D motor controller. There are two Enable pins
on l293d. Pin 1 and pin 9, for being able to drive the motor, the pin 1
and 9 need to be high. For driving the motor with left H-bridge you

need to enable pin 1 to high. And for right H-Bridge you need to make
the pin 9 to high. If anyone of the either pin1 or pin9 goes low then the
motor in the corresponding section will suspend working. It’s like a
switch.

CHAPTER 4
SOFTWARE REQUIREMENTS
 Arduino ide
 Blynk app
4.1.Arduino ide:
Arduino IDE is an open source software that is mainly used for writing
and compiling the code into the Arduino Module.It is an official Arduino
software, making code compilation too easy that even a common
person with no prior technical knowledge can get their feet wet with
the learning process.It is easily available for operating systems like
MAC, Windows, Linux and runs on the Java Platform that comes with
inbuilt functions and commands that play a vital role for debugging,
editing and compiling the code in the environment.A range of Arduino
modules available including Arduino Uno, Arduino Mega, Arduino
Leonardo, Arduino Micro and many more.Each of them contains a
microcontroller on the board that is actually programmed and accepts
the information in the form of code.The main code, also known as a
sketch, created on the IDE platform will ultimately generate a Hex File
which is then transferred and uploaded in the controller on the
board.The IDE environment mainly contains two basic parts: Editor and
Compiler where former is used for writing the required code and later
is used for compiling and uploading the code into the given Arduino
Module.This environment supports both C and C++ languages.

How to Download Arduino IDE:
You can download the Software from Arduino main website. As I said
earlier, the software is available for common operating systems like
Linux, Windows, and MAX, so make sure you are downloading the
correct software version that is easily compatible with your operating
system.If you aim to download Windows app version, make sure you
have Windows 8.1 or Windows 10, as app version is not compatible
with Windows 7 or older version of this operating system.The IDE
environment is mainly distributed into three sections
1. Menu Bar
2. Text Editor
3. Output Pane
As you download and open the IDE software, it will appear like an
image below.introduction to Arduino IDE, what is Arduino IDE, how to
download arduino IDE.The bar appearing on the top is called Menu Bar
that comes with five different options as follow.File – You can open a
new window for writing the code or open an existing one. Following
table shows the number of further subdivisions the file option is
categorized into.As you go to the preference section and check the
compilation section, the Output Pane will show the code compilation as
you click the upload button.And at the end of compilation, it will show
you the hex file it has generated for the recent sketch that will send to
the Arduino Board for the specific task you aim to achieve.Edit – Used
for copying and pasting the code with further modification for font
.Sketch – For compiling and programming.Tools – Mainly used for
testing projects. The Programmer section in this panel is used for
burning a boot loader to the new microcontroller. Help – In case you

are feeling skeptical about software, complete help is available from
getting started to troubleshooting. The Six Buttons appearing under the
Menu tab are connected with the running program as follow. The check
mark appearing in the circular button is used to verify the code. Click
this once you have written your code.The arrow key will upload and
transfer the required code to the Arduino board.The dotted paper is
used for creating a new file. The upward arrow is reserved for opening
an existing Arduino project. The downward arrow is used to save the
current running code.The button appearing on the top right corner is a
Serial Monitor – A separate pop-up window that acts as an
independent terminal and plays a vital role for sending and receiving
the Serial Data. You can also go to the Tools panel and select Serial
Monitor, or pressing Ctrl+Shift+M all at once will open it instantly. The
Serial Monitor will actually help to debug the written Sketches where
you can get a hold of how your program is operating. Your Arduino
Module should be connected to your computer by USB cable in order to
activate the Serial Monitor.You need to select the baud rate of the
Arduino Board you are using right now. For my Arduino Uno Baud Rate
is 9600, as you write the following code and click the Serial Monitor,
the output will show as the image below.

4.2.Blynk app:
This guide will help you understand how to get started using Blynk and
give a comprehensive overview of all the features.If you want to jump
straight into playing with Blynk, check out Getting Started.
How Blynk Works:
Blynk was designed for the Internet of Things. It can control hardware
remotely, it can display sensor data, it can store data, vizualize it and do

many other cool things.There are three major components in the

platform:Blynk App – allows to you create amazing interfaces for your
projects using various widgets we provide.Blynk Server – responsible
for all the communications between the smartphone and hardware.
You can use our Blynk Cloud or run your private Blynk server locally. It’s
open-source, could easily handle thousands of devices and can even be
launched on a Raspberry Pi.Blynk Libraries – for all the popular
hardware platforms – enable communication with the server and
process all the incoming and outcoming commands.Now imagine: every
time you press a Button in the Blynk app, the message travels to space
the Blynk Cloud, where it magically finds its way to your hardware. It
works the same in the opposite direction and everything happens in a
blynk of an eye.
4.2.1.Features:
Similar API & UI for all supported hardware & devices

Connection to the cloud using:
WiFi
Bluetooth and BLE
Ethernet
USB (Serial)
GSM
Set of easy-to-use Widgets Direct pin manipulation with no code writing
Easy to integrate and add new functionality using virtual pins. History
data monitoring via Super Chart widget Device-to-Device
communication using. Bridge Widget Sending emails, tweets, push
notifications, etc. new features are constantly added! You can find
example sketches covering basic Blynk Features. They are included in
the library. All the sketches are designed to be easily combined with
each other.
1. Hardware.
An Arduino, Raspberry Pi, or a similar development kit.
Blynk works over the Internet. This means that the hardware you choose
should be able to connect to the internet. Some of the boards, like
Arduino Uno will need an Ethernet or Wi-Fi Shield to communicate,
others are already Internet-enabled: like the ESP8266, Raspberry Pi with
Wi-Fi dongle, Particle Photon or Spark Fun Blynk Board. But even if
you don’t have a shield, you can connect it over USB to your laptop or
desktop (it’s a bit more complicated for newbies, but we got you
covered). What’s cool, is that the list of hardware that works with Blynk
is huge and will keep on growing.
2. A Smartphone.
The Blynk App is a well-designed interface builder. It works on both
iOS and Android, so no holy wars here, ok?
Getting Started
Let’s get you started in 5 minutes (reading doesn’t count!). We will
switch on an LED connected to your Arduino using the Blynk App on
your smartphone. Connect an LED as shown here:
Getting Started With The Blynk App
1. Create a Blynk Account:After you download the Blynk App, you’ll
need to create a New Blynk account. This account is separate from the
accounts used for the Blynk Forums, in case you already have one.We
recommend using a real email address because it will simplify things
later.Why do I need to create an account? An account is needed to save

your projects and have access to them from multiple devices from
anywhere. It’s also a security measure. You can always set up your own
Private Blynk Server and have full control.
2. Create a New Project: After you’ve successfully logged into your
account, start by creating a new project.
3. Choose Hardware: Select the hardware model you will use. Check out
the list of supported hardware.
4. Auth Token:
Auth Token is a unique identifier which is needed to connect your
hardware to your smartphone. Every new project you create will have its
own Auth Token. You’ll get Auth Token automatically on your email
after project creation. You can also copy it manually. Click on devices
section and selected required device .And you’ll see token .NOTE:
Don’t share your Auth Token with anyone, unless you want someone to
have access to your hardware.It’s very convenient to send it over e-mail.
Press the e-mail button and the token will be sent to the e-mail address
you used for registration. You can also tap on the Token line and it will
be copied to the clipboard.Now press the “Create” button.
5. Add a Widget:
Your project canvas is empty, let’s add a button to control our LED.Tap
anywhere on the canvas to open the widget box. All the available
widgets are located here. Now pick a button.Widget Box drag-n-Drop -
Tap and hold the Widget to drag it to the new position.Widget Settings -
Each Widget has it’s own settings. Tap on the widget to get to them.The
most important parameter to set is PIN . The list of pins reflects physical
pins defined by your hardware. If your LED is connected to Digital Pin
8 - then select D8 (D - stands for Digital).

6. Run The Project:

When you are done with the Settings - press the PLAY button. This will
switch you from EDIT mode to PLAY mode where you can interact
with the hardware. While in PLAY mode, you won’t be able to drag or
set up new widgets, press STOP and get back to EDIT mode.You will
get a message saying “Arduino UNO is offline”. We’ll deal with that in
the next section.Getting Started With Hardware.How To Use an
Example Sketch You should by now have the Blynk Library installed on
your computer. If not - click here.Example sketches will help you get
your hardware online quickly and major Blynk features.Open the
example sketch according to the hardware model or shield you are using.

4.3.PROGRAM
#include<TinyGPS.h>
const int s0 = 13;
const int s1 = 12;
const int s2 = 11;
const int s3 = 10;
const int out = 9;
// LED pins connected to Arduino
int redLed = 8;
int greenLed = 7;
int blueLed = 6;
// Variables
int red;
int green;
int blue;
int lm35_pin=A3;
int volt_pin=A1;
int current_pin=A2;
int trig_pin=A4;
int echo_pin=A5;
int buzzer=A0;
//int buzzer=6;
int R1=47000.0;
int R2=33000.0;
float t;
float distance;
float lat,lon;
TinyGPS gps;
void setup() {
// put your setup code here, to run once:
Serial.begin(9600);
pinMode(trig_pin,OUTPUT);
pinMode(echo_pin,INPUT);
pinMode(s0, OUTPUT);

pinMode(out, INPUT);
pinMode(redLed, OUTPUT);
pinMode(greenLed, OUTPUT);
pinMode(blueLed, OUTPUT);
digitalWrite(s0, HIGH);
void loop() {
// put your main code here, to run repeatedly:
calculateCurrent();
calculateVolt();
calculateDistance();
calculateWireColor();
calculateTemp();
checkWireColor();

Serial.println("$");
delay(100);
void calculateTemp(){
int val=analogRead(lm35_pin);
//Serial.print("Raw: ");
//Serial.println(val);
float t=val*0.48828125;
Serial.print("temp:");
Serial.print(t);
Serial.print(";");
void calculateVolt(){
float val=analogRead(volt_pin);
float voltage=val*((5.0/1024)*((R1+R2)/R2));
Serial.print("volt:");
Serial.print(voltage);
Serial.print(";");

float fmap(float x, float in_min, float in_max, float out_min, float

out_max) {
return (x - in_min) * (out_max - out_min) / (in_max - in_min) +

out_min;
void calculateCurrent(){
float val=analogRead(lm35_pin);
float voltage=fabs(fmap(val,0.0,1024.0,0.00,5.0)) ;
float amps=voltage*(10.0/3.7575);
Serial.print("current:");
Serial.print(amps);
Serial.print(";");
void getLocation(){
while(Serial.available()){
int c=Serial.read();
if(gps.encode(c)){
gps.f_get_position(&lat,&lon);

Serial.print("lat:");
Serial.print(lat);
Serial.print(";lon:");
Serial.println(lon);
Serial.print(";");
}//
void calculateDistance(){
digitalWrite(trig_pin,HIGH);
delayMicroseconds(10);
digitalWrite(trig_pin,LOW);
//delayMicroseconds(2);
// digitalRead(echo_pin,HIGH);
t=pulseIn(echo_pin,HIGH);
//Serial.println(t);
distance=(t*0.034)/2;
if(distance<30){
getLocation();

Serial.print("distance:");
Serial.print(distance);
Serial.print(";");
void calculateWireColor(){
color();
// Serial.print("R Intensity:");
// Serial.print(red, DEC);
// Serial.print(" G Intensity: ");
// Serial.print(green, DEC);
// Serial.print(" B Intensity : ");
// Serial.print(blue, DEC);
//Serial.println();
if (red < blue && red < green)
//Serial.println(" - (Red Color)");

digitalWrite(redLed, HIGH); // Turn RED LED ON
digitalWrite(greenLed, LOW);
digitalWrite(blueLed, LOW);
else if (blue < red && blue < green)
//Serial.println(" - (Blue Color)");
digitalWrite(redLed, LOW);
digitalWrite(blueLed, HIGH); // Turn BLUE LED ON
else if (green < red && green < blue)
//Serial.println(" - (Green Color)");
Serial.print("wireColor:rusty;");
digitalWrite(greenLed, HIGH); // Turn GREEN LED ON

else{
//Serial.println();
delay(300);
void checkWireColor(){
if (green < red && green < blue)
//Serial.println(" - (Green Color)");
digitalWrite(greenLed, HIGH); // Turn GREEN LED ON
Serial.print("wireColor:rusty;");
//Serial.print(green);

getLocation();
void color()
digitalWrite(s2, LOW);
digitalWrite(s3, LOW);
//count OUT, pRed, RED
red = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH);
//count OUT, pBLUE, BLUE
blue = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH);
//count OUT, pGreen, GREEN
green = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH);
CHAPTER 5

DISCUSSSION
5.1.Advantages:
The main advantage of high voltage transmission is that large amounts

of electricity can be transmitted at relatively low currents. This is why
high voltage transmission is used in the first place! High currents
require thicker cables since most energy is wasted as heat. Not only is
this inefficient, but it’s expensive; the cable used on transmission lines
isn’t cheap, so the smaller the diameter of the cable, the less expensive
it is. By using higher voltages, less current is needed, and thus smaller
conductors can be used, which economically makes sense.Of course,
high voltage transmission also has its disadvantages. While high voltage
alone isn’t dangerous, transmission lines are very dangerous,
considering the amount of electricity flowing through them. The high
voltage allows the electricity to energize the air surrounding the
conductor and causes it to “jump”, so even coming close to them is
extremely risky. This is why it is never a good idea to approach a
downed power line, especially if it’s energized. Because high voltage
enables the electricity to arc through air, transmission lines must be
properly insulated to prevent the electricity from “leaking” onto their
pylons. Another problem with high voltage transmission is the need for
transformers to step voltage up and down as needed. Transformers are
expensive, oil-filled, and can weigh more than 300–400 tons.
Transformers, like conductors, lose some energy as heat. The oil inside
them usually prevents them from overheating, but sometimes cooling
fins and/or external fans are needed to maintain the transformer’s
temperature. To prevent them from becoming overloaded, both the
primary (incoming) and secondary (outgoing) lines must be protected
by circuit breakers. These also protect the transformers from faults and
damaging surges should the line voltage exceed the transformer’s

insulation rating voltage. All in all, this apparatus is expensive and, like
anything else, requires regular maintainance.
CHAPTER 6

CONCLUSION
1. The system of power transmission lines monitoring is proposed. Original

construction of current and voltage sensor allows analyzing the wide
spectrum of PTL current and voltage parameters. Though the sensor was
designed to control insulation condition using partial discharge analysis;
2. The experimental research showed the possibility of PD registration using

the current and voltage sensor. The sensor’s construction allows recording
PD signals with high accuracy because of using resistive elements and fixing
the high frequency components of PD signals up to 20 MHz;
3. Using digital tools of data processing allows analyzing large data level to
transmit to the tools of automatic control systems of transformer
substation;
4. There is a possible inaccuracy of measurement during the process of

electric power accounting using the proposed sensor However, this issue
demands additional research to evaluate metrological characteristics of this
electric power accounting technique;
5. The power transmission line monitoring system is to be implemented in

digital substations to control the insulation condition.
CHAPTER 7
References:
[1] Journal on "Wireless Network Design for Transmission Line

Monitoring in Smart Grid " by Benazir Fateh, Manimaran Govindarasu,
Venkataramana Ajjarapu N.Kolban, Kolban’s Book on ESP32, USA:
Leanpub, 2017.
[2] Journal on "Inspection Robot Based Mobile Sensing and Power Line
Tracking for Smart Grid“ by Bat-erdene Byambasuren, Donghan Kim,
Mandakh Oyun-Erdene
[3] S.Chavhan, V.Barsagade, A.Dutta, S.Thakre., “ Fault Detection in

Power Line using Wireless Sensor Networks,” IPASJ International
Journal
of Electrical Engineering , vol. 3, issue 3, pp 8-13, March 2015.
[4] Electricity Sector in India,

https://en.wikipedia.org/wiki/Electricity_sector_in_India
[5] A.S.Pawar, S.J.Jamadar, P.C.Mandle, V.V.Chavan, V.S.Wadkar,

“Three
Phase Distribution Protection and Theft Detection System Using
Zigbee,”
International Journal of Industrial Electronics and Electrical Engineering,
vol. 4, issue 4, pp 6-11, April 2016.
[6] Dale A Douglass, William Christolm, Mohammed Pasha, “Real-Time

Overhead Transmission Line Monitoring for Dynamic Rating”, Article in
IEEE Transactions on Power Delivery · January 2014.

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High Power Transmission Line Monitoring Smart Robot

India relies heavily on electric power systems for industrial as well as

Department Of Electrical & Electronic Page 1

1.1. General Introduction :

Department Of Electrical & Electronic Page 2

In electrical utilities, transmission lines frame the spine of intensity

conditions. With the approach of worldwide situating framework (GPS)-

The primary preferred standpoint of GPS-based methods is that fault

With the need of increase power transfer transient and dynamic

1.2. Literature survey :

On 31 August 2018, the Indian utility electricity sector installed one

Department Of Electrical & Electronic Page 5

TITLE1: Inspection Robot Based Mobile Sensing and

YEAR: 19 February 2016

AUTHORS: Bat-erdene Byambasuren, Donghan Kim, Mandakh

Department Of Electrical & Electronic Page 6

TITLE2: Feasibility Study of Conversion of Double Circuit

AUTHORS: K.P. Basu ; H. Rahman

Long EHV ac lines cannot be loaded to its thermal limit to keep

TITLE3: Fault Detection in Overhead Power Transmission

YEAR: April 2016

Department Of Electrical & Electronic Page 7

Transmission of electricity through over head transmission lines is a

TITLE4: Real-Time Overhead Transmission-Line

AUTHORS:VDale Douglass ; William Chisholm ; Glenn Davidson ;

Department Of Electrical & Electronic Page 8

TITLE 5: FACTS-flexible AC transmission system

AUTHOR: N.G. Hingorani

1.3. Problem Statement :

To reduce the duration of outages and minimize response time to

practical nor efficient to manufacture a fault – free system. Different

Department Of Electrical & Electronic Page 10

2.1. Block Diagram

Ultrasonic Sensor L293D DC Motor BRUSH

Temp. Sensor DC Motor 1 wheel

Color Sensor Arduino L293D

Current Sensor DC Motor2 wheel

Department Of Electrical & Electronic Page 11

Department Of Electrical & Electronic Page 12

Department Of Electrical & Electronic Page 13

Department Of Electrical & Electronic Page 14

The hardware components used in our projects is listed below.

NodeMCU is an open source LUA based firmware developed for

NodeMCU Dev Kit/board consist of ESP8266 wifi enabled chip.

The Arduino microcontroller is an easy to use yet powerful single board

Fig: Schematic of Arduino

Department Of Electrical & Electronic Page 16

An important feature of the Arduino is that you can create a control

Department Of Electrical & Electronic Page 17

A temperature sensor is a device, usually an RTD (resistance

controls, food processing units, medical devices, chemical handling and

The most common type of temperature sensor is a thermometer, which

3.3.1.Types of Temperature Sensors

There are different types of temperature sensors that have sensing

Department Of Electrical & Electronic Page 19

Thermocouple sensor is the most commonly used temperature sensor

Department Of Electrical & Electronic Page 20

A voltage sensor is a sensor is used to calculate and monitor the

Department Of Electrical & Electronic Page 21

voltage sensor and current sensor techniques have become an

The advantage of voltage sensors include:

3.4.1.Types of Voltage Sensors

In this article, we can discuss in detail about voltage sensor. A voltage