Ahmad Bala Alhassan

TL;DR: Challenges such as limited on-board battery capacity, unreliable line fault detection, electromagnetic shielding, de-icing mechanism and advanced control techniques for external wind disturbance would be a promising future research direction for researchers in the field of robotic PTL inspection.

TL;DR: The dynamic behaviour of a nonlinear single link inverted pendulum-on-cart system based on Lagrange Equation is presented and LQR, double-PID and simple pole placement control techniques were proposed for upright stabilization and tracking controls of the system.

TL;DR: A lightweight dual-arm robot is developed and its robustness to wind disturbance on a lab-scale power line structure is investigated, demonstrating that there is little influence of the wind on the system; hence, the robot has been successfully designed and can be applied for power line inspection.

TL;DR: Simulation and real time experimental results have shown that ZVDDD with an average sway reduction of 88% has the highest level of sway reduction and robustness to modeling errors as compared to 85%, 80% and 65% for ZVDD, ZVD and ZV respectively.

TL;DR: In this paper, a non-linear and linear model of a gantry crane system based on the system parameters was derived using Lagrange equation followed by linearization using Taylor's series approximation MATLAB simulation results confirmed that the trolley displacement and payload oscillation are dependent on system parameters; cable length, payload mass and trolley mass.