Flying Robot Based Viewpoint Selection for the Electricity Transmission Equipment Inspection

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr class="thead"><td align="left"> </td><td align="center">
                
                Figure <a href="../fig11/#a">11(a)</a></td><td align="center">Figure <a href="../fig11/#b">11(b)</a></td><td align="center">Figure <a href="../fig11/#c">11(c)</a></td><td align="center">Figure <a href="../fig11/#d">11(d)</a></td></tr><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr><td align="left"><span style="width: 48.4754ptpx;"><svg height="13.2498pt" id="M99" style="vertical-align:-3.571899pt" version="1.1" viewbox="-0.0498162 -9.6779 48.4754 13.2498" width="48.4754pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M619 670C619 686 593 712 555 712S459 686 410 634S335 504 320 430H250L219 400L222 388H312L258 73C223 -133 201 -166 187 -180C175 -191 158 -199 140 -199C123 -199 88 -188 74 -172C68 -166 63 -164 54 -171C38 -185 23 -201 23 -215C23 -236 60 -261 93 -261C122 -261 161 -247 207 -200C268 -138 300 -71 337 94C365 220 376 277 394 387L501 399L521 430H401C432 623 464 665 501 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d="M380 106C343 72 306 56 265 56C195 56 116 112 115 248C235 252 361 262 377 265C396 269 400 277 400 297C400 374 333 449 250 449H249C198 449 144 421 103 376S37 269 37 201C37 88 109 -12 232 -12C263 -12 332 6 395 84L380 106ZM225 412C281 412 315 364 314 312C314 297 308 292 290 292C232 290 176 289 120 289C135 370 180 412 225 412Z" id="g190-102"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="425" vert-adv-y="425"></glyph.data></g></svg></span></td><td align="center">0.1668</td><td align="center">0.4653</td><td align="center">0.8170</td><td align="center">0.9181</td></tr><tr class="table-tr"><td colspan="5"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

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descent="-360" horiz-adv-x="425" vert-adv-y="425"></glyph.data></g></svg> of viewpoints for inspecting the flashover or contaminative insulators.

Mathematical Problems in Engineering

tab2

Table 2

Table 2: Flying Robot Based Viewpoint Selection for the Electricity Transmission Equipment Inspection 