{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,7]],"date-time":"2025-11-07T08:28:07Z","timestamp":1762504087844,"version":"build-2065373602"},"reference-count":20,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2016,2,19]],"date-time":"2016-02-19T00:00:00Z","timestamp":1455840000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>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.<\/jats:p>","DOI":"10.3390\/s16020250","type":"journal-article","created":{"date-parts":[[2016,2,19]],"date-time":"2016-02-19T11:29:39Z","timestamp":1455881379000},"page":"250","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":14,"title":["Inspection Robot Based Mobile Sensing and Power Line Tracking for Smart Grid"],"prefix":"10.3390","volume":"16","author":[{"given":"Bat-erdene","family":"Byambasuren","sequence":"first","affiliation":[{"name":"Department of Electric Technique, Mongolian University of Science and Technology, Ulaanbaatar 11000, Mongolia"}]},{"given":"Donghan","family":"Kim","sequence":"additional","affiliation":[{"name":"Department of Electronics and Radio Engineering, Kyung Hee University, Yongin-si 446-701, Korea"}]},{"given":"Mandakh","family":"Oyun-Erdene","sequence":"additional","affiliation":[{"name":"Department of Electric Technique, Mongolian University of Science and Technology, Ulaanbaatar 11000, Mongolia"}]},{"given":"Chinguun","family":"Bold","sequence":"additional","affiliation":[{"name":"Department of Electric Technique, Mongolian University of Science and Technology, Ulaanbaatar 11000, Mongolia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0832-8740","authenticated-orcid":false,"given":"Jargalbaatar","family":"Yura","sequence":"additional","affiliation":[{"name":"Department of Electronics and Radio Engineering, Kyung Hee University, Yongin-si 446-701, Korea"}]}],"member":"1968","published-online":{"date-parts":[[2016,2,19]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Park, J.J., Yang, L.T., and Lee, C. 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Available online: http:\/\/www.ncorr.com\/download\/publications\/eberlyleastsquares.pdf."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/16\/2\/250\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T19:19:22Z","timestamp":1760210362000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/16\/2\/250"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,2,19]]},"references-count":20,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2016,2]]}},"alternative-id":["s16020250"],"URL":"https:\/\/doi.org\/10.3390\/s16020250","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2016,2,19]]}}}