{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,22]],"date-time":"2026-04-22T20:31:57Z","timestamp":1776889917439,"version":"3.51.2"},"reference-count":41,"publisher":"MDPI AG","issue":"19","license":[{"start":{"date-parts":[[2020,9,26]],"date-time":"2020-09-26T00:00:00Z","timestamp":1601078400000},"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>With the rapid development of the social economy, high-voltage transmission lines as power supply infrastructure are increasing, subsequently presenting a new challenge to the effective monitoring of transmission lines. The dynamic sensor network integrated with robots can effectively solve the elastic monitoring of transmission lines, but the problems of real-time performance, energy consumption and economy of the network need to be solved. To solve this problem, a dynamic network deployment method based on the hybrid hierarchical network (HHN) is proposed to realize a low-cost, energy-saving and real-time dynamic sensing system for overhead high-voltage transmission lines. Through case analysis and simulation, combined with the vague set multi-attribute decision-making method (MADM) with scheme preference, the network deployment and optimization results under multi-parameter constraints are obtained.<\/jats:p>","DOI":"10.3390\/s20195521","type":"journal-article","created":{"date-parts":[[2020,9,28]],"date-time":"2020-09-28T08:02:58Z","timestamp":1601280178000},"page":"5521","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["A Robot Hybrid Hierarchical Network for Sensing Environmental Variables of a Smart Grid"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5271-6284","authenticated-orcid":false,"given":"Jiayang","family":"Liu","sequence":"first","affiliation":[{"name":"School of Power and Mechanical Engineering, Wuhan University, Wuhan 430072, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7994-0358","authenticated-orcid":false,"given":"Gongping","family":"Wu","sequence":"additional","affiliation":[{"name":"School of Power and Mechanical Engineering, Wuhan University, Wuhan 430072, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1196-5847","authenticated-orcid":false,"given":"Fei","family":"Fan","sequence":"additional","affiliation":[{"name":"School of Power and Mechanical Engineering, Wuhan University, Wuhan 430072, China"},{"name":"School of Mechanical Engineering and Automation, Wuhan Textile University, Wuhan 430073, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuxin","family":"Li","sequence":"additional","affiliation":[{"name":"School of Power and Mechanical Engineering, Wuhan University, Wuhan 430072, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,9,26]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Fan, F., Wu, G., Wang, M., Cao, Q., and Yang, S. (2018). Robot delay-tolerant sensor network for overhead transmission line monitoring. Appl. Sci., 8.","DOI":"10.3390\/app8060847"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Fan, F., Ji, Q., Wu, G., Wang, M., Ye, X., and Mei, Q. (2019). Dynamic barrier coverage in a wireless sensor network for smart grids. Sensors, 19.","DOI":"10.3390\/s19010041"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Fan, F., Wu, G., Wang, M., Cao, Q., and Yang, S. (2018). Multi-robot cyber physical system for sensing environmental variables of transmission line. Sensors, 18.","DOI":"10.3390\/s18093146"},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Qin, X., Wu, G., Lei, J., Fan, F., Ye, X., and Mei, Q. (2018). A Novel Method of Autonomous Inspection for Transmission Line based on Cable Inspection Robot LiDAR Data. Sensors, 18.","DOI":"10.3390\/s18020596"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"37601","DOI":"10.1109\/ACCESS.2019.2906751","article-title":"A fiber-wireless sensor networks QoS mechanism for smart grid applications","volume":"7","author":"Akerele","year":"2019","journal-title":"IEEE Access"},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Disyadej, T., Promjan, J., Poochinapan, K., Mouktonglang, T., Grzybowski, S., and Muneesawang, P. (2019, January 18\u201321). High Voltage Power Line Maintenance & Inspection by Using Smart Robotics. Proceedings of the IEEE Power & Energy Society Innovative Smart Grid Technologies Conference (ISGT), Washington, DC, USA.","DOI":"10.1109\/ISGT.2019.8791584"},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Disyadej, T., Promjan, J., Muneesawang, P., Poochinapan, K., and Grzybowski, S. (2019, January 19\u201323). Application in O&M Practices of Overhead Power Line Robotics. Proceedings of the IEEE PES GTD Grand International Conference and Exposition Asia (GTD Asia), Bangkok, Thailand.","DOI":"10.1109\/GTDAsia.2019.8715886"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"125","DOI":"10.4028\/www.scientific.net\/AMR.950.125","article-title":"A Design of WSN and EPON applied in online monitoring for transmission line","volume":"950","author":"Chen","year":"2014","journal-title":"Adv. Mater. Res."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Lazaropoulos, A.G. (2014). Wireless Sensor Network Design for Transmission Line Monitoring, Metering, and Controlling: Introducing Broadband over power lines-enhanced network model (BPLeNM). ISRN Power Eng., 2014.","DOI":"10.1155\/2014\/894628"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"3557","DOI":"10.1109\/TIE.2009.2039455","article-title":"Opportunities and challenges of wireless sensor networks in smart grid","volume":"57","author":"Gungor","year":"2010","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Ou, Q., Zhen, Y., Li, X., Zhang, Y., and Zeng, L. (2012, January 26\u201328). Application of internet of things in smart grid power transmission. Proceedings of the Third FTRA International Conference on Mobile, Ubiquitous, and Intelligent Computing, Vancouver, BC, Canada.","DOI":"10.1109\/MUSIC.2012.24"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"1021","DOI":"10.1109\/TPWRD.2006.886797","article-title":"Application of sensor network for secure electric energy infrastructure","volume":"22","author":"Len","year":"2007","journal-title":"IEEE Trans. Power Deliv."},{"key":"ref_13","unstructured":"Chen, J., Kher, S., and Somani, A.K. (2006, January 10\u201312). Energy efficient model for data gathering in structured multiclustered wireless sensor network. Proceedings of the IEEE International Performance Computing and Communications Conference, Phoenix, AZ, USA."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"237112","DOI":"10.22161\/ijaers.4.4.2","article-title":"Transmission line fault monitoring and identification system by using Internet of Things","volume":"4","author":"Suresh","year":"2017","journal-title":"Int. J. Adv. Eng. Res. Sci."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"1142","DOI":"10.1109\/TPWRD.2002.804015","article-title":"A new method for real-time monitoring of high-voltage transmission-line conductor sag","volume":"17","author":"Olsen","year":"2002","journal-title":"IEEE Trans. Power Deliv."},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Judge, M.A., Manzoor, A., Ahmed, F., Kazmi, S., Khan, Z.A., Qasim, U., and Javaid, N. (2017, January 5). Monitoring of Power Transmission Lines Through Wireless Sensor Networks in Smart Grid. Proceedings of the International Conference on Innovative Mobile and Internet Services in Ubiquitous Computing, Cham, Switzerland.","DOI":"10.1007\/978-3-319-61542-4_15"},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Buratti, C., and Verdone, R. (2008, January 22\u201325). A Hybrid Hierarchical Architecture: From a wireless sensor network to the fixed infrastructure. Proceedings of the 14th European Wireless Conference, Prague, Czech Republic.","DOI":"10.1109\/EW.2008.4623902"},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Hung, K.S., Lee, W.K., Li, V.O.K., Lui, K.S., Pong, P.W.T., Wong, K.K.Y., and Zhong, J. (2010, January 4\u20136). On wireless sensors communication for overhead transmission line monitoring in power delivery systems. Proceedings of the 2010 First IEEE International Conference on Smart Grid Communications, Gaithersburg, MD, USA.","DOI":"10.1109\/SMARTGRID.2010.5622059"},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Guo, Z., Ye, F., Guo, J., Liang, Y., Xu, G., Zhang, X., and Qian, Y. (2014, January 4\u20137). A wireless sensor network for monitoring smart grid transmission lines. Proceedings of the 23rd International Conference on Computer Communication and Networks (ICCCN), Shanghai, China.","DOI":"10.1109\/ICCCN.2014.6911790"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"580","DOI":"10.1109\/JCN.2016.000081","article-title":"Delay-constrained energy-efficient cluster-based multi-hop routing in wireless sensor networks","volume":"18","author":"Huynh","year":"2016","journal-title":"J. Commun. Netw."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"2572","DOI":"10.1109\/JSEN.2017.2672501","article-title":"A Wireless Sensor Network Border Monitoring System: Deployment Issues and Routing Protocols","volume":"17","author":"Hammoudeh","year":"2017","journal-title":"IEEE Sens. J."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"4058","DOI":"10.1109\/TIE.2016.2644604","article-title":"Cost-Efficient Placement of Communication Connections for Transmission Line Monitoring","volume":"64","author":"Kong","year":"2017","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"1076","DOI":"10.1109\/TSG.2013.2241796","article-title":"Wireless Network Design for Transmission Line Monitoring in Smart Grid","volume":"4","author":"Fateh","year":"2013","journal-title":"IEEE Trans. Smart Grid."},{"key":"ref_24","first-page":"653","article-title":"Optimal placement of cellular transceiver for transmission line monitoring using genetic algorithm","volume":"7","author":"Jeyanthi","year":"2017","journal-title":"Asian J. Res. Soc. Sci. Humanit."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"1130","DOI":"10.1109\/TSG.2012.2186596","article-title":"Efficient communication of sensors monitoring overhead transmission linesp","volume":"3","author":"Wu","year":"2012","journal-title":"IEEE Trans. Smart Grid."},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Mazur, K., Wydra, M., and Ksiezopolski, B. (2017). Secure and time-aware communication of wireless sensors monitoring overhead transmission lines. Sensors, 17.","DOI":"10.3390\/s17071610"},{"key":"ref_27","first-page":"798","article-title":"Hybrid Hierarchical Communication Network Optimal Placement for Transmission Line Online Monitoring in Smart Grid","volume":"11","author":"Yu","year":"2016","journal-title":"J. Commun."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"696","DOI":"10.1007\/s11036-018-1002-6","article-title":"Data aggregation point placement problem in neighborhood area networks of smart grid","volume":"23","author":"Wang","year":"2018","journal-title":"Mob. Netw. Appl."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"1209","DOI":"10.1002\/wcm.2594","article-title":"Design and analysis of a wireless monitoring network for transmission lines in smart grid","volume":"16","author":"Ye","year":"2016","journal-title":"Wirel. Commun Mob. Comput."},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"Zheng, L., Chen, S., Xiang, S., and Hu, Y. (2012, January 11\u201313). Research of architecture and application of Internet of Things for smart grid. Proceedings of the 2012 International Conference on Computer Science and Service System, IEEE, Nanjing, China.","DOI":"10.1109\/CSSS.2012.238"},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"6682","DOI":"10.1109\/TII.2019.2960440","article-title":"Fault Location Technology for Power System Based on Information about the Power Internet of Things","volume":"16","author":"Kong","year":"2019","journal-title":"IEEE Trans. Ind. Inf."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"107012","DOI":"10.1016\/j.tws.2020.107012","article-title":"Stress state and failure path of a tension tower in a transmission line under multiple loading conditions","volume":"157","author":"Fu","year":"2020","journal-title":"Thin-Walled Struct."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"660","DOI":"10.1109\/TWC.2002.804190","article-title":"An application-specific protocol architecture for wireless microsensor networks","volume":"1","author":"Heinzelman","year":"2002","journal-title":"IEEE Trans. Wirel. Commun."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"1585","DOI":"10.1109\/TFUZZ.2019.2918999","article-title":"A novel Z-network model based on Bayesian network and Z-number","volume":"28","author":"Jiang","year":"2019","journal-title":"IEEE Trans. Fuzzy Syst."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"145","DOI":"10.1016\/j.ins.2018.01.036","article-title":"A new multiple attribute decision making method based on linear programming methodology and novel score function and novel accuracy function of interval-valued intuitionistic fuzzy values","volume":"438","author":"Wang","year":"2018","journal-title":"Inf. Sci."},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"1167","DOI":"10.1109\/TEVC.2009.2021467","article-title":"Approximating the set of pareto-optimal solutions in both the decision and objective spaces by an estimation of distribution algorithm","volume":"13","author":"Zhou","year":"2009","journal-title":"IEEE Trans. Evol. Comput."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"28","DOI":"10.1109\/MCI.2006.1597059","article-title":"Evolutionary multi-objective optimization: A historical view of the field","volume":"1","author":"Coello","year":"2006","journal-title":"IEEE Comput. Intell. Mag."},{"key":"ref_38","unstructured":"Eberhart, R., and Kennedy, J. (1995, January 4\u20136). A new optimizer using particle swarm theory. Proceedings of the Sixth International Symposium on Micro Machine and Human Science, Nagoya, Japan."},{"key":"ref_39","unstructured":"Shi, Y., and Eberhart, R. (1998, January 4\u20139). A modified particle swarm optimizer. Proceedings of the IEEE international conference on evolutionary computation proceedings. IEEE world congress on computational intelligence (Cat. No. 98TH8360), Anchorage, AK, USA."},{"key":"ref_40","doi-asserted-by":"crossref","first-page":"180","DOI":"10.1109\/TEVC.2015.2443001","article-title":"Balancing convergence and diversity in decomposition-based many-objective optimizers","volume":"20","author":"Yuan","year":"2015","journal-title":"IEEE Trans. Evolut. Comput."},{"key":"ref_41","doi-asserted-by":"crossref","unstructured":"Deb, K., Agrawal, S., Pratap, A., and Meyarivan, T. (2000). A fast elitist non-dominated sorting genetic algorithm for multi-objective optimization: NSGA-II. Proceedings of the International Conference on Parallel Problem Solving from Nature, Springer.","DOI":"10.1007\/3-540-45356-3_83"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/19\/5521\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T10:14:02Z","timestamp":1760177642000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/19\/5521"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,9,26]]},"references-count":41,"journal-issue":{"issue":"19","published-online":{"date-parts":[[2020,10]]}},"alternative-id":["s20195521"],"URL":"https:\/\/doi.org\/10.3390\/s20195521","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,9,26]]}}}