Power delivery systems that use power lines can communicate with other electrical systems, monitor the quality of electrical energy and provide an economical solution for automatic meter reading (AMR). Energy meters can be connected to a low‐voltage power system by power line carriers for all consumers. Illegal electricity usage in the power delivery system can be easily detected if AMR is installed in the system, which consists of a terminal smart meter (TSM) and a gateway smart meter (GSM). This study proposes a novel remote detection method for illegal electricity usage that uses both TSM and GSM, where the TSM and the GSM are installed on the power system of each consumer and on the node of the power system feeder, respectively. TSM and GSM simultaneously disconnect an electrical source for a very short period of time. After this, the proposed detection method sends a low‐voltage signal with a high frequency from the TSM to the GSM during the time of disconnection. Once the signal has passed, the proposed detection method detects illegal electricity usage by measuring the amount of time it was disconnected. This study presents the structure of the proposed detection method as well as the mathematical model, proof, simulation and experimental results.

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.

This paper introduces a simple algorithm and design of shepherding multi-robot system. The article intends to show possibility of using multi-robot system for shepherding in Mongolia. Shepherding is an activity to guide or control a flocking behavior by one or more agents called as shepherds man. In general, a complex strategy is necessary for treating to a flock which has a lot of members. In the paper, two types of shepherding multi-robots are used to show their capability to herd the sheep. Furthermore, we designed a simple structure for shepherding multi-robot system and demonstrated an algorithm. Two types of multi-robot systems like corner mobile robots and sideline mobile robots are used for shepherding. Mobile robots are connected to each other and are controlled by the given algorithm. Mobile robots should be high mobility and be able to go through uneven road.