Safe Inspection and Maintenance supporting workers with modular robots, Artificial intelligence, and augmented Reality

Project Information

SIMAR

Grant agreement ID: 101070604

DOI

10.3030/101070604

Project closed

EC signature date 15 June 2022

Start date 1 September 2022

End date 31 August 2025

Funded under

• Digital, Industry and Space

Total cost

€ 3 414 147,84

EU contribution

€ 2 999 725,00

Coordinated by

FUNDACION ANDALUZA PARA EL DESARROLLO AEROESPACIAL
Spain

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

Demonstrators, pilots, prototypes (1)

Review of the pilot preparation

Activities performed to prepare the pilot in the operational petrochemical facility.

Documents, reports (7)

Final Dissemination Report

This report describes dissemination activities including the engagement of SIMAR stakeholders during the complete duration of the project.

Pilot demonstration and evaluation

Report of the demonstration in the operational petrochemical facility and the evaluation of SIMAR.

Impact assessment report against SoEL requirements

This report will integrate the results of the different impact assessments (data protection and privacy, ethical, and liability) and will also include recommendations on how to improve SIMAR developments on these topics.

Mid-term Dissemination Report

This report describes dissemination activities including the engagement of SIMAR stakeholders in the first period of the project.

Principles for impact assessment of SIMAR against SoEL requirements

This deliverable will describe the different principles to be used for impact assessment related to Societal, Ethical, and Legal requirements.

Autonomous robotics functionalities and teleoperations in complex environments

Complete description and validation of each autonomous functionality of each robot before integration.

Artificial Intelligence methods for reducing inspector workload and level of stress

Report of the artificial intelligence functionalities developed during T4.1.

Publications

Conference proceedings (15)

Foreground-Aware Knowledge Distillation for Enhanced Damage Detection

Author(s): Pantelis Menteidis, Christos Papaioannidis, Ioannis Pitas
Published in: Lecture Notes in Computer Science, Computer Vision – ECCV 2024 Workshops, 2025
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-92805-5_7

Bridging the Gap: Sequential Fine-Tuning for Improved Damage Detection in Sparse Data Scenarios

Author(s): Pantelis Mentesidis, Christos Papaioannidis, Ioannis Pitas
Published in: Proceedings of the 2025 3rd International Conference on Robotics, Control and Vision Engineering, 2025
Publisher: ACM
DOI: 10.1145/3747393.3747397

Control Framework for Take-Off of UAVs with Suspended Load in Pipeline Inspection

Author(s): A. González-Morgado, A. Ollero, G. Heredia
Published in: Lecture Notes in Networks and Systems, Robot 2023: Sixth Iberian Robotics Conference, 2024
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-59167-9_1

Petrochemical Industry Aerial Robotic Inspection: A Novel Concept for Landing and Deploying Robots on Pipes

Author(s): Marco A. Montes-Grova, Jaime Ortuño-Conde, David Tejero-Ruiz, Jesús Olmedo-Pradas, Francisco J. Pérez-Gran, Miguel A. Trujillo-Soto, Antidio Viguria
Published in: 2024 International Conference on Unmanned Aircraft Systems (ICUAS), 2024
Publisher: IEEE
DOI: 10.1109/ICUAS60882.2024.10556863

Advancing Industrial Inspection: A Dataset for Automated Damage Detection in Insulated Pipes

Author(s): Pantelis Mentesidis, Christos Papaioannidis, Ioannis Pitas
Published in: 2024 IEEE International Conference on Acoustics, Speech, and Signal Processing Workshops (ICASSPW), 2024
Publisher: IEEE
DOI: 10.1109/ICASSPW62465.2024.10627321

Semi-Autonomous Interaction Framework for Contact-Based Operations with Commercial UAVs IN GNSS-Denied Environments

Author(s): A. González-Morgado, Q. Zhang, G. Damigos, E. Cuniato, T. Hui, E. Sahin, G. Nikolakopoulos, R. Siegwart, M. Fumagalli, A. Ollero, G. Heredia
Published in: 2025 International Conference on Unmanned Aircraft Systems (ICUAS), 2025
Publisher: IEEE
DOI: 10.1109/ICUAS65942.2025.11007825

X-ray anomaly detection in industrial pipelines

Author(s): Diamantis Rafail Papadam, Christos Papaioannidis, Alexandros Zamioudis, Ioannis Pitas
Published in: Seventeenth International Conference on Machine Vision (ICMV 2024), 2025
Publisher: SPIE
DOI: 10.1117/12.3055016

Control Barrier Functions in Multirotors: A Safety Filter for Obstacle Avoidance

Author(s): Antonio González-Morgado, Anibal Ollero, Guillermo Heredia
Published in: Lecture Notes in Networks and Systems, Robot 2023: Sixth Iberian Robotics Conference, 2024
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-59167-9_2

Padnet: a Patch-Based Anomaly Detection Framework for Industrial Pipeline Damage Detection

Author(s): Erofili Alexaki, Christos Papaioannidis, Vasileios Mygdalis, Ioannis Pitas
Published in: ICASSP 2025 - 2025 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), 2025
Publisher: IEEE
DOI: 10.1109/ICASSP49660.2025.10889385

An Open-Source, Low-Cost UAV Testbench for Educational Purposes

Author(s): A. González-Morgado, G. Heredia, A. Ollero
Published in: Lecture Notes in Networks and Systems, Robot 2023: Sixth Iberian Robotics Conference, 2024
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-59167-9_44

Realistic Unmanned Aerial Vehicle Simulation: A Comprehensive Approach

Author(s): David Tejero-Ruiz, Francisco J. Pérez-Gran, Antidio Viguria, Aníbal Ollero
Published in: 2024 7th Iberian Robotics Conference (ROBOT), 2024
Publisher: IEEE
DOI: 10.1109/ROBOT61475.2024.10796915

A Unified DNN-Based System for Industrial Pipeline Segmentation

Author(s): D. Psarras, C. Papaioannidis, V. Mygdalis and I. Pitas
Published in: IEEE International Conference on Acoustics, Speech and Signal Processing, Seoul, 2024, ISSN 2379-190X
Publisher: IEEE

Finite-Time and Infinite-Time Horizon State-Dependent Riccati Equation for Swinging-Up and Control of a Rotary Drone Pendulum

Author(s): Saeed Rafee Nekoo, Jie Yao, Anibal Ollero
Published in: 2024 International Conference on Unmanned Aircraft Systems (ICUAS), 2024
Publisher: IEEE
DOI: 10.1109/ICUAS60882.2024.10557127

Simplifying Autonomous Aerial Operations: LUCAS, a Lightweight Framework for UAV Control and Supervision

Author(s): J.I. Murillo, M.A. Montes, R. Zahinos, M.A. Trujillo, A. Viguria, G. Heredia
Published in: 2025 International Conference on Unmanned Aircraft Systems (ICUAS), 2025
Publisher: IEEE
DOI: 10.1109/ICUAS65942.2025.11007803

Modelling and Control of a 5DoF Tilting Quadrotor

Author(s): Antonio Gonzalez-Morgado, María Palmero, Aníbal Ollero, Guillermo Heredia
Published in: 2024 7th Iberian Robotics Conference (ROBOT), 2024
Publisher: IEEE
DOI: 10.1109/ROBOT61475.2024.10796920

Peer reviewed articles (8)

Aerodynamic Interaction Minimization in Coaxial Multirotors via Optimized Control Allocation

Author(s): Andrea Berra, Miguel Ángel Trujillo Soto, Guillermo Heredia
Published in: Drones, Issue 8, 2025, ISSN 2504-446X
Publisher: MDPI AG
DOI: 10.3390/DRONES8090446

Aerodynamic interactions of non-planar rotor pairs and model derivation in ground approach

Author(s): Ambar Garofano-Soldado, Guillermo Heredia, Anibal Ollero
Published in: Aerospace Science and Technology, Issue 142, 2023, ISSN 1270-9638
Publisher: Elsevier BV
DOI: 10.1016/J.AST.2023.108672

Rotor-force controller for multirotors under aerodynamic interferences

Author(s): Antonio Gonzalez-Morgado, Pedro J. Sanchez-Cuevas, Guillermo Heredia, Anibal Ollero
Published in: Aerospace Science and Technology, Issue 157, 2025, ISSN 1270-9638
Publisher: Elsevier BV
DOI: 10.1016/J.AST.2024.109861

A Nonlinear MPC for Physical Human-Aerial Robot Interaction in Collaborative Transportation Tasks

Author(s): A. Gonzalez-Morgado, J. Soueidan, G. Heredia, A. Ollero, P. Fraisse, M. Tognon, M. Cognetti
Published in: IEEE Robotics and Automation Letters, Issue 10, 2025, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2025.3597854

Bio-Inspired Deformable Propeller Concept for Smooth Human-UAV Interaction and Efficient Thrust Generation

Author(s): F. Ruiz, B.C. Arrue, A. Ollero
Published in: IEEE Robotics and Automation Letters, Issue 8, 2024, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2023.3268045

Bidirectional-thruster multirotor for perimeter pipe inspections (BiMPPI): A nonlinear optimal integral-SDRE design

Author(s): Antonio Gonzalez-Morgado, Saeed Rafee Nekoo, Guillermo Heredia, Anibal Ollero
Published in: ISA Transactions, Issue 161, 2025, ISSN 0019-0578
Publisher: Elsevier BV
DOI: 10.1016/J.ISATRA.2025.03.015

Aeroelastics-aware compensation system for soft aerial vehicle stabilization

Author(s): Fernando Ruiz, Begoña C. Arrue, Aníbal Ollero
Published in: Frontiers in Robotics and AI, Issue 9, 2022, ISSN 2296-9144
Publisher: Frontiers Media SA
DOI: 10.3389/FROBT.2022.1005620

Assessment and Modeling of the Aerodynamic Ground Effect of a Fully-Actuated Hexarotor with Tilted Propellers

Author(s): A. Garofano-Soldado, A. Gonzalez-Morgado, G. Heredia and A. Ollero
Published in: IEEE Robotics and Automation Letters, 2024, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2024.3350975