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

Información del proyecto

SIMAR

Identificador del acuerdo de subvención: 101070604

DOI

10.3030/101070604

Proyecto cerrado

Fecha de la firma de la CE 15 Junio 2022

Fecha de inicio 1 Septiembre 2022

Fecha de finalización 31 Agosto 2025

Financiado con arreglo a

• Digital, Industry and Space

Coste total

€ 3 414 147,84

Aportación de la UE

€ 2 999 725,00

Coordinado por

FUNDACION ANDALUZA PARA EL DESARROLLO AEROESPACIAL
Spain

CORDIS proporciona enlaces a los documentos públicos y las publicaciones de los proyectos de los programas marco HORIZONTE.

Los enlaces a los documentos y las publicaciones de los proyectos del Séptimo Programa Marco, así como los enlaces a algunos tipos de resultados específicos, como conjuntos de datos y «software», se obtienen dinámicamente de OpenAIRE .

Resultado final

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.

Publicaciones

Conference proceedings (15)

Foreground-Aware Knowledge Distillation for Enhanced Damage Detection

Autores: Pantelis Menteidis, Christos Papaioannidis, Ioannis Pitas
Publicado en: Lecture Notes in Computer Science, Computer Vision – ECCV 2024 Workshops, 2025
Editor: 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

Autores: Pantelis Mentesidis, Christos Papaioannidis, Ioannis Pitas
Publicado en: Proceedings of the 2025 3rd International Conference on Robotics, Control and Vision Engineering, 2025
Editor: ACM
DOI: 10.1145/3747393.3747397

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

Autores: A. González-Morgado, A. Ollero, G. Heredia
Publicado en: Lecture Notes in Networks and Systems, Robot 2023: Sixth Iberian Robotics Conference, 2024
Editor: 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

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

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

Autores: Pantelis Mentesidis, Christos Papaioannidis, Ioannis Pitas
Publicado en: 2024 IEEE International Conference on Acoustics, Speech, and Signal Processing Workshops (ICASSPW), 2024
Editor: IEEE
DOI: 10.1109/ICASSPW62465.2024.10627321

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

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

X-ray anomaly detection in industrial pipelines

Autores: Diamantis Rafail Papadam, Christos Papaioannidis, Alexandros Zamioudis, Ioannis Pitas
Publicado en: Seventeenth International Conference on Machine Vision (ICMV 2024), 2025
Editor: SPIE
DOI: 10.1117/12.3055016

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

Autores: Antonio González-Morgado, Anibal Ollero, Guillermo Heredia
Publicado en: Lecture Notes in Networks and Systems, Robot 2023: Sixth Iberian Robotics Conference, 2024
Editor: Springer Nature Switzerland
DOI: 10.1007/978-3-031-59167-9_2

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

Autores: Erofili Alexaki, Christos Papaioannidis, Vasileios Mygdalis, Ioannis Pitas
Publicado en: ICASSP 2025 - 2025 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), 2025
Editor: IEEE
DOI: 10.1109/ICASSP49660.2025.10889385

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

Autores: A. González-Morgado, G. Heredia, A. Ollero
Publicado en: Lecture Notes in Networks and Systems, Robot 2023: Sixth Iberian Robotics Conference, 2024
Editor: Springer Nature Switzerland
DOI: 10.1007/978-3-031-59167-9_44

Realistic Unmanned Aerial Vehicle Simulation: A Comprehensive Approach

Autores: David Tejero-Ruiz, Francisco J. Pérez-Gran, Antidio Viguria, Aníbal Ollero
Publicado en: 2024 7th Iberian Robotics Conference (ROBOT), 2024
Editor: IEEE
DOI: 10.1109/ROBOT61475.2024.10796915

A Unified DNN-Based System for Industrial Pipeline Segmentation

Autores: D. Psarras, C. Papaioannidis, V. Mygdalis and I. Pitas
Publicado en: IEEE International Conference on Acoustics, Speech and Signal Processing, Seoul, 2024, ISSN 2379-190X
Editor: IEEE

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

Autores: Saeed Rafee Nekoo, Jie Yao, Anibal Ollero
Publicado en: 2024 International Conference on Unmanned Aircraft Systems (ICUAS), 2024
Editor: IEEE
DOI: 10.1109/ICUAS60882.2024.10557127

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

Autores: J.I. Murillo, M.A. Montes, R. Zahinos, M.A. Trujillo, A. Viguria, G. Heredia
Publicado en: 2025 International Conference on Unmanned Aircraft Systems (ICUAS), 2025
Editor: IEEE
DOI: 10.1109/ICUAS65942.2025.11007803

Modelling and Control of a 5DoF Tilting Quadrotor

Autores: Antonio Gonzalez-Morgado, María Palmero, Aníbal Ollero, Guillermo Heredia
Publicado en: 2024 7th Iberian Robotics Conference (ROBOT), 2024
Editor: IEEE
DOI: 10.1109/ROBOT61475.2024.10796920

Peer reviewed articles (8)

Aerodynamic Interaction Minimization in Coaxial Multirotors via Optimized Control Allocation

Autores: Andrea Berra, Miguel Ángel Trujillo Soto, Guillermo Heredia
Publicado en: Drones, Edición 8, 2025, ISSN 2504-446X
Editor: MDPI AG
DOI: 10.3390/DRONES8090446

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

Autores: Ambar Garofano-Soldado, Guillermo Heredia, Anibal Ollero
Publicado en: Aerospace Science and Technology, Edición 142, 2023, ISSN 1270-9638
Editor: Elsevier BV
DOI: 10.1016/J.AST.2023.108672

Rotor-force controller for multirotors under aerodynamic interferences

Autores: Antonio Gonzalez-Morgado, Pedro J. Sanchez-Cuevas, Guillermo Heredia, Anibal Ollero
Publicado en: Aerospace Science and Technology, Edición 157, 2025, ISSN 1270-9638
Editor: Elsevier BV
DOI: 10.1016/J.AST.2024.109861

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

Autores: A. Gonzalez-Morgado, J. Soueidan, G. Heredia, A. Ollero, P. Fraisse, M. Tognon, M. Cognetti
Publicado en: IEEE Robotics and Automation Letters, Edición 10, 2025, ISSN 2377-3766
Editor: 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

Autores: F. Ruiz, B.C. Arrue, A. Ollero
Publicado en: IEEE Robotics and Automation Letters, Edición 8, 2024, ISSN 2377-3766
Editor: 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

Autores: Antonio Gonzalez-Morgado, Saeed Rafee Nekoo, Guillermo Heredia, Anibal Ollero
Publicado en: ISA Transactions, Edición 161, 2025, ISSN 0019-0578
Editor: Elsevier BV
DOI: 10.1016/J.ISATRA.2025.03.015

Aeroelastics-aware compensation system for soft aerial vehicle stabilization

Autores: Fernando Ruiz, Begoña C. Arrue, Aníbal Ollero
Publicado en: Frontiers in Robotics and AI, Edición 9, 2022, ISSN 2296-9144
Editor: 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

Autores: A. Garofano-Soldado, A. Gonzalez-Morgado, G. Heredia and A. Ollero
Publicado en: IEEE Robotics and Automation Letters, 2024, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/LRA.2024.3350975