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

Informazioni relative al progetto

SIMAR

ID dell’accordo di sovvenzione: 101070604

DOI

10.3030/101070604

Progetto chiuso

Data della firma CE 15 Giugno 2022

Data di avvio 1 Settembre 2022

Data di completamento 31 Agosto 2025

Finanziato da

• Digital, Industry and Space

Costo totale

€ 3 414 147,84

Contributo UE

€ 2 999 725,00

Coordinato da

FUNDACION ANDALUZA PARA EL DESARROLLO AEROESPACIAL
Spain

CORDIS fornisce collegamenti ai risultati finali pubblici e alle pubblicazioni dei progetti ORIZZONTE.

I link ai risultati e alle pubblicazioni dei progetti del 7° PQ, così come i link ad alcuni tipi di risultati specifici come dataset e software, sono recuperati dinamicamente da .OpenAIRE .

Risultati finali

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.

Pubblicazioni

Conference proceedings (15)

Foreground-Aware Knowledge Distillation for Enhanced Damage Detection

Autori: Pantelis Menteidis, Christos Papaioannidis, Ioannis Pitas
Pubblicato in: Lecture Notes in Computer Science, Computer Vision – ECCV 2024 Workshops, 2025
Editore: 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

Autori: Pantelis Mentesidis, Christos Papaioannidis, Ioannis Pitas
Pubblicato in: Proceedings of the 2025 3rd International Conference on Robotics, Control and Vision Engineering, 2025
Editore: ACM
DOI: 10.1145/3747393.3747397

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

Autori: A. González-Morgado, A. Ollero, G. Heredia
Pubblicato in: Lecture Notes in Networks and Systems, Robot 2023: Sixth Iberian Robotics Conference, 2024
Editore: 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

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

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

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

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

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

X-ray anomaly detection in industrial pipelines

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

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

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

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

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

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

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

Realistic Unmanned Aerial Vehicle Simulation: A Comprehensive Approach

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

A Unified DNN-Based System for Industrial Pipeline Segmentation

Autori: D. Psarras, C. Papaioannidis, V. Mygdalis and I. Pitas
Pubblicato in: IEEE International Conference on Acoustics, Speech and Signal Processing, Seoul, 2024, ISSN 2379-190X
Editore: IEEE

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

Autori: Saeed Rafee Nekoo, Jie Yao, Anibal Ollero
Pubblicato in: 2024 International Conference on Unmanned Aircraft Systems (ICUAS), 2024
Editore: IEEE
DOI: 10.1109/ICUAS60882.2024.10557127

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

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

Modelling and Control of a 5DoF Tilting Quadrotor

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

Peer reviewed articles (8)

Aerodynamic Interaction Minimization in Coaxial Multirotors via Optimized Control Allocation

Autori: Andrea Berra, Miguel Ángel Trujillo Soto, Guillermo Heredia
Pubblicato in: Drones, Numero 8, 2025, ISSN 2504-446X
Editore: MDPI AG
DOI: 10.3390/DRONES8090446

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

Autori: Ambar Garofano-Soldado, Guillermo Heredia, Anibal Ollero
Pubblicato in: Aerospace Science and Technology, Numero 142, 2023, ISSN 1270-9638
Editore: Elsevier BV
DOI: 10.1016/J.AST.2023.108672

Rotor-force controller for multirotors under aerodynamic interferences

Autori: Antonio Gonzalez-Morgado, Pedro J. Sanchez-Cuevas, Guillermo Heredia, Anibal Ollero
Pubblicato in: Aerospace Science and Technology, Numero 157, 2025, ISSN 1270-9638
Editore: Elsevier BV
DOI: 10.1016/J.AST.2024.109861

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

Autori: A. Gonzalez-Morgado, J. Soueidan, G. Heredia, A. Ollero, P. Fraisse, M. Tognon, M. Cognetti
Pubblicato in: IEEE Robotics and Automation Letters, Numero 10, 2025, ISSN 2377-3766
Editore: 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

Autori: F. Ruiz, B.C. Arrue, A. Ollero
Pubblicato in: IEEE Robotics and Automation Letters, Numero 8, 2024, ISSN 2377-3766
Editore: 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

Autori: Antonio Gonzalez-Morgado, Saeed Rafee Nekoo, Guillermo Heredia, Anibal Ollero
Pubblicato in: ISA Transactions, Numero 161, 2025, ISSN 0019-0578
Editore: Elsevier BV
DOI: 10.1016/J.ISATRA.2025.03.015

Aeroelastics-aware compensation system for soft aerial vehicle stabilization

Autori: Fernando Ruiz, Begoña C. Arrue, Aníbal Ollero
Pubblicato in: Frontiers in Robotics and AI, Numero 9, 2022, ISSN 2296-9144
Editore: 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

Autori: A. Garofano-Soldado, A. Gonzalez-Morgado, G. Heredia and A. Ollero
Pubblicato in: IEEE Robotics and Automation Letters, 2024, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/LRA.2024.3350975