RoBot for Autonomous unDerGround trenchless opERations, mapping and navigation

Livrables

Data management plan II The Data Management Plan which is referring to the overall management curating access and treatment of the involved data of the project including deliverables publications and the data related to the usage of the components solution and those coming from the validation studies This will be an update of version I

Validation and testing requirements

The Deliverable D61 comprises the complete Validation plan including the timeline for the testing activities It also comprises the testing locations for the different soil conditions

Overall system functionalities and system specifications

The deliverable consists of two different parts System functionalities and overall system specifications The BADGER system functional and technical requirements will be presented and performance data will be defined

Use case analysis and user requirements

In this deliverable emblematic use cases for selected applications will be formulated Enduser analysis and user requirements will be elicited

Soil study and soil interaction with robotics system

This deliverable comprises the results of the soil study and the interaction with the robotic system undertaking the different soil conditions displaceable vs non displaceable and the different boring methods like soil displacement hammer and auger boring method used for the different soil conditions The main objective is the feasibility of the robot concept in the different soil conditions in respect to the boring and propulsion mechanism

Data Management Plan I

Data Management Plan I The Data Management Plan which is referring to the overall management curating access and treatment of the involved data of the project including deliverables publications and the data related to the usage of the components solution and those coming from the validation studies

Robot and control detailed interface and architecture definitions and integration plan

The deliverable will be formed by five main parts a conceptual intelligent robotic tunnelling system b hardware control architecture including detailed interfaces c software control architecture including detailed interfaces d communication specification and d learning system

Data management plan III

Data Management Plan III: The Data Management Plan which is referring to the overall management, curating access and treatment of the involved data of the project (including deliverables, publications and the data related to the usage of the components / solution and those coming from the validation studies). This will be an update of version II.

Development summary for the robot Ground Probing Radar

Development summary for the robot Ground Probing Radar: This will be issued by task 4.1 at M24 and reports on the development of all the components developed for the project, as the antennas, the control electronics, the transmitter and receiver, etc.

Data management system

Data management system: Develop frontend and backend of data management system

Ground Probing Radar System Prototype

Ground Probing Radar System Prototype: This deliverable represents the global output of all the design and integration efforts.

Telemanipulation system

Telemanipulation system: Demonstrate the telemanipulation, monitoring and visualization system. Interface with robotic device, demonstration of tele-manipulated propulsion and steering

BADGER Software system

BADGER Software system: This deliverable will demonstrate the integration and evaluation of the first complete software system of the BADGER robot.

FDIR system design

The design of the components of the FDIR system developed in Task 3.4 will be issued and reported on the completion of the task.

Web presence launch and communication templates
Nonlinear mathematical models and simulations of the BADGER robot’s kinematics and dynamics.

These will be developed in Task 32 Reports on the mathematical models forward simulation results and model validation will be provided A user manual for the software will be provided

Robot path and motion planning algorithms.

These will be developed in Task 3.1 and a report on the analysis and development will be provided.

Guidance system and motion control system design

These will be developed in Task 3.3. The design of basic motion control for the actuator systems will be issued. Advanced guidance system designs based on inverse simulation will be provided. Analysis and design of both will be reported.

Publications

Ground Penetrating Radar Image Processing Towards Underground Utilities Detection for Robotic Applications

Auteurs: Evangelos Skartados, Ioannis Kostavelis, Dimitrios Giakoumis, Alessandro Simi, Guido Manacorda, Dimosthenis Ioannidis, Dimitrios Tzovaras
Publié dans: 2018 International Conference on Control, Artificial Intelligence, Robotics & Optimization (ICCAIRO), Numéro 2018, 2018, Page(s) 27-31, ISBN 978-1-5386-9576-0
Éditeur: IEEE
DOI: 10.1109/iccairo.2018.00013

FDIR for a Biologically Inspired Trenchless Drilling Device

Auteurs: Thaleia Flessa, Kevin James Worrall, David Firstbrook, Euan McGookin, Douglas Thomson, Patrick Harkness
Publié dans: The 12th International UKACC Conference on Control, Sheffield, UK, 5-7 Sept 2018, Numéro 2018, 2018
Éditeur: UKACC

A Web-based HRI Interface for Teleoperation of Overground and Underground Robots

Auteurs: P. Vartholomeos, C. Papadopoulos, P. Marantos, G. Karras, I. Kostavelis, D. Giakoumis, B. Lanterchi, and D. Tzovaras,
Publié dans: 5th IEEE Smart World Congress, Leicester, UK, Aug 2019, Numéro 2019, 2019
Éditeur: IEEE

uSLAM Implementation for Autonomous Underground Robot

Auteurs: E. Menendez, S. M. de la Casa, M. Marín, C. Balaguer,
Publié dans: 5th IEEE Smart World Congress, Leicester, UK, Aug 2019, Numéro 2019, 2019
Éditeur: IEEE

Modelling and Control of a Biologically Inspired Trenchless Drilling Device

Auteurs: Kevin James Worrall, David Firstbrook, Thaleia Flessa, Euan McGookin, Douglas Thomson, Patrick Harkness
Publié dans: The 12th International UKACC Conference on Control, Sheffield, UK, 5-7 Sept 2018, Numéro 2018, 2018
Éditeur: UKACC

Surface Exploration with a Robot-Trailer System for Autonomous Subsurface Scanning

Auteurs: E. Tsiogas, I. Kostavelis, G. Kouros, A. Kargakos, D. Giakoumis, and D. Tzovaras
Publié dans: 5th IEEE Smart World Congress, Leicester, UK, Aug 2019, Numéro 8/2019, 2019
Éditeur: IEEE

Hybrid Geometric Similarity and Local Consistency Measure for GPR Hyperbola Detection

Auteurs: E. Skartados, I. Kostavelis, D. Giakoumis, D. Tzovaras
Publié dans: 12th International Conference on Computer Vision Systems (ICVS 2019), Thessaloniki, Greece, Sep 2019, Numéro 9/2019, 2019
Éditeur: ICVS

Badger project: GPR system design on board on a underground drilling robot

Auteurs: A. Simi, D. Pasculli, G. Manacorda
Publié dans: 10th International Workshop on Advanced Ground Penetrating Radar (IWAGPR 2019), Hague, The Netherlands, Sep 2019, Numéro 9/2019, 2019
Éditeur: IWAGPR

Ultrasonic Auger for Narrow-Gauge Borehole Drilling

Auteurs: David Firstbrook, Kevin James Worrall, Patrick Harkness, Thaleia Flessa, Euan McGookin, Douglas Thomson
Publié dans: The International Ultrasonics Symposium (IUS), 2018 IEEE International, Kobe, Japan, 22nd – 25th Oct 2018, Numéro 2018, 2018
Éditeur: IUS

Design and Implementation of a Control System for a Tunneling Robot

Auteurs: K. Worrall, D. Thomson, E. McGookin, P. Harkness, T. Flessa, C. Houston, M. Cebecauer
Publié dans: 5th IEEE Smart World Congress, Leicester, UK, Aug 2019, Numéro 2019, 2019
Éditeur: IEEE

Smart Perception System for SubSurface Robot Mapping: From Simulation to Actual System Realization

Auteurs: I. Kostavelis, D. Giakoumis, E. Skartados, A. Kargakos, and D. Tzovaras,
Publié dans: Cyber-enabled Intelligence, Numéro 2019, 2019
Éditeur: CRC Press (Taylor & Francis Group)

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