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HYbrid FLying-rollIng with-snakE-aRm robot for contact inSpection

Objective

HYFLIERS will develop two prototypes for the first worldwide hybrid aerial/ground robot with a hyper-redundant lightweight robotic articulated arm equipped with an inspection sensor, together with supporting services for efficient and safe inspection in industrial sites. Energy savings will be achieved by minimizing the time of flight and by performing the inspection while attached to the pipe. To ensure accurate positioning, guidance, landing and rolling on constrained surfaces such as pipes, the robot will rely on a control system also integrating environment perception, particularly for landing on the pipes, and aerodynamic control taking into account aerodynamic effects of the pipes. The system will also have multi-media interfaces for teleoperation, automatic collision detection and avoidance; a trajectory planning system that will take into account aerodynamic effects in addition to kinematic and dynamic models; and a mission planning system to optimize the use of the robot in the inspection. The technology results will be validated in the inspection of pipes, which is a very relevant short-term application. HYFLIERS will decrease the cost and risks of current human inspection in production plants, such as oil and gas, where it is estimated that about 50 000 pipe thickness measurement points are needed within a 3 to 5 years interval. HYFLIERS will eliminate the risks of accidental falls and the cost associated to the use of man-lifts, cranes, scaffold or rope access, which is many orders of magnitude larger than the measurement cost by itself. Taking into account that about 60% to 75% of inspection costs in this type of facilities is dedicated to ultrasonic thickness measurements, the project will concentrate on these measurements. The results of the project could be also applied to other industrial scenarios, such as power generation plants.

Call for proposal

H2020-ICT-2017-1
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Coordinator

OULUN YLIOPISTO
Address
Pentti Kaiteran Katu 1
90014 Oulu
Finland
Activity type
Higher or Secondary Education Establishments
EU contribution
€ 773 000

Participants (7)

UNIVERSIDAD DE SEVILLA
Spain
EU contribution
€ 647 420
Address
Calle S. Fernando 4
41004 Sevilla
Activity type
Higher or Secondary Education Establishments
CHEVRON ORONITE SAS
France
EU contribution
€ 297 500
Address
1 Rue Eugene Et Armand Peugeot Le Corosa Cs
92508 Rueil Malmaison
Activity type
Private for-profit entities (excluding Higher or Secondary Education Establishments)
TOTAL S.A.
France
EU contribution
€ 196 875
Address
Place Jean Millier 2
92400 Courbevoie
Activity type
Private for-profit entities (excluding Higher or Secondary Education Establishments)
C.R.E.A.T.E. CONSORZIO DI RICERCA PER L'ENERGIA L AUTOMAZIONE E LE TECNOLOGIE DELL'ELETTROMAGNETISMO
Italy
EU contribution
€ 566 250
Address
Via Claudio 21
80125 Napoli
Activity type
Research Organisations
FUNDACION ANDALUZA PARA EL DESARROLLO AEROESPACIAL
Spain
EU contribution
€ 568 687,50
Address
Calle Wilbur Y Orville Wright Num 17, Parque Aerop
41039 La Rinconada Sevilla
Activity type
Research Organisations
WAYGATE TECHNOLOGIES ROBOTICS AG
Switzerland
EU contribution
€ 641 787,50
Address
Technoparkstrasse 1
8005 Zurich
Activity type
Private for-profit entities (excluding Higher or Secondary Education Establishments)
DASEL SL
Spain
EU contribution
€ 205 500
Address
Cl Doctor Esquerdo 39
28028 Madrid
Activity type
Private for-profit entities (excluding Higher or Secondary Education Establishments)