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

Risultati finali

Visual-force control techniques of a hybrid mobile-aerial platform endowed with a robotic arm for au-tonomous inspection with physical interaction

Visualforce control techniques of a hybrid mobileaerial platform endowed with a robotic arm for autonomous inspection with physical interaction

Human-friendly remote-control modalities and in-terfaces of a hyper-redundant robotic arm

Humanfriendly remotecontrol modalities and interfaces of a hyperredundant robotic arm

Navigation support system and operator interface

Navigation support system and operator interface PUCO An optional CO version may also be delivered to include CO material that could not be included in the PU version

Support platform and services

Support platform and services PUCO An optional CO version may also be delivered to include CO material that could not be included in the PU version

Measurement data management service and path planning algorithm

Measurement data management service and path planning algorithm PUCO An optional CO version may also be delivered to include CO material that could not be included in the PU version

Results of the preliminary testing of the integrated system
Dissemination and exploitation plan

Dissemination and exploitation plan. PU+CO: An optional CO version may also be delivered to include CO material that could not be included in the PU version.

Dissemination and exploitation final report

Dissemination and exploitation final report PURE An optional RE version may also be delivered to include RE material that could not be included in the PU version

Prototype HMR test protocol, test report, data analysis and conclusions

Prototype HMR test protocol test report data analysis and conclusions PURE An optional RE version may also be delivered to include RE material that could not be included in the PU version

Dissemination and exploitation report P2

Dissemination and exploitation report P2 PUCO An optional CO version may also be delivered to include CO material that could not be included in the PU version

Dissemination and exploitation report P1, and plan update

Dissemination and exploitation report P1 and plan update PUCO An optional CO version may also be delivered to include CO material that could not be included in the PU version

Design of the hybrid robot

Detailed design of the hybrid robots

Prototype HRA test protocol, test report, data analysis and conclusions

Prototype HRA test protocol test report data analysis and conclusions PURE An optional RE version may also be delivered to include RE material that could not be included in the PU version

Project presentation

Prototypes of the hybrid robots

Prototypes of the hybrid robots. PU+CO: An optional CO version may also be delivered to include CO material that could not be included in the PU version.

Hybrid robotic system

Hybrid robotic system. PU+CO: An optional CO version may also be delivered to include CO material that could not be included in the PU version.

Lightweight hyper-redundant robotic arm for aerial inspection tasks

Lightweight hyper-redundant robotic arm for aerial inspection tasks. PU+CO: An optional CO version may also be delivered to include CO material that could not be included in the PU version.

Data management plan

Data management plan according to the Pilot on Open Research Data in Horizon 2020ORDP CO M6 An optional CO version may also be delivered to include CO material that could not be included in the PU version

Pubblicazioni

Gravity compensation and optimal control of actuated multibody system dynamics

Autori: S. R. Nekoo, J. Á. Acosta and A. Ollero
Pubblicato in: IET Control Theory Appl, Numero Vol. 16, pp. 79-93, 2022, ISSN 1751-8652
Editore: The Institution of Engineering and Technology
DOI: 10.1049/cth2.12206

Aerial Manipulator with Rolling Base for Inspection of Pipe Arrays

Autori: Suarez, A. Caballero, A. Garofano, P. J. Sanchez-Cuevas, G. Heredia and A. Ollero
Pubblicato in: IEEE Access, 2020, ISSN 2169-3536
Editore: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2020.3021126

Soft-Tentacle Gripper for Pipe Crawling to Inspect Industrial Facilities Using UAVs

Autori: F.J. Garcia Rubiales, P. Ramon Soria, B.C. Arrue and A. Ollero
Pubblicato in: Sensors, 2021, ISSN 1424-8220
Editore: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21124142

Autonomous 3D Exploration of Large Structures Using an UAV Equipped with a 2D LIDAR.

Autori: Margarida Faria; Antonio Sergio Ferreira; Hector Perez-Leon; Ivan Maza; Antidio Viguria
Pubblicato in: Sensors, Numero 15, 2019, ISSN 1424-8220
Editore: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s19224849

Quaternion-based state-dependent differential Riccati equation for quadrotor drones: Regulation control problem in aerobatic flight

Autori: S. R. Nekoo, J. Á. Acosta and A. Ollero
Pubblicato in: Robotica, 2022, ISSN 0263-5747
Editore: Cambridge University Press
DOI: 10.1017/s0263574722000091

An Aerodynamic Extension for Motion Planning with Dynamics Awareness in Aerial Long-Reach Manipulators

Autori: A. Caballero, P. J. Sanchez-Cuevas, M. Bejar, G. Heredia, M. A. Trujillo and A. Ollero
Pubblicato in: International Journal of Aerospace Engineering, 2020, ISSN 1687-5974
Editore: Hindawi
DOI: 10.1155/2020/6348035

A PD-Type State-Dependent Riccati Equation with Iterative Learning Augmentation for Mechanical Systems

Autori: S. R. Nekoo, J. Á. Acosta, G. Heredia and A. Ollero
Pubblicato in: IEEE/CAA Journal of Automatica Sinica, 2022, ISSN 2329-9266
Editore: IEEE

Nonlinear Model Predictive Control for the Stabilization of a Wheeled Unmanned Aerial Vehicle on a Pipe

Autori: Suping Zhao; Fabio Ruggiero; Giuseppe Andrea Fontanelli; Vincenzo Lippiello; Zhanxia Zhu; Bruno Siciliano
Pubblicato in: IEEE ROBOTICS AND AUTOMATION LETTERS, Numero 11, 2019, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2019.2931821

High-Level Modular Autopilot Solution for Fast Prototyping of Unmanned Aerial Systems

Autori: Carlos Rodríguez de Cos; Manuel J. Fernandez; Pedro J. Sanchez-Cuevas; José Ángel Acosta; Anibal Ollero
Pubblicato in: IEEE Access, Numero 15, 2020, ISSN 2169-3536
Editore: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2020.3044098

SOPHIE: Soft and Flexible Aerial Vehicle for Physical Interaction with the Environment

Autori: F. Ruiz, B. C. Arrue and A. Ollero
Pubblicato in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3196768

Robust Visual Localization of a UAV Over a Pipe-Rack Based on the Lie Group SE(3)

Autori: Vincenzo Lippiello; Jonathan Cacace
Pubblicato in: IEEE Robotics and Automation Letters, Numero 1, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2021.3125039

Geometric control using the state-dependent Riccati equation: application to aerial-acrobatic maneuvers

Autori: S. R. Nekoo, J. Á. Acosta and A. Ollero
Pubblicato in: International Journal of Control, 2022, ISSN 0020-7179
Editore: Taylor & Francis
DOI: 10.1080/00207179.2021.1881165

A 3D-Printable Docking System for Aerial Robots: Controlling Aerial Robotic Manipulators in Outdoor Industrial Applications

Autori: Pablo Ramon Soria, B.C. Arrue, Anibal Ollero
Pubblicato in: IEEE Robotics & Automation Magazine, Numero 26/1, 2019, Pagina/e 44-53, ISSN 1070-9932
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/MRA.2018.2884744

6D pose task trajectory tracking for a class of 3D aerial manipulator from differential flatness

Autori: Yushu Yu, Vincenzo Lippiello
Pubblicato in: IEEE Access, Numero vol. 7, Apr., 2019, ISSN 2169-3536
Editore: Institute of Electrical and Electronics Engineers Inc.

Aerial Manipulation: A Literature Review

Autori: Fabio Ruggiero, Vincenzo Lippiello, Anibal Ollero
Pubblicato in: IEEE Robotics and Automation Letters, Numero 3/3, 2018, Pagina/e 1957-1964, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2018.2808541

A benchmark mechatronics platform to assess the inspection around pipes with variable pitch quadrotor for industrial sites

Autori: S. R. Nekoo, J. Á. Acosta, G. Heredia and A. Ollero
Pubblicato in: Mechatronics, 2021, ISSN 0957-4158
Editore: Pergamon Press Ltd.
DOI: 10.1016/j.mechatronics.2021.102641

Cartesian Aerial Manipulator with Compliant Arm

Autori: Suarez, M. Perez, G. Heredia and A. Ollero
Pubblicato in: Applied Sciences, 2021, ISSN 2076-3417
Editore: MDPI
DOI: 10.3390/app11031001

Soft-Landing of Multi-Rotor Drones using a Robust Nonlinear Control and Wind Modeling

Autori: Nekoo, S. R.; Acosta, J. A.; Heredia, G.; Ollero, A.
Pubblicato in: Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Numero 14, 2021
Editore: ICUAS
DOI: 10.5281/zenodo.4916555

Robotic Inspection of Oil and Gas Plants by Hybrid Unmanned Vehicle and Mobile Ground Support Platform

Autori: Roning, Juha; Celentano, Ulrico
Pubblicato in: Proceedings of the XXth Conference of Open Innovations Association FRUCT, Vol 30, Iss 2, Pp 406-408 (2021), Numero 6, 2021
Editore: FRUCT
DOI: 10.5281/zenodo.5639789

MHYRO: Modular HYbrid RObot for contact inspection and maintenance in oil & gas plants

Autori: A. Lopez-Lora; Pedro J. Sanchez-Cuevas; Alejandro Suarez; A. Garofano-Soldado; Anibal Ollero; Guillermo Heredia
Pubblicato in: IROS, Numero 13, 2020
Editore: IEEE
DOI: 10.1109/iros45743.2020.9341639

Ground Support for Drone-based Industrial Inspections

Autori: Ulrico Celentano; Marko Kauppinen; Juha Röning
Pubblicato in: Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Numero 8, 2021
Editore: IEEE
DOI: 10.1109/airpharo52252.2021.9571042

Positioning System for Pipe Inspection with Aerial Robots Using Time of Flight Sensors

Autori: M. Perez, A. Suarez, G. Heredia and A. Ollero
Pubblicato in: Iberian Robotics Conference (ROBOT), 2019, ISSN 2194-5365
Editore: Springer
DOI: 10.1007/978-3-030-35990-4_2

Spherical fully covered UAV with autonomous indoor localization

Autori: A. Ramos, P. J. Sanchez-Cuevas, G. Heredia and A. Ollero
Pubblicato in: Iberian Robotics Conference (ROBOT), 2019
Editore: Springer
DOI: 10.1007/978-3-030-35990-4_29

A flexible propelled arm: Mechanical considerations for the use in UAVs

Autori: F. Ruiz, B. Arrue and A. Ollero,
Pubblicato in: International Conference on Unmanned Aircraft Systems (ICUAS), 2022
Editore: ICUAS Association
DOI: 10.1109/icuas54217.2022.9836149

Optimized Thrust Allocation of Variable-pitch Propellers Quadrotor Control: A Comparative Study on Flip Maneuver

Autori: S. R. Nekoo, J. Á. Acosta, A. E. Gomez-Tamm and A. Ollero
Pubblicato in: RED-UAS, 2019
Editore: IEEE
DOI: 10.1109/reduas47371.2019.8999681

Hybrid flying-rolling with snake arm robot for oil and gas plant inspection: The HYFLIERS H2020 project

Autori: Juha Röning
Pubblicato in: IEEE International Conference on Robotics and Automation (ICRA), Workshop on Aerial Robotic Inspection and Maintenance: Research Challenges, Field Experience and Industry Needs., Numero 25 May, 2018
Editore: IEEE

Autonomous landing on pipes using soft gripper for inspection and maintenance in outdoor environments - Green Open Access. - Embargo: 0 - Peer-reviewed? YES - Public-private publication? NO - Type: Conference proceedings - Publisher: IEEE

Autori: Ramon-Soria P, Gomez-Tamm AE, Garcia-Rubiales FJ, Arrue BC, Ollero A
Pubblicato in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numero Nov, 2019
Editore: IEEE

On the use of velocity adaptation to outperform the motion planning with dynamics awareness in aerial long-reach manipulators with two arms

Autori: A. Caballero, M. Bejar, A. Ollero
Pubblicato in: 2018 International Conference on Unmanned Aircraft Systems (ICUAS), 2018, Pagina/e 1125-1133, ISBN 978-1-5386-1354-2
Editore: IEEE
DOI: 10.1109/ICUAS.2018.8453392

Multirotor aerodynamic effects close to obstacles: Modelling and mapping

Autori: Sanchez-Cuevas PJ, Martín V, Heredia G, Ollero A
Pubblicato in: ROBOT Iberian Robotics Conference, Numero Nov, Porto, Portugal, 2019
Editore: ROBOT Iberian Robotics Conference

Fully coupled six-DoF nonlinear suboptimal control of a quadrotor: Variable-pitch rotor design

Autori: Nekoo SR, Acosta JA, Ollero A
Pubblicato in: ROBOT Iberian Robotics Conference, Numero Nov, Porto, Portugal, 2019
Editore: ROBOT Iberian Robotics Conference

Collision Avoidance of SDRE Controller using Artificial Potential Field Method: Application to Aerial Robotics

Autori: S. R. Nekoo, J. Á. Acosta and A. Ollero
Pubblicato in: ICUAS, 2020
Editore: IEEE
DOI: 10.1109/icuas48674.2020.9213984

Robust and Efficient Pose Estimation of Pipes for Contact Inspection using Aerial Robots

Autori: M. Salvago; F. J. Perez-Gran; J. Parra; M. A. Trujillo; A. Viguria
Pubblicato in: Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Numero 6, 2021
Editore: IEEE
DOI: 10.5281/zenodo.7373227

Experimental Investigation of Soft-Landing of Quadrotors via Induced Wind Modeling Approach

Autori: S. R. Nekoo, P. J. Sanchez Cuevas, J. Á. Acosta, G. Heredia and A. Ollero
Pubblicato in: Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), 2021
Editore: IEEE
DOI: 10.1109/airpharo52252.2021.9571054

Hyfliers – UT inspections at height in congested pipe racks

Autori: Russell Brown, Juha Röning
Pubblicato in: European Robotics Forum (ERF), Aerial Robotics Technologies and Applications., Numero 20-22 March, 2019
Editore: European Robotics Forum

Presentation of HYFLIERS project

Autori: Juha Röning, et al.
Pubblicato in: European Robotics Forum (ERF 2018), Numero 13-15 Mar, 2018
Editore: European Robotics Forum

Lentorobotti saa pyörät ja käsivarren - Oulun yliopiston johdolla automatisoidaan kaasu- ja öljyteollisuuden kunnossapitoa (In Finnish)

Autori: Juha Röning, Anibal Ollero
Pubblicato in: Interview by Mikkola A, Finnish newspaper Kaleva, 2018
Editore: Kaleva

HYFLIERS: UT inspections at height in congested pipe racks

Autori: Russell Brown, Juha Röning
Pubblicato in: PRINT Robotics, World Conference for Inspection and Maintenance Robotics, Numero 13-14 Nov, 2018
Editore: PRINT Robotics

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

Autori: Vincenzo Lippiello
Pubblicato in: Maker Faire Rome, Numero 12-14 Oct, 2018
Editore: Maker Faire Rome

Drones beyond the hobby

Autori: Vincenzo Lippiello, Juha Röning
Pubblicato in: Maker Faire Rome, Numero 13 Oct, 2018
Editore: Maker Faire Rome

HYFLIERS: Project overview and current achievements (video)

Autori: Röning, Juha, et al.
Pubblicato in: International Conference on Robotics and Automation (ICRA), 2020
Editore: IEEE

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