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

Rezultaty

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

Publikacje

Gravity compensation and optimal control of actuated multibody system dynamics

Autorzy: S. R. Nekoo, J. Á. Acosta and A. Ollero
Opublikowane w: IET Control Theory Appl, Numer Vol. 16, pp. 79-93, 2022, ISSN 1751-8652
Wydawca: The Institution of Engineering and Technology
DOI: 10.1049/cth2.12206

Aerial Manipulator with Rolling Base for Inspection of Pipe Arrays

Autorzy: Suarez, A. Caballero, A. Garofano, P. J. Sanchez-Cuevas, G. Heredia and A. Ollero
Opublikowane w: IEEE Access, 2020, ISSN 2169-3536
Wydawca: 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

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

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

Autorzy: Margarida Faria; Antonio Sergio Ferreira; Hector Perez-Leon; Ivan Maza; Antidio Viguria
Opublikowane w: Sensors, Numer 15, 2019, ISSN 1424-8220
Wydawca: 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

Autorzy: S. R. Nekoo, J. Á. Acosta and A. Ollero
Opublikowane w: Robotica, 2022, ISSN 0263-5747
Wydawca: Cambridge University Press
DOI: 10.1017/s0263574722000091

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

Autorzy: A. Caballero, P. J. Sanchez-Cuevas, M. Bejar, G. Heredia, M. A. Trujillo and A. Ollero
Opublikowane w: International Journal of Aerospace Engineering, 2020, ISSN 1687-5974
Wydawca: Hindawi
DOI: 10.1155/2020/6348035

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

Autorzy: S. R. Nekoo, J. Á. Acosta, G. Heredia and A. Ollero
Opublikowane w: IEEE/CAA Journal of Automatica Sinica, 2022, ISSN 2329-9266
Wydawca: IEEE

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

Autorzy: Suping Zhao; Fabio Ruggiero; Giuseppe Andrea Fontanelli; Vincenzo Lippiello; Zhanxia Zhu; Bruno Siciliano
Opublikowane w: IEEE ROBOTICS AND AUTOMATION LETTERS, Numer 11, 2019, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2019.2931821

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

Autorzy: Carlos Rodríguez de Cos; Manuel J. Fernandez; Pedro J. Sanchez-Cuevas; José Ángel Acosta; Anibal Ollero
Opublikowane w: IEEE Access, Numer 15, 2020, ISSN 2169-3536
Wydawca: 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

Autorzy: F. Ruiz, B. C. Arrue and A. Ollero
Opublikowane w: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2022.3196768

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

Autorzy: Vincenzo Lippiello; Jonathan Cacace
Opublikowane w: IEEE Robotics and Automation Letters, Numer 1, 2022, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2021.3125039

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

Autorzy: S. R. Nekoo, J. Á. Acosta and A. Ollero
Opublikowane w: International Journal of Control, 2022, ISSN 0020-7179
Wydawca: Taylor & Francis
DOI: 10.1080/00207179.2021.1881165

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

Autorzy: Pablo Ramon Soria, B.C. Arrue, Anibal Ollero
Opublikowane w: IEEE Robotics & Automation Magazine, Numer 26/1, 2019, Strona(/y) 44-53, ISSN 1070-9932
Wydawca: 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

Autorzy: Yushu Yu, Vincenzo Lippiello
Opublikowane w: IEEE Access, Numer vol. 7, Apr., 2019, ISSN 2169-3536
Wydawca: Institute of Electrical and Electronics Engineers Inc.

Aerial Manipulation: A Literature Review

Autorzy: Fabio Ruggiero, Vincenzo Lippiello, Anibal Ollero
Opublikowane w: IEEE Robotics and Automation Letters, Numer 3/3, 2018, Strona(/y) 1957-1964, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2018.2808541

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

Autorzy: S. R. Nekoo, J. Á. Acosta, G. Heredia and A. Ollero
Opublikowane w: Mechatronics, 2021, ISSN 0957-4158
Wydawca: Pergamon Press Ltd.
DOI: 10.1016/j.mechatronics.2021.102641

Cartesian Aerial Manipulator with Compliant Arm

Autorzy: Suarez, M. Perez, G. Heredia and A. Ollero
Opublikowane w: Applied Sciences, 2021, ISSN 2076-3417
Wydawca: MDPI
DOI: 10.3390/app11031001

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

Autorzy: Nekoo, S. R.; Acosta, J. A.; Heredia, G.; Ollero, A.
Opublikowane w: Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Numer 14, 2021
Wydawca: ICUAS
DOI: 10.5281/zenodo.4916555

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

Autorzy: Roning, Juha; Celentano, Ulrico
Opublikowane w: Proceedings of the XXth Conference of Open Innovations Association FRUCT, Vol 30, Iss 2, Pp 406-408 (2021), Numer 6, 2021
Wydawca: FRUCT
DOI: 10.5281/zenodo.5639789

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

Autorzy: A. Lopez-Lora; Pedro J. Sanchez-Cuevas; Alejandro Suarez; A. Garofano-Soldado; Anibal Ollero; Guillermo Heredia
Opublikowane w: IROS, Numer 13, 2020
Wydawca: IEEE
DOI: 10.1109/iros45743.2020.9341639

Ground Support for Drone-based Industrial Inspections

Autorzy: Ulrico Celentano; Marko Kauppinen; Juha Röning
Opublikowane w: Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Numer 8, 2021
Wydawca: IEEE
DOI: 10.1109/airpharo52252.2021.9571042

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

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

Spherical fully covered UAV with autonomous indoor localization

Autorzy: A. Ramos, P. J. Sanchez-Cuevas, G. Heredia and A. Ollero
Opublikowane w: Iberian Robotics Conference (ROBOT), 2019
Wydawca: Springer
DOI: 10.1007/978-3-030-35990-4_29

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

Autorzy: F. Ruiz, B. Arrue and A. Ollero,
Opublikowane w: International Conference on Unmanned Aircraft Systems (ICUAS), 2022
Wydawca: ICUAS Association
DOI: 10.1109/icuas54217.2022.9836149

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

Autorzy: S. R. Nekoo, J. Á. Acosta, A. E. Gomez-Tamm and A. Ollero
Opublikowane w: RED-UAS, 2019
Wydawca: IEEE
DOI: 10.1109/reduas47371.2019.8999681

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

Autorzy: Juha Röning
Opublikowane w: IEEE International Conference on Robotics and Automation (ICRA), Workshop on Aerial Robotic Inspection and Maintenance: Research Challenges, Field Experience and Industry Needs., Numer 25 May, 2018
Wydawca: 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

Autorzy: Ramon-Soria P, Gomez-Tamm AE, Garcia-Rubiales FJ, Arrue BC, Ollero A
Opublikowane w: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numer Nov, 2019
Wydawca: IEEE

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

Autorzy: A. Caballero, M. Bejar, A. Ollero
Opublikowane w: 2018 International Conference on Unmanned Aircraft Systems (ICUAS), 2018, Strona(/y) 1125-1133, ISBN 978-1-5386-1354-2
Wydawca: IEEE
DOI: 10.1109/ICUAS.2018.8453392

Multirotor aerodynamic effects close to obstacles: Modelling and mapping

Autorzy: Sanchez-Cuevas PJ, Martín V, Heredia G, Ollero A
Opublikowane w: ROBOT Iberian Robotics Conference, Numer Nov, Porto, Portugal, 2019
Wydawca: ROBOT Iberian Robotics Conference

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

Autorzy: Nekoo SR, Acosta JA, Ollero A
Opublikowane w: ROBOT Iberian Robotics Conference, Numer Nov, Porto, Portugal, 2019
Wydawca: ROBOT Iberian Robotics Conference

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

Autorzy: S. R. Nekoo, J. Á. Acosta and A. Ollero
Opublikowane w: ICUAS, 2020
Wydawca: IEEE
DOI: 10.1109/icuas48674.2020.9213984

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

Autorzy: M. Salvago; F. J. Perez-Gran; J. Parra; M. A. Trujillo; A. Viguria
Opublikowane w: Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Numer 6, 2021
Wydawca: IEEE
DOI: 10.5281/zenodo.7373227

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

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

Hyfliers – UT inspections at height in congested pipe racks

Autorzy: Russell Brown, Juha Röning
Opublikowane w: European Robotics Forum (ERF), Aerial Robotics Technologies and Applications., Numer 20-22 March, 2019
Wydawca: European Robotics Forum

Presentation of HYFLIERS project

Autorzy: Juha Röning, et al.
Opublikowane w: European Robotics Forum (ERF 2018), Numer 13-15 Mar, 2018
Wydawca: European Robotics Forum

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

Autorzy: Juha Röning, Anibal Ollero
Opublikowane w: Interview by Mikkola A, Finnish newspaper Kaleva, 2018
Wydawca: Kaleva

HYFLIERS: UT inspections at height in congested pipe racks

Autorzy: Russell Brown, Juha Röning
Opublikowane w: PRINT Robotics, World Conference for Inspection and Maintenance Robotics, Numer 13-14 Nov, 2018
Wydawca: PRINT Robotics

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

Autorzy: Vincenzo Lippiello
Opublikowane w: Maker Faire Rome, Numer 12-14 Oct, 2018
Wydawca: Maker Faire Rome

Drones beyond the hobby

Autorzy: Vincenzo Lippiello, Juha Röning
Opublikowane w: Maker Faire Rome, Numer 13 Oct, 2018
Wydawca: Maker Faire Rome

HYFLIERS: Project overview and current achievements (video)

Autorzy: Röning, Juha, et al.
Opublikowane w: International Conference on Robotics and Automation (ICRA), 2020
Wydawca: IEEE

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