Periodic Reporting for period 3 - AERIAL-CORE (AERIAL COgnitive integrated multi-task Robotic system with Extended operation range and safety)
Période du rapport: 2022-06-01 au 2023-11-30
The main objective of AERIAL-CORE is the development of innovative aerial robotics technologies and an integrated system resulting from the application of Artificial Intelligence. Particularly, we extended the operational range of the aerial robots, improved the performance of aerial manipulators involving force interactions, and increased safety in the interaction of aerial robots with people for applications such as the inspection and maintenance of large infrastructures.
AERIAL-CORE has been validated in Electrical Power Lines, which is a very challenging application with a strong impact
The research in cognitive functionalities included learning methods, sensor data fusion, accurate tracking of electrical lines, autonomous landing/perching, multi-sensor large-scale mapping and multi-UAV collaboration for long-endurance operation and development of simulators to test the above functionalities.
Research in new aerial platforms included vehicles with both fixed-wing and rotary-wing capabilities, fixed-wing vehicles capable of perching, morphing omnidirectional multi-rotor systems and fixed wing-flapping wing hybrid vehicles.
Moreover, the project researched robotic arms and end-effectors for aerial manipulation, including robotic manipulators with force interactions. It was demonstrated that, in some maintenance applications, the best approach is landing or perching on the line and rolling on the line to perform robotic manipulation that requires accuracy and important forces. We also developed new aerial manipulators with cognitive perception and planning functionalities. In parallel, augmented cognitive human-machine interfaces were developed.
The aerial-co-working research included the consideration of physical interaction, the cognition of human activities working in the lines, the human-aerial co-worker cognitive interaction and the coordination of a team of aerial co-workers.
The above research involved the development of different prototypes and experiments in medium and high-voltage lines, including physical contact with the line in tension.
We have also defined the Industrial Advisory Committee, consisting of 22 experts from 17 companies, including aerial platform integrators, technology developers and end-users. This committee provided feedback about the specifications and first developments of the project.
AERIAL-CORE produced top research results and prototypes with worldwide aerial robotic inspection and maintenance innovations.
AERIAL-CORE has been validated in Electrical Power Lines, which is a very challenging application with a strong impact
The research in cognitive functionalities included learning methods, sensor data fusion, accurate tracking of electrical lines, autonomous landing/perching, multi-sensor large-scale mapping and multi-UAV collaboration for long-endurance operation and development of simulators to test the above functionalities.
Research in new aerial platforms included vehicles with both fixed-wing and rotary-wing capabilities, fixed-wing vehicles capable of perching, morphing omnidirectional multi-rotor systems and fixed wing-flapping wing hybrid vehicles.
Moreover, the project researched robotic arms and end-effectors for aerial manipulation, including robotic manipulators with force interactions. It was demonstrated that, in some maintenance applications, the best approach is landing or perching on the line and rolling on the line to perform robotic manipulation that requires accuracy and important forces. We also developed new aerial manipulators with cognitive perception and planning functionalities. In parallel, augmented cognitive human-machine interfaces were developed.
The aerial-co-working research included the consideration of physical interaction, the cognition of human activities working in the lines, the human-aerial co-worker cognitive interaction and the coordination of a team of aerial co-workers.
The above research involved the development of different prototypes and experiments in medium and high-voltage lines, including physical contact with the line in tension.
We have also defined the Industrial Advisory Committee, consisting of 22 experts from 17 companies, including aerial platform integrators, technology developers and end-users. This committee provided feedback about the specifications and first developments of the project.
AERIAL-CORE produced top research results and prototypes with worldwide aerial robotic inspection and maintenance innovations.
In the first year of the project, the specifications and the cognitive architecture were developed. The architecture allows fast execution of the functional layer while bringing the capabilities of deliberative systems for more complex tasks and safe modes with humans in the loop. The architecture is also able to integrate multiple aerial robotic systems.
The research in cognitive functionalities included learning methods, sensor data fusion, accurate tracking of electrical lines, autonomous landing/perching, multi-sensor large-scale mapping and multi-UAV collaboration for long-endurance operations.
Research in new aerial platforms with cognitive capabilities included vehicles with both fixed-wing and rotary-wing capabilities, fixed-wing vehicles capable of perching, morphing omnidirectional multi-rotor systems and fixed wing-flapping wing hybrid vehicles.
AERIAL-CORE researched in end-effectors for holding/grabbing and manipulation, as well as robotic manipulators with force interactions. We also developed new aerial manipulators and developed cognitive perception and planning functionalities. In parallel augmented cognitive human-machine interfaces were developed.
The aerial-co-working research included the consideration of physical interaction, the cognition of human activities working in the lines, the human-aerial co-worker cognitive interaction and the coordination of a team of aerial co-workers.
The Dissemination activities were excellent, achieving the best results that we have known in these European Framework Programme projects: more than 225 publications up to now, many of them in top journals, more than 170 Scientific & Technical oral presentations and 37 Organised workshops
AERIAL-CORE also had a strong academic impact: 20 PhD Theses, 135 Master and Bachelor Theses
AERIAL-CORE developed integrations and prototypes with worldwide aerial robotic inspection and maintenance innovations. Moreover, 6 patents were presented, and some results have achieved high maturity and are ready to be industrialised in a few months. Even more, we have already generated a new robotic inspection service that has begun to be applied in the inspection of power lines.
In summary, AERIAL-CORE has combined scientific and technological excellence with high industrial relevance. AERIAL-CORE and its teams have been extensively recognized, with 29 awards at the international and national levels.
We believe that AERIAL-CORE has obtained excellent results, by maintaining Europe in the leadership position of Aerial Robotics and its application to inspection and maintenance of large infrastructures
The research in cognitive functionalities included learning methods, sensor data fusion, accurate tracking of electrical lines, autonomous landing/perching, multi-sensor large-scale mapping and multi-UAV collaboration for long-endurance operations.
Research in new aerial platforms with cognitive capabilities included vehicles with both fixed-wing and rotary-wing capabilities, fixed-wing vehicles capable of perching, morphing omnidirectional multi-rotor systems and fixed wing-flapping wing hybrid vehicles.
AERIAL-CORE researched in end-effectors for holding/grabbing and manipulation, as well as robotic manipulators with force interactions. We also developed new aerial manipulators and developed cognitive perception and planning functionalities. In parallel augmented cognitive human-machine interfaces were developed.
The aerial-co-working research included the consideration of physical interaction, the cognition of human activities working in the lines, the human-aerial co-worker cognitive interaction and the coordination of a team of aerial co-workers.
The Dissemination activities were excellent, achieving the best results that we have known in these European Framework Programme projects: more than 225 publications up to now, many of them in top journals, more than 170 Scientific & Technical oral presentations and 37 Organised workshops
AERIAL-CORE also had a strong academic impact: 20 PhD Theses, 135 Master and Bachelor Theses
AERIAL-CORE developed integrations and prototypes with worldwide aerial robotic inspection and maintenance innovations. Moreover, 6 patents were presented, and some results have achieved high maturity and are ready to be industrialised in a few months. Even more, we have already generated a new robotic inspection service that has begun to be applied in the inspection of power lines.
In summary, AERIAL-CORE has combined scientific and technological excellence with high industrial relevance. AERIAL-CORE and its teams have been extensively recognized, with 29 awards at the international and national levels.
We believe that AERIAL-CORE has obtained excellent results, by maintaining Europe in the leadership position of Aerial Robotics and its application to inspection and maintenance of large infrastructures
AERIAL-CORE developed aerial robot control using visual on-board gesture recognition, agile perception-aware MPC, comparative study of MPC and differential-flatness-based control and the world's first comparison between RL and optimal control. Furthermore, it developed cognitive multi-uav planning techniques for grids of linear infrastructures and new online real-time mapping techniques of the vegetation and the lines.
In Morphing, AERIAL-CORE developed wing morphing for manoeuvrability and wind energy harvesting, vertical pole perching and multi-modal locomotion, omnidirectional efficient multi-rotor design with a minimal number of actuators, mechanisms for perching and locomotion along a cable, and hybrid efficient fixed-flapping UAV.
In Aerial Robotic Manipulation, AERIAL-CORE developed dexterous aerial manipulation for the installation of devices such as helicoidal bird diverters, cable-suspended dual-arm aerial manipulators and high voltage-resistant aerial manipulators. Two different approaches were developed: manipulation while flying and after landing or perching on the electrical tethers.
In Aerial Robotic Co-working the project developed physical aerial coworking with redundant aerial manipulators and human-aware motion planners for multiple aerial robots
Concerning integration and validation, AERIAL-CORE developed 8 innovative platforms, new planners for heterogeneous multi-UAV systems and device installation on electrical lines, BVLOS on-board and on-line vegetation mapping, two new battery chargers for UAVs from electrical power lines, Safe aerial co-working with gesture recognition and Muti-UAV safety and the ACIS (AERIAL-CORE Integration System).
Some of the methods and technologies of AERIAL-CORE have already been industrially applied. These applications will contribute to avoiding risky working activities of humans at height. They will also improve the quality of the inspection and maintenance and decrease costs.
The number of publications presentations, workshops organized, Theses and Awards obtained by their members, are clear indications of the progress beyond the state of the art.
In Morphing, AERIAL-CORE developed wing morphing for manoeuvrability and wind energy harvesting, vertical pole perching and multi-modal locomotion, omnidirectional efficient multi-rotor design with a minimal number of actuators, mechanisms for perching and locomotion along a cable, and hybrid efficient fixed-flapping UAV.
In Aerial Robotic Manipulation, AERIAL-CORE developed dexterous aerial manipulation for the installation of devices such as helicoidal bird diverters, cable-suspended dual-arm aerial manipulators and high voltage-resistant aerial manipulators. Two different approaches were developed: manipulation while flying and after landing or perching on the electrical tethers.
In Aerial Robotic Co-working the project developed physical aerial coworking with redundant aerial manipulators and human-aware motion planners for multiple aerial robots
Concerning integration and validation, AERIAL-CORE developed 8 innovative platforms, new planners for heterogeneous multi-UAV systems and device installation on electrical lines, BVLOS on-board and on-line vegetation mapping, two new battery chargers for UAVs from electrical power lines, Safe aerial co-working with gesture recognition and Muti-UAV safety and the ACIS (AERIAL-CORE Integration System).
Some of the methods and technologies of AERIAL-CORE have already been industrially applied. These applications will contribute to avoiding risky working activities of humans at height. They will also improve the quality of the inspection and maintenance and decrease costs.
The number of publications presentations, workshops organized, Theses and Awards obtained by their members, are clear indications of the progress beyond the state of the art.