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PILOTs for robotic INspection and maintenance Grounded on advanced intelligent platforms and prototype applications

Deliverables

Second Mid-term Dissemination Report

The report describes all the policy maker industry and enduser as well as scientific and technical dissemination activities in the second period of the project

Principles for impact assessment of PILOTING against SoEL requirements (second version)

This deliverable will describe the different principles to be used for impact assessment related to Societal Ethical and Legal requirements

Impact assessment report (second version)

These reports will integrate the results of the different impact assessments data protection and privacy ethical and liability and will also include recommendations on how to improve PILOTING developments on these topics

Exploitation and Dissemination plan

This deliverable will cover a first version of individual partner exploitation plans at component and subsystem level and a combined system exploitation plan per scenario a plan for targeted dissemination of results to General Public Policy Makers Standardization Entities Industry Inspection and Maintenance Community and End User Customers and a roadmap to take the outputs of the project to market within 2 years after project ends

Robotics system integration (second version)

Integration of all the robotics vehicles with the autonomous functionalities, through robotic engine, and the generic robot control station. The report will include the experiments performed at laboratory or controlled environments to validate this integration.

Robotics system integration (first version)

Integration of all the robotics vehicles with the autonomous functionalities through robotic engine and the generic robot control station The report will include the experiments performed at laboratory or controlled environments to validate this integration

Impact assessment reports (first version)

These reports will integrate the results of the different impact assessments data protection and privacy ethical and liability and will also include recommendations on how to improve PILOTING developments on these topics

Principles for impact assessment of PILOTING against SoEL requirements (first version)

This deliverable will describe the different principles to be used for impact assessment related to Societal Ethical and Legal requirements

First Mid-term Dissemination Report

This report describes all the policy maker industry and enduser as well as scientific and technical dissemination activities in the first period of the project

Final Dissemination Report

This report describes the policy maker, industry and end-user as well as scientific and technical dissemination activities carried out during the complete duration of the project.

First pilot experiments results and evaluation

Report describing the results obtained after the first pilot experiments, including the evaluation of the metrics defined in WP3.

Final pilot experiments results, training sessions and evaluation

This deliverable will describe the complete evaluation results, including comparisons with inspections executed by traditional procedures, and also a description of the training sessions organized during the final experiments.

PILOTING first robotic vehicles

A first version of the robotics vehicles will be ready to integrated within the PILOTING I&M platform. A brief report describing the configuration and major characteristics of each robotic vehicle will be included.

PILOTING final robotic vehicles

Final version of the robotics vehicles. A brief report describing the final configuration and major characteristics of each vehicle will be included.

Final version of advanced autonomous functionalities for ground robots and crawlers

Final algorithms developed for dexterous manipulation, advanced perception and intelligent navigation for ground robots and crawlers.

General robot control station (second version)

Standardized control station SW and its interfaces

Final version of advanced autonomous functionalities for aerial robots

Final version of the algorithms developed for aerial inspection robots with respect to GNSS-free navigation and aerial contact control.

Beta version of advanced autonomous functionalities for aerial robots

Beta version of the algorithms developed for aerial inspection robots with respect to GNSS-free navigation and aerial contact control.

General robot control station (first version)

Standardized control station SW and its interfaces.

Beta version of advanced autonomous functionalities for ground robots and crawlers

First version of algorithms developed for dexterous manipulation, advanced perception and intelligent navigation for ground robots and crawlers.

Project website

A project website will be created to support dissemination activities public and communication within the consortium consortium partners access only

Publications

Fully-Actuated Aerial Manipulator for Infrastructure Contact Inspection: Design, Modeling, Localization, and Control

Author(s): Pedro J. Sanchez-Cuevas, Antonio Gonzalez-Morgado, Nicolas Cortes, Diego B. Gayango, Antonio E. Jimenez-Cano, Aníbal Ollero, Guillermo Heredia
Published in: Sensors, Issue 20/17, 2020, Page(s) 4708, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s20174708

PHASER: A Robust and Correspondence-Free Global Pointcloud Registration

Author(s): Lukas Bernreiter, Lionel Ott, Juan Nieto, Roland Siegwart, Cesar Cadena
Published in: IEEE Robotics and Automation Letters, Issue 6/2, 2021, Page(s) 855-862, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Letters
DOI: 10.1109/lra.2021.3052418

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

Author(s): Nekoo, S. R.; Acosta, J. A.; Heredia, G.; Ollero, A.
Published in: ICUAS 2021, 2021
Publisher: ICUAS 2021
DOI: 10.5281/zenodo.4916555

Aerial robot for contact bridge inspection

Author(s): Miguel Ángel Trujillo, Ángel Luis Petrus, Daniel Martínez Campos, Francisco Javier Garrido, Antidio Viguria and Anibal Ollero
Published in: 2020 CivilDron Conference, 2020
Publisher: CivilDron Conference
DOI: 10.5281/zenodo.4246276

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