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

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.
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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)

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UNIVERSIDAD DE SEVILLA

Spain

EU Contribution

€ 647 420

CHEVRON ORONITE SAS

France

EU Contribution

€ 297 500

TOTAL S.A.

France

EU Contribution

€ 196 875

C.R.E.A.T.E. CONSORZIO DI RICERCA PER L'ENERGIA L AUTOMAZIONE E LE TECNOLOGIE DELL'ELETTROMAGNETISMO

Italy

EU Contribution

€ 566 250

FUNDACION ANDALUZA PARA EL DESARROLLO AEROESPACIAL

Spain

EU Contribution

€ 568 687,50

GE INSPECTION ROBOTICS AG

Switzerland

EU Contribution

€ 641 787,50

DASEL SL

Spain

EU Contribution

€ 205 500

Project information

Grant agreement ID: 779411

Status

Ongoing project

  • Start date

    1 January 2018

  • End date

    31 December 2021

Funded under:

H2020-EU.2.1.1.

  • Overall budget:

    € 3 897 020

  • EU contribution

    € 3 897 020

Coordinated by:

OULUN YLIOPISTO

Finland