Pub Date : 2021-10-01DOI: 10.1109/airpharo52252.2021.9571046
Christopher A Heery
{"title":"The Workshop Organizing Committee","authors":"Christopher A Heery","doi":"10.1109/airpharo52252.2021.9571046","DOIUrl":"https://doi.org/10.1109/airpharo52252.2021.9571046","url":null,"abstract":"","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126060773","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-01DOI: 10.1109/AIRPHARO52252.2021.9571068
G. Cardona, Diego S. D’antonio, R. Fierro, David Saldaña
We present a method for cooperative transportation using two catenary robots. Each catenary robot is composed of two quadrotors connected by a hanging cable. Unlike other methods in the literature for aerial transportation using cables, we do not assume that the cables are attached to the object. Instead, the quadrotors wrap cables around the object and pull. Since the cable is not attached to the object, the quadrotors need to avoid slipping by maintaining friction between the cable and the object. In this work, we focus on manipulating objects with cuboid shapes or boxes. We use two catenary robots to pull the box from two opposite edges. Once the robots are in contact with the box, they do not know the contact points between the cable and the object. We propose an adaptive controller to track a reference trajectory without information about the box's contact points, mass, and inertia tensor. We validate our approach through simulations.
{"title":"Adaptive Control for Cooperative Aerial Transportation Using Catenary Robots","authors":"G. Cardona, Diego S. D’antonio, R. Fierro, David Saldaña","doi":"10.1109/AIRPHARO52252.2021.9571068","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571068","url":null,"abstract":"We present a method for cooperative transportation using two catenary robots. Each catenary robot is composed of two quadrotors connected by a hanging cable. Unlike other methods in the literature for aerial transportation using cables, we do not assume that the cables are attached to the object. Instead, the quadrotors wrap cables around the object and pull. Since the cable is not attached to the object, the quadrotors need to avoid slipping by maintaining friction between the cable and the object. In this work, we focus on manipulating objects with cuboid shapes or boxes. We use two catenary robots to pull the box from two opposite edges. Once the robots are in contact with the box, they do not know the contact points between the cable and the object. We propose an adaptive controller to track a reference trajectory without information about the box's contact points, mass, and inertia tensor. We validate our approach through simulations.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115127429","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-01DOI: 10.1109/AIRPHARO52252.2021.9571031
Á. Garofano-Soldado, G. Heredia, A. Ollero
Inspection and maintenance tasks are increasingly being carried out by multi-rotor platforms in order to avoid certain risks being taken by humans. In this way, it is necessary to have a good knowledge of the aerodynamic effects that occur when tasks are performed in confined environments. In addition, the use of tilted rotors is becoming more and more widespread for tasks that require direct contact with a surface. In that sense, this paper presents several numerical simulations to analyse the aerodynamic performance of tilted rotors. In particular, the wall effect and the corner effect will be shown in detail. Two different configurations are considered in the corner effect: straight and curved corner. The influence of the corner and the wall has been studied for three tilt angles $left(theta=mathbf{2 0}^{circ}, mathbf{3 0}^{circ}, mathbf{4 0}^{circ}right)$ and various distances between the rotor and the wall. Flow field visualization is depicted to understand the physical behaviour of the airflow.
{"title":"Aerodynamic Interference in Confined Environments with Tilted Propellers: Wall Effect and Corner Effect","authors":"Á. Garofano-Soldado, G. Heredia, A. Ollero","doi":"10.1109/AIRPHARO52252.2021.9571031","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571031","url":null,"abstract":"Inspection and maintenance tasks are increasingly being carried out by multi-rotor platforms in order to avoid certain risks being taken by humans. In this way, it is necessary to have a good knowledge of the aerodynamic effects that occur when tasks are performed in confined environments. In addition, the use of tilted rotors is becoming more and more widespread for tasks that require direct contact with a surface. In that sense, this paper presents several numerical simulations to analyse the aerodynamic performance of tilted rotors. In particular, the wall effect and the corner effect will be shown in detail. Two different configurations are considered in the corner effect: straight and curved corner. The influence of the corner and the wall has been studied for three tilt angles $left(theta=mathbf{2 0}^{circ}, mathbf{3 0}^{circ}, mathbf{4 0}^{circ}right)$ and various distances between the rotor and the wall. Flow field visualization is depicted to understand the physical behaviour of the airflow.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126162669","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-01DOI: 10.1109/AIRPHARO52252.2021.9571050
Tommaso Gasparetto, A. Banerjee, Ilias Tevetzidis, Jakub Haluška, C. Kanellakis, G. Nikolakopoulos
Free-flying robots are considered a valuable and emerging tool to support astronauts in their daily tasks in space facilities. This work presents the design and development of a free-flying robot as well as a self-contained mechanism that allows its docking for storage and tank refuelling. More specifically, this study presents a floating robotic emulation platform for a simulated demonstration of satellite mobility in orbit. Friction-less, levitating, yet flat motion across a hyper-smooth surface characterizes the robotic platform design. Moreover, the docking mechanism has been designed and developed for the free-flying robot to automate the docking and refuelling processes. The mechanism is divided into two main components, one fixed and one placed on the robot, where the major merit of the proposed system is that it addresses both the tank connection subsystem for the refuelling as well as the subsystem for the dock and repel phases. The former is enabled through the use of an actuated coupling support structure between the air tank and the external outlet, while the latter is enabled with the use of an electromagnetic connection support structure. Finally, preliminary hardware developments have been performed for the proposed robotic systems, demonstrating it's usefulness and effectiveness.
{"title":"Design of Docking Mechanism for Refueling Free-flying 2D Planar Robot","authors":"Tommaso Gasparetto, A. Banerjee, Ilias Tevetzidis, Jakub Haluška, C. Kanellakis, G. Nikolakopoulos","doi":"10.1109/AIRPHARO52252.2021.9571050","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571050","url":null,"abstract":"Free-flying robots are considered a valuable and emerging tool to support astronauts in their daily tasks in space facilities. This work presents the design and development of a free-flying robot as well as a self-contained mechanism that allows its docking for storage and tank refuelling. More specifically, this study presents a floating robotic emulation platform for a simulated demonstration of satellite mobility in orbit. Friction-less, levitating, yet flat motion across a hyper-smooth surface characterizes the robotic platform design. Moreover, the docking mechanism has been designed and developed for the free-flying robot to automate the docking and refuelling processes. The mechanism is divided into two main components, one fixed and one placed on the robot, where the major merit of the proposed system is that it addresses both the tank connection subsystem for the refuelling as well as the subsystem for the dock and repel phases. The former is enabled through the use of an actuated coupling support structure between the air tank and the external outlet, while the latter is enabled with the use of an electromagnetic connection support structure. Finally, preliminary hardware developments have been performed for the proposed robotic systems, demonstrating it's usefulness and effectiveness.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"132 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127082525","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-01DOI: 10.1109/AIRPHARO52252.2021.9571052
Lachlan Orr, B. Stephens, Basaran Bahadir Kocer, M. Kovač
The use of aerial robots in construction is an area of general interest in the robotics community. Autonomous aerial systems have the potential to improve safety, efficiency and sustainability of industrial construction and repair processes. Several solutions have been deployed in this domain focusing on problems in aerial manipulation and control using existing aerial platforms which are not specialised for the specific challenges in operating on a construction site. This paper presents a new compact, high thrust aerial platform that can act as a modular, application agnostic base for demonstrating a wide variety of capabilities. The platform has been built and tested flying both with manual controls and autonomously in a motion tracking arena while carrying a payload of up to 7.3 kg with a maximum flight time between 10–34 mins (payload dependent). In the future, this platform will be combined with vision based tracking sensors, manipulators and other hardware to operate in and interact with an outdoor environment. Future applications may include manipulation of heavy objects, deposition of material and navigating confined spaces.
{"title":"A High Payload Aerial Platform for Infrastructure Repair and Manufacturing","authors":"Lachlan Orr, B. Stephens, Basaran Bahadir Kocer, M. Kovač","doi":"10.1109/AIRPHARO52252.2021.9571052","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571052","url":null,"abstract":"The use of aerial robots in construction is an area of general interest in the robotics community. Autonomous aerial systems have the potential to improve safety, efficiency and sustainability of industrial construction and repair processes. Several solutions have been deployed in this domain focusing on problems in aerial manipulation and control using existing aerial platforms which are not specialised for the specific challenges in operating on a construction site. This paper presents a new compact, high thrust aerial platform that can act as a modular, application agnostic base for demonstrating a wide variety of capabilities. The platform has been built and tested flying both with manual controls and autonomously in a motion tracking arena while carrying a payload of up to 7.3 kg with a maximum flight time between 10–34 mins (payload dependent). In the future, this platform will be combined with vision based tracking sensors, manipulators and other hardware to operate in and interact with an outdoor environment. Future applications may include manipulation of heavy objects, deposition of material and navigating confined spaces.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130984689","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-01DOI: 10.1109/AIRPHARO52252.2021.9571053
Gianluca Corsini, Martin Jacquet, A. E. Jimenez-Cano, Amr Afifi, D. Sidobre, A. Franchi
In this paper, we present a general control architecture that allows fully-actuated aerial robots to autonomously accomplish tasks that require both perception and physical interaction with the external environment. We integrate the novel Flying End-Effector paradigm and a Hybrid Visual Ser-voing (HVS) scheme to design a general control architecture for fully-actuated aerial robots. Thanks to the proposed solution, a fully-actuated aerial robot can autonomously accomplish tasks that require both perception and physical interaction without resorting to any external force/torque sensor. The control architecture is entirely described, features a wrench observer and an admittance filter, and is subsequently validated on real experiments. The code for the proposed control architecture is provided open-source.
{"title":"A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles","authors":"Gianluca Corsini, Martin Jacquet, A. E. Jimenez-Cano, Amr Afifi, D. Sidobre, A. Franchi","doi":"10.1109/AIRPHARO52252.2021.9571053","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571053","url":null,"abstract":"In this paper, we present a general control architecture that allows fully-actuated aerial robots to autonomously accomplish tasks that require both perception and physical interaction with the external environment. We integrate the novel Flying End-Effector paradigm and a Hybrid Visual Ser-voing (HVS) scheme to design a general control architecture for fully-actuated aerial robots. Thanks to the proposed solution, a fully-actuated aerial robot can autonomously accomplish tasks that require both perception and physical interaction without resorting to any external force/torque sensor. The control architecture is entirely described, features a wrench observer and an admittance filter, and is subsequently validated on real experiments. The code for the proposed control architecture is provided open-source.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121164146","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-01DOI: 10.1109/AIRPHARO52252.2021.9571058
Nicolas Cortes, Manuel J. Fernández, G. Heredia, A. Ollero
This work describes the design and use case experiments of a versatile 2- DoF Cartesian manipulator with a wide workspace that allows performing autonomous contact operations. The manipulator can be treated as an autonomous system, so it can be mounted on any Unmanned Robotic System (URS) and receive commands from the main platform where it is placed. Its use aims to improve the safety of operators covering risk situations and difficult access areas. As end-effector can be placed any sensor or actuator, allowing a wide range of operations related to inspection and maintenance. The system has been tested using a rebar detector as end-effector for inspection of concrete bridges and tunnels with validation experiments in a real environment.
{"title":"Cartesian manipulator for infrastructure inspection and maintenance","authors":"Nicolas Cortes, Manuel J. Fernández, G. Heredia, A. Ollero","doi":"10.1109/AIRPHARO52252.2021.9571058","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571058","url":null,"abstract":"This work describes the design and use case experiments of a versatile 2- DoF Cartesian manipulator with a wide workspace that allows performing autonomous contact operations. The manipulator can be treated as an autonomous system, so it can be mounted on any Unmanned Robotic System (URS) and receive commands from the main platform where it is placed. Its use aims to improve the safety of operators covering risk situations and difficult access areas. As end-effector can be placed any sensor or actuator, allowing a wide range of operations related to inspection and maintenance. The system has been tested using a rebar detector as end-effector for inspection of concrete bridges and tunnels with validation experiments in a real environment.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"538 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124522681","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-01DOI: 10.1109/AIRPHARO52252.2021.9571033
Basaran Bahadir Kocer, Bo-wan. Ho, Xuanhao Zhu, Peter Zheng, A. Farinha, Feng Xiao, B. Stephens, Fabian Wiesemüller, Lachlan Orr, M. Kovač
Protecting our nature and biodiversity is essential. For this purpose, remote sensing robotic platforms are increasingly explored to collect spatial and temporal data. However, there is still little attention on leveraging aerial robots to interact with trees for sample collection and targeted countermeasure deployment. In this study, we propose platforms and methodology that offer the use of aerial robots in the forests to conduct various tasks including leaf sample collection, visual sensing of forest topology and autonomous sensor placement. With the developed virtual reality (VR) interface, we show that remote environmental sensing, detection of plant pathogens, and sample collection are viable tasks that can be achieved by the proposed platforms. In this context, physical and visual sensing approaches as well as various aerial robots are introduced and discussed for forest applications.
{"title":"Forest Drones for Environmental Sensing and Nature Conservation","authors":"Basaran Bahadir Kocer, Bo-wan. Ho, Xuanhao Zhu, Peter Zheng, A. Farinha, Feng Xiao, B. Stephens, Fabian Wiesemüller, Lachlan Orr, M. Kovač","doi":"10.1109/AIRPHARO52252.2021.9571033","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571033","url":null,"abstract":"Protecting our nature and biodiversity is essential. For this purpose, remote sensing robotic platforms are increasingly explored to collect spatial and temporal data. However, there is still little attention on leveraging aerial robots to interact with trees for sample collection and targeted countermeasure deployment. In this study, we propose platforms and methodology that offer the use of aerial robots in the forests to conduct various tasks including leaf sample collection, visual sensing of forest topology and autonomous sensor placement. With the developed virtual reality (VR) interface, we show that remote environmental sensing, detection of plant pathogens, and sample collection are viable tasks that can be achieved by the proposed platforms. In this context, physical and visual sensing approaches as well as various aerial robots are introduced and discussed for forest applications.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116483814","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-01DOI: 10.1109/airpharo52252.2021.9571057
{"title":"Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) [Copyright notice]","authors":"","doi":"10.1109/airpharo52252.2021.9571057","DOIUrl":"https://doi.org/10.1109/airpharo52252.2021.9571057","url":null,"abstract":"","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127210422","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-01DOI: 10.1109/AIRPHARO52252.2021.9571044
Inmaculada Armengol, A. Suárez, G. Heredia, A. Ollero
The installation and removal of bird diverters from power lines is conducted nowadays by human operators working from manned helicopters or from the power line itself, which entails a certain risk and cost that can be reduced if an aerial manipulator performs these tasks. This paper presents the design of a lightweight gripper (70 g) which is specific for the installation of helical bird diverters. It consists of a claw-type compliant mechanism that is integrated in an anthropomorphic dual arm system, which is intended to perform the operation, and is attached to a multirotor through a long-reach pendulum configuration. The paper also covers the mechanical integration as well as the utilization of a teleoperation system to test the gripper for the installation at a test bench.
{"title":"Design, Integration and Testing of Compliant Gripper for the Installation of Helical Bird Diverters on Power Lines","authors":"Inmaculada Armengol, A. Suárez, G. Heredia, A. Ollero","doi":"10.1109/AIRPHARO52252.2021.9571044","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571044","url":null,"abstract":"The installation and removal of bird diverters from power lines is conducted nowadays by human operators working from manned helicopters or from the power line itself, which entails a certain risk and cost that can be reduced if an aerial manipulator performs these tasks. This paper presents the design of a lightweight gripper (70 g) which is specific for the installation of helical bird diverters. It consists of a claw-type compliant mechanism that is integrated in an anthropomorphic dual arm system, which is intended to perform the operation, and is attached to a multirotor through a long-reach pendulum configuration. The paper also covers the mechanical integration as well as the utilization of a teleoperation system to test the gripper for the installation at a test bench.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126081744","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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