Pub Date : 2021-10-01DOI: 10.1109/AIRPHARO52252.2021.9571067
Fabian Wiesemüller, A. Miriyev, M. Kovač
Robots are viable candidates for automating environmental monitoring. However, potentially toxic and non-biodegradable materials comprising state-of-the-art robots may threaten vulnerable natural environments and limit robots' use in their monitoring. When expecting robotic platforms to become increasingly ubiquitous in the near future, new robot design approaches involving biodegradable and non-fossil-based materials are required to create robots with zero and near-zero environmental impact. Here we propose the material selection and application routes for material systems integrating sensing, actuation, communication, and computation. We highlight the out-standing potential of combining living cells in the design of zero-footprint eco-robots. Due to their natural responsiveness to external triggers and morphing capabilities, alone or in combination with synthetic counterparts, living cells may drastically increase the functionality of the designed robotic systems. The present paper introduces a concept of zero-footprint, transient eco-robotics and provides methods for selection of suitable materials combining structural and functional capabilities, including sensing, self-healing, and self-terminating. We suggest that these methods can build the foundation for future environmentally sustainable robotic systems, that follow the circular economy paradigm. We also emphasize the multidisciplinary nature of the zero-footprint eco-robot design, involving material scientists, biologists, and roboticists.
{"title":"Zero-footprint eco-robotics: A new perspective on biodegradable robots","authors":"Fabian Wiesemüller, A. Miriyev, M. Kovač","doi":"10.1109/AIRPHARO52252.2021.9571067","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571067","url":null,"abstract":"Robots are viable candidates for automating environmental monitoring. However, potentially toxic and non-biodegradable materials comprising state-of-the-art robots may threaten vulnerable natural environments and limit robots' use in their monitoring. When expecting robotic platforms to become increasingly ubiquitous in the near future, new robot design approaches involving biodegradable and non-fossil-based materials are required to create robots with zero and near-zero environmental impact. Here we propose the material selection and application routes for material systems integrating sensing, actuation, communication, and computation. We highlight the out-standing potential of combining living cells in the design of zero-footprint eco-robots. Due to their natural responsiveness to external triggers and morphing capabilities, alone or in combination with synthetic counterparts, living cells may drastically increase the functionality of the designed robotic systems. The present paper introduces a concept of zero-footprint, transient eco-robotics and provides methods for selection of suitable materials combining structural and functional capabilities, including sensing, self-healing, and self-terminating. We suggest that these methods can build the foundation for future environmentally sustainable robotic systems, that follow the circular economy paradigm. We also emphasize the multidisciplinary nature of the zero-footprint eco-robot design, involving material scientists, biologists, and roboticists.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"269 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":"122756458","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/AIRPHARO52252.2021.9571048
A.M. Casado Fauli, P. R. Soria, C. M. Diaz De Espada, M. A. Trujillo, A. Viguria, A. Ollero
This paper describes the state machine of an autonomous contact UAV for assisted inspection tasks. The UAV is able to control its position using on-board sensors, while the human operator sends the high-level directives. The internal controller of the robot is aware of the state machine status, granting that the control signals that reach the autopilot are smooth, when transitioning between the different control modes. The article summarizes the control modes associated to state machine's states, describes the rules for the smooth transitions, and shows experimental results. Indoor experiments are evaluated with a VICON system, and outdoors experiments show a qualitative representation of those smooth shifts between the states.
{"title":"Assisted Flight Control for Aerial Contact UAV s in Industrial Environments.","authors":"A.M. Casado Fauli, P. R. Soria, C. M. Diaz De Espada, M. A. Trujillo, A. Viguria, A. Ollero","doi":"10.1109/AIRPHARO52252.2021.9571048","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571048","url":null,"abstract":"This paper describes the state machine of an autonomous contact UAV for assisted inspection tasks. The UAV is able to control its position using on-board sensors, while the human operator sends the high-level directives. The internal controller of the robot is aware of the state machine status, granting that the control signals that reach the autopilot are smooth, when transitioning between the different control modes. The article summarizes the control modes associated to state machine's states, describes the rules for the smooth transitions, and shows experimental results. Indoor experiments are evaluated with a VICON system, and outdoors experiments show a qualitative representation of those smooth shifts between the states.","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":"129183111","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/AIRPHARO52252.2021.9571045
A. Zolich, T. Johansen, Moustafa Elkolali, Ahmed Al-Tawil, A. Alcocer
In this paper we present details of Miniature Underwater Gliders (MUG) deployment and recovery mechanism using a multirotor Unmanned Aerial Vehicle (UAV). The paper discusses details of MUG localization with computer vision, pick-up algorithm, and recovery mechanism.
{"title":"Unmanned Aerial System for deployment and recovery of research equipment at sea","authors":"A. Zolich, T. Johansen, Moustafa Elkolali, Ahmed Al-Tawil, A. Alcocer","doi":"10.1109/AIRPHARO52252.2021.9571045","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571045","url":null,"abstract":"In this paper we present details of Miniature Underwater Gliders (MUG) deployment and recovery mechanism using a multirotor Unmanned Aerial Vehicle (UAV). The paper discusses details of MUG localization with computer vision, pick-up algorithm, and recovery mechanism.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"88 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":"128627198","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/AIRPHARO52252.2021.9571034
Jonathan Cacace, G. A. Fontanelli, V. Lippiello
Autonomous inspection of industrial pipelines in Oil & Gas refiners represents an emerging research and application field. In this context, we present a novel hybrid aerial ground mobile platform for inspection tasks. The goal of this platform is to assist human operators to perform non-destructive tests to assess the quality status of pipelines carrying fluids. Thanks to its design, the proposed platform is able to navigate crowded environments to reach and land over industrial pipes and use its motion capabilities to inspect the pipe surface. In this work, we introduce the mechanical design of the hybrid platform discussing its main components, demonstrating its flying and inspection capabilities.
{"title":"A Novel Hybrid Aerial-Ground Manipulator for Pipeline Inspection tasks","authors":"Jonathan Cacace, G. A. Fontanelli, V. Lippiello","doi":"10.1109/AIRPHARO52252.2021.9571034","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571034","url":null,"abstract":"Autonomous inspection of industrial pipelines in Oil & Gas refiners represents an emerging research and application field. In this context, we present a novel hybrid aerial ground mobile platform for inspection tasks. The goal of this platform is to assist human operators to perform non-destructive tests to assess the quality status of pipelines carrying fluids. Thanks to its design, the proposed platform is able to navigate crowded environments to reach and land over industrial pipes and use its motion capabilities to inspect the pipe surface. In this work, we introduce the mechanical design of the hybrid platform discussing its main components, demonstrating its flying and inspection capabilities.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"4 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":"128427329","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/airpharo52252.2021.9571047
{"title":"AIRPHARO 2021 [Title page]","authors":"","doi":"10.1109/airpharo52252.2021.9571047","DOIUrl":"https://doi.org/10.1109/airpharo52252.2021.9571047","url":null,"abstract":"","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":"129539232","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/AIRPHARO52252.2021.9571023
Hasun Lee, Yonghyeok Kim, Hyun-Suk Yang, Flin Höpflinger, Dongjun Lee
Aerial manipulation with a multi-rotor drone and manipulator systems or omni -directional drones has critical barriers such as limited flight time, insufficient payload, and inaccurate onboard sensing and control. To overcome these limitations, the Large-size Aerial Skeleton with Distributed Rotor Actuation (LASDRA) was proposed in previous research [1]. In this paper, we develop a downsized LASDRA with a novel joint locking device. The developed downsized LASDRA with joint locking device can work in narrower spaces with more DoF and generates a bigger operational force by joint locking. The joint locking device employs a capstan brake and latch mechanism to generate large locking torques with a small form factor. As an experimental result, the payload of a 3-link downsized LASDRA increased from 0.4 kg to 1.2 kg with joint locking, while the length of each link decreased from 1 m to 0.76 m.
{"title":"Development of Downsized LASDRA with 2-DoF Joint Locking Device","authors":"Hasun Lee, Yonghyeok Kim, Hyun-Suk Yang, Flin Höpflinger, Dongjun Lee","doi":"10.1109/AIRPHARO52252.2021.9571023","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571023","url":null,"abstract":"Aerial manipulation with a multi-rotor drone and manipulator systems or omni -directional drones has critical barriers such as limited flight time, insufficient payload, and inaccurate onboard sensing and control. To overcome these limitations, the Large-size Aerial Skeleton with Distributed Rotor Actuation (LASDRA) was proposed in previous research [1]. In this paper, we develop a downsized LASDRA with a novel joint locking device. The developed downsized LASDRA with joint locking device can work in narrower spaces with more DoF and generates a bigger operational force by joint locking. The joint locking device employs a capstan brake and latch mechanism to generate large locking torques with a small form factor. As an experimental result, the payload of a 3-link downsized LASDRA increased from 0.4 kg to 1.2 kg with joint locking, while the length of each link decreased from 1 m to 0.76 m.","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":"126451710","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/AIRPHARO52252.2021.9571043
Tobias Skov, Laura Bonde Holst, M. Fumagalli
This paper proposes a novel approach for autonomous 3D tracking of targets and position control of a UAV, using a monocular camera to aim at positioning an end-effector probe on a vertical concrete surface. The proposed solution is based on features detection on a concrete surface, and aims to control the drone to a user defined target that is chosen via a user interface. To ensure 3D perception of the selected target, the approach is combined with a camera-based distance estimator, that uses laser pointers mounted on the drone. Experimental results show that the system is able to navigate towards the user-defined target and establish contact with it with a limited a margin of error.
{"title":"3D Navigation by UAV using a mono-camera, for precise target tracking for contact inspection of critical infrastructures","authors":"Tobias Skov, Laura Bonde Holst, M. Fumagalli","doi":"10.1109/AIRPHARO52252.2021.9571043","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571043","url":null,"abstract":"This paper proposes a novel approach for autonomous 3D tracking of targets and position control of a UAV, using a monocular camera to aim at positioning an end-effector probe on a vertical concrete surface. The proposed solution is based on features detection on a concrete surface, and aims to control the drone to a user defined target that is chosen via a user interface. To ensure 3D perception of the selected target, the approach is combined with a camera-based distance estimator, that uses laser pointers mounted on the drone. Experimental results show that the system is able to navigate towards the user-defined target and establish contact with it with a limited a margin of error.","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":"123996755","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/AIRPHARO52252.2021.9571051
Mahmoud Hamandi, Quentin Sablé, M. Tognon, A. Franchi
The aim of this work is to present the necessary conditions for the design of an omnidirectional Multi-Rotor Aerial Vehicle (MRAV), while taking into consideration its geometry, weight, and actuation limits. The work formally defines these conditions and presents numerical metrics that reflect the satisfaction of the omnidirectional property. These metrics are then applied to assess the omnidirectional property of “Omni-plus-seven ”, i.e., an omnidirectional MRAV consisting of a hepta-rotor with uni-directional thrusters [1]. Finally the work shows the use of such metrics in the design of a new platform with similar geometry and modified weight and actuators.
{"title":"Understanding the omnidirectional capability of a generic multi-rotor aerial vehicle","authors":"Mahmoud Hamandi, Quentin Sablé, M. Tognon, A. Franchi","doi":"10.1109/AIRPHARO52252.2021.9571051","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571051","url":null,"abstract":"The aim of this work is to present the necessary conditions for the design of an omnidirectional Multi-Rotor Aerial Vehicle (MRAV), while taking into consideration its geometry, weight, and actuation limits. The work formally defines these conditions and presents numerical metrics that reflect the satisfaction of the omnidirectional property. These metrics are then applied to assess the omnidirectional property of “Omni-plus-seven ”, i.e., an omnidirectional MRAV consisting of a hepta-rotor with uni-directional thrusters [1]. Finally the work shows the use of such metrics in the design of a new platform with similar geometry and modified weight and actuators.","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":"124283939","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/AIRPHARO52252.2021.9571025
L. Demkiv, M. Ruffo, Giuseppe Silano, J. Bednář, M. Saska
An application of stereo thermal vision to perform preliminary inspection operations of electrical power lines by a particular class of small Unmanned Aerial Vehicles (UAVs), aka Micro Unmanned Aerial Vehicles (MAVs), is presented in this paper. The proposed hardware and software setup allows the detection of overheated power equipment, one of the major causes of power outages. The stereo vision complements the GPS information by finely detecting the potential source of damage while also providing a measure of the harm extension. The reduced sizes and the light weight of the vehicle enable to survey areas otherwise difficult to access with standard UAVs. Gazebo simulations and real flight experiments demonstrate the feasibility and effectiveness of the proposed setup.
{"title":"An Application of Stereo Thermal Vision for Preliminary Inspection of Electrical Power Lines by MAVs","authors":"L. Demkiv, M. Ruffo, Giuseppe Silano, J. Bednář, M. Saska","doi":"10.1109/AIRPHARO52252.2021.9571025","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571025","url":null,"abstract":"An application of stereo thermal vision to perform preliminary inspection operations of electrical power lines by a particular class of small Unmanned Aerial Vehicles (UAVs), aka Micro Unmanned Aerial Vehicles (MAVs), is presented in this paper. The proposed hardware and software setup allows the detection of overheated power equipment, one of the major causes of power outages. The stereo vision complements the GPS information by finely detecting the potential source of damage while also providing a measure of the harm extension. The reduced sizes and the light weight of the vehicle enable to survey areas otherwise difficult to access with standard UAVs. Gazebo simulations and real flight experiments demonstrate the feasibility and effectiveness of the proposed setup.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"11 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":"128456378","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/AIRPHARO52252.2021.9571035
Turan Konyalıoğlu, Sinan Alnıpak, E. Altuğ
Within the last decade, e-commerce has increased at an extraordinary level. The widespread use of Unmanned Aerial Vehicles (VAVs) in the logistics sector can reduce traffic density, improve delivery time, and can provide contactless delivery. This work proposes a new hybrid VAV, that combines the benefits of vertical take-off and land vehicle and a fixed-wing aircraft. It can carry multiple packages, which can decent automatically towards the recipients. This approach eliminates time-consuming landing maneuvers of the VA V for delivery. This work focuses on the design of the vehicle, and the challenges of the transitions from VTOL to aircraft modes and vice versa with a Model Predictive Controller.
{"title":"Model Predictive Control of a Hybrid VA V for Parcel Delivery Applications","authors":"Turan Konyalıoğlu, Sinan Alnıpak, E. Altuğ","doi":"10.1109/AIRPHARO52252.2021.9571035","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571035","url":null,"abstract":"Within the last decade, e-commerce has increased at an extraordinary level. The widespread use of Unmanned Aerial Vehicles (VAVs) in the logistics sector can reduce traffic density, improve delivery time, and can provide contactless delivery. This work proposes a new hybrid VAV, that combines the benefits of vertical take-off and land vehicle and a fixed-wing aircraft. It can carry multiple packages, which can decent automatically towards the recipients. This approach eliminates time-consuming landing maneuvers of the VA V for delivery. This work focuses on the design of the vehicle, and the challenges of the transitions from VTOL to aircraft modes and vice versa with a Model Predictive Controller.","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":"130614379","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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