2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)最新文献_第3页

Extended Kalman filter for payload state estimation utilizing aircraft inertial sensing 基于飞机惯性传感的载荷状态估计扩展卡尔曼滤波

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) Pub Date : 2021-10-01 DOI: 10.1109/AIRPHARO52252.2021.9571038

Vicko Prkačin, Ivana Palunko, I. Petrović

引用次数: 2

Preliminary design of an aerial cliff sampling system 空中悬崖取样系统初步设计

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) Pub Date : 2021-10-01 DOI: 10.1109/AIRPHARO52252.2021.9571064

Hughes La Vigne, Guillaume Charron, Julien Rachiele Tremblay, B. Nyberg, Alexis Lussier Desbiens

引用次数: 1

Development of High-Pressure Washing Aerial Robot Employing Multirotor Platform with Add-on Planar Translational Driving System 多旋翼平台附加平面平移驱动系统的高空高压洗涤机器人研制

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) Pub Date : 2021-10-01 DOI: 10.1109/AIRPHARO52252.2021.9571041

Ryo Miyazaki, Hannibal Paul, Takamasa Kominami, R. Martinez, Borwonpob Sumetheeprasit, K. Shimonomura

引用次数: 2

Experimental Investigation of Soft-Landing of Quadrotors via Induced Wind Modeling Approach 基于诱导风模拟方法的四旋翼飞行器软着陆实验研究

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) Pub Date : 2021-10-01 DOI: 10.1109/AIRPHARO52252.2021.9571054

S. R. Nekoo, P. J. Sánchez Cuevas, J. Acosta, G. Heredia, A. Ollero

{"title":"Experimental Investigation of Soft-Landing of Quadrotors via Induced Wind Modeling Approach","authors":"S. R. Nekoo, P. J. Sánchez Cuevas, J. Acosta, G. Heredia, A. Ollero","doi":"10.1109/AIRPHARO52252.2021.9571054","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571054","url":null,"abstract":"This paper presents an experimental study of the soft-landing problem in quadrotors using the induced wind modeling approach. The landing phase has been typically one of the critical phases in drone flight. Landing complexity drastically increases when the drone needs to land on sensitive sites, such as platforms or rack of pipes in refineries (for inspection purposes), in which explosive material is running through or there exist flammable/explosive material in the environment. Multirotor unmanned aerial vehicles (UAV s) are usually lightweight platforms and they are significantly disturbed by the aerodynamic ground effect while landing; so, near the ground, those drones are subjected to an external disturbance in proximity to the ground. In this situation, the airflow can be reflected after reaching the ground, disturbing the performance of the rotors significantly. This paper aims to model the induced wind velocity, caused by the propellers to see and consider the ground effect during the landing. The reduction of the total thrust near the ground provides a smooth landing and avoids bumping. The complex wind modeling formulation and limitation of the commercialized autopilots make the implementation a challenging task. Herein we propose how to incorporate the proposed soft-landing algorithm within an existing UA V autopilot. Experimental results show that the proposed approach successfully replicates the wind modeling which leads to a soft-landing.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"21 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":"121266082","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}

引用次数: 1

Technical Program 技术项目

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) Pub Date : 2021-10-01 DOI: 10.1109/airpharo52252.2021.9571056

Hiroki Takada

引用次数: 0

Virtual Reality Simulation of Autonomous Solar Plants Inspections with Unmanned Aerial Systems 无人机系统自主太阳能电站检测的虚拟现实仿真

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) Pub Date : 2021-10-01 DOI: 10.1109/AIRPHARO52252.2021.9571060

Fabio Augusto de Alcantara Andrade, A. Sivertsen, Carlos Alberto Moraes Correia, N. Belbachir, Lucas Costa Amaral De Sousa, Victor Müller Pereira Rufino, Eduardo Pimenta Petrópolis, Erick Rodrigues e Silva, Victor Hugo Rinaldi Fortes Henriques

{"title":"Virtual Reality Simulation of Autonomous Solar Plants Inspections with Unmanned Aerial Systems","authors":"Fabio Augusto de Alcantara Andrade, A. Sivertsen, Carlos Alberto Moraes Correia, N. Belbachir, Lucas Costa Amaral De Sousa, Victor Müller Pereira Rufino, Eduardo Pimenta Petrópolis, Erick Rodrigues e Silva, Victor Hugo Rinaldi Fortes Henriques","doi":"10.1109/AIRPHARO52252.2021.9571060","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571060","url":null,"abstract":"This paper presents the development of a virtual reality simulation environment for Unmanned Aerial Systems (UAS) solar plant inspection. The objective of this work is to provide a tool to test autonomous inspection and computer vision algorithms and generate realistic synthetic data for deep learning. These techniques demand realistic synthetic data, which can be made available by high-quality graphics engines, such as the ones used for game development. In this work, Unreal Engine 4 is used to host the virtual solar plant. The solar panels were modeled using Blender and Photoshop. Microsoft's AirSim plugin is used to simulate the UAS motion, together with the ArduPilot Software-In- The-Loop flight controller. The environment was evaluated through a virtual autonomous inspection of a plant with 9200 panels, where a georeferencing algorithm was used to locate the defective solar panel in a raster plant layout, based on the pixel position of the defects in the aerial images. The virtual inspection resulted on more than 1000 images and the localization of the defective panels in the layout plant using the georeferencing algorithm had an error of 0.34 meters on the North axis and 0.26 meters on the East axis, which is acceptable for large solar plants with sparse modules' arrangement.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"25 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":"128245014","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}

引用次数: 2

UAV human teleoperation using event-based and frame-based cameras 使用基于事件和基于帧的摄像机的无人机人类远程操作

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) Pub Date : 2021-10-01 DOI: 10.1109/AIRPHARO52252.2021.9571049

J. P. Rodríguez-Gómez, R. Tapia, A. G. Eguíluz, J. R. Martínez-De Dios, A. Ollero

引用次数: 3

Keynote Lectures [2 abstracts] 主题演讲[2摘要]

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) Pub Date : 2021-10-01 DOI: 10.1109/airpharo52252.2021.9571063

引用次数: 0

An Overview of Hand Gesture Languages for Autonomous UAV Handling 无人机自主操纵手势语言研究综述

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) Pub Date : 2021-10-01 DOI: 10.1109/AIRPHARO52252.2021.9571027

Fotini Patrona, Ioannis Mademlis, I. Pitas

{"title":"An Overview of Hand Gesture Languages for Autonomous UAV Handling","authors":"Fotini Patrona, Ioannis Mademlis, I. Pitas","doi":"10.1109/AIRPHARO52252.2021.9571027","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571027","url":null,"abstract":"Camera-equipped Unmanned Aerial Vehicles (UAVs, or drones) have revolutionized several application domains, with a steadily increasing degree of cognitive autonomy in commercial drones paving the way for unprecedented robotization of daily life. Dynamic cooperation of UAV s with human collaborators is typically necessary during a mission; a fact that has led to various solutions for high-level UAV-operator interaction. Hand gestures are an effective way of facilitating this remote drone handling, giving rise to new gesture languages for visual communication between operators and autonomous UAV s. This paper reviews all the available languages which could be used or have been created for this purpose, as well as relevant gesture recognition datasets for training machine learning models. Moreover, a novel, generic, base gesture language for handling camera-equipped UAV s is proposed, along with a corresponding, large-scale, publicly available video dataset. The presented language can easily and consistently be extended in the future to more specific scenarios/profiles, tailored for particular application domains and/or additional UAV equipment (e.g., aerial manipulators/arms). Finally, we evaluate: a) the performance of state-of-the-art gesture recognition algorithms on the proposed dataset, in a quantitative and objective manner, and b) the intuitiveness, effectiveness and completeness of the proposed gesture language, in a qualitative and subjective manner.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"95 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":"127080414","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}

引用次数: 4

Adaptively Leveling a UAV with Three-arm Aerial Manipulator System on Shifting Ground 基于三臂航空机械臂系统的无人机在移动地面上的自适应调平

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) Pub Date : 2021-10-01 DOI: 10.1109/AIRPHARO52252.2021.9571040

Hannibal Paul, Ryo Miyazaki, Takamasa Kominami, Robert Ladig, K. Shimonomura

引用次数: 0