dc.creator | Sánchez Cuevas, Pedro Jesús | es |
dc.creator | González Morgado, Antonio | es |
dc.creator | Cortés, Nicolás | es |
dc.creator | Gayango, Diego B. | es |
dc.creator | Jiménez Cano, Antonio Enrique | es |
dc.creator | Ollero Baturone, Aníbal | es |
dc.creator | Heredia Benot, Guillermo | es |
dc.date.accessioned | 2020-10-08T16:55:33Z | |
dc.date.available | 2020-10-08T16:55:33Z | |
dc.date.issued | 2020-08 | |
dc.identifier.citation | Sánchez Cuevas, P.J., González Morgado, A., Cortés, N., Gayango, D.B., Jiménez Cano, A.E., Ollero Baturone, A. y Heredia Benot, G. (2020). Fully-Actuated Aerial Manipulator for Infrastructure Contact Inspection: Design, Modeling, Localization, and Control. Sensors, 20 (17). Article number 4708. | |
dc.identifier.issn | EISSN 1424-8220 | es |
dc.identifier.uri | https://hdl.handle.net/11441/101859 | |
dc.description.abstract | This paper presents the design, modeling and control of a fully actuated aerial robot for
infrastructure contact inspection as well as its localization system. Health assessment of transport
infrastructure involves measurements with sensors in contact with the bridge and tunnel surfaces
and the installation of monitoring sensing devices at specific points. The design of the aerial robot
presented in the paper includes a 3DoF lightweight arm with a sensorized passive joint which can
measure the contact force to regulate the force applied with the sensor on the structure. The aerial
platform has been designed with tilted propellers to be fully actuated, achieving independent attitude
and position control. It also mounts a “docking gear” to establish full contact with the infrastructure
during the inspection, minimizing the measurement errors derived from the motion of the aerial
platform and allowing full contact with the surface regardless of its condition (smooth, rough, ...).
The localization system of the aerial robot uses multi-sensor fusion of the measurements of a
topographic laser sensor on the ground and a tracking camera and inertial sensors on-board the aerial
robot, to be able to fly under the bridge deck or close to the bridge pillars where GNSS satellite signals
are not available. The paper also presents the modeling and control of the aerial robot. Validation
experiments of the localization system and the control system, and with the aerial robot inspecting a
real bridge are also included. | es |
dc.description.sponsorship | Ministerio de Economía, Industria y Competitividad RTI2018-102224-B-I00 | es |
dc.description.sponsorship | Comisión Europea H2020-MG-2017-769066 | es |
dc.description.sponsorship | Comisión Europea H2020-ICT-2019-2-871542 | es |
dc.format | application/pdf | es |
dc.format.extent | 26 p. | es |
dc.language.iso | eng | es |
dc.publisher | MDPI | es |
dc.relation.ispartof | Sensors, 20 (17). Article number 4708. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | |
dc.subject | Aerial systems | es |
dc.subject | Applications | es |
dc.subject | Inspection robotics | es |
dc.subject | Bridge inspection with UAS | es |
dc.title | Fully-Actuated Aerial Manipulator for Infrastructure Contact Inspection: Design, Modeling, Localization, and Control | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/publishedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.projectID | RTI2018-102224-B-I00 | es |
dc.relation.projectID | H2020-MG-2017-769066 | es |
dc.relation.projectID | H2020-ICT-2019-2-871542 | es |
dc.relation.publisherversion | https://doi.org/10.3390/s20174708 | es |
dc.identifier.doi | 10.3390/s20174708 | es |
dc.contributor.group | Universidad de Sevilla. TEP151: Robótica, Visión y Control | es |
dc.journaltitle | Sensors | es |
dc.publication.volumen | 20 | es |
dc.publication.issue | 17 | es |
dc.publication.initialPage | Article number 4708 | es |
dc.contributor.funder | Ministerio de Economia, Industria y Competitividad (MINECO). España | es |
dc.contributor.funder | European Commission (EC) | es |
dc.contributor.funder | Ministerio de Educación, Cultura y Deporte (MECD). España | es |