3,627 research outputs found
Methods for autonomous wristband placement with a search-and-rescue aerial manipulator
A new robotic system for Search And Rescue (SAR) operations based on the automatic wristband placement on the victims’ arm, which may provide identification, beaconing and remote sensor readings for continuous health monitoring. This paper focuses on the development of the automatic target localization and the device placement using an unmanned aerial manipulator. The automatic wrist detection and localization system uses an RGB-D camera and a convolutional neural network based on the region faster method (Faster R-CNN). A lightweight parallel delta manipulator with a large workspace has been built, and a new design of a wristband in the form of a passive detachable gripper, is presented, which under contact, automatically attaches to the human, while disengages from the manipulator. A new trajectory planning method has been used to minimize the torques caused by the external forces during contact, which cause attitude perturbations. Experiments have been done to evaluate the machine learning method for detection and location, and for the assessment of the performance of the trajectory planning method. The results show how the VGG-16 neural network provides a detection accuracy of 67.99%. Moreover, simulation experiments have been done to show that the new trajectories minimize the perturbations to the aerial platform.Universidad de Málaga. Campus de Excelencia Internacional AndalucÃa Tech
Deposition dynamics and analysis of polyurethane foam structure boundaries for Aerial Additive Manufacturing
Additive manufacturing in construction typically consists of ground-based platforms. Introducing aerial capabilities offers scope to create or repair structures in dangerous or elevated locations. The Aerial Additive Manufacturing (AAM) project has developed a pioneering approach using Unmanned Aerial Vehicles (UAV, ‘drones’) to deposit material during self-powered, autonomous, untethered flight. This study investigates high and low-density foams autonomously deposited as structural and insulation materials. Drilling resistance, mechanical, thermal and microscopy tests investigate density variation, interfacial integrity and thermal stability. Autonomous deposition is demonstrated using a flying UAV and robotic arm. Results reveal dense material at interfaces and directionally dependent cell expansion during foaming. Cured interfacial regions are vulnerable to loading parallel to interfaces but resistant to perpendicular loading. Mitigation of trajectory printing errors caused by UAV flight disturbance is demonstrated by a stabilising end effector, with trajectory errors ≤10 mm. AAM provides a significant development towards on-site automation in construction
Soft-Tentacle Gripper for Pipe Crawling to Inspect Industrial Facilities Using UAVs
This paper presents a crawling mechanism using a soft-tentacle gripper integrated into an
unmanned aerial vehicle for pipe inspection in industrial environments. The objective was to allow
the aerial robot to perch and crawl along the pipe, minimizing the energy consumption, and allowing
to perform contact inspection. This paper introduces the design of the soft limbs of the gripper and
also the internal mechanism that allows movement along pipes. Several tests have been carried out
to ensure the grasping capability on the pipe and the performance and reliability of the developed
system. This paper shows the complete development of the system using additive manufacturing
techniques and includes the results of experiments performed in realistic environments.Unión Europea SI-1762/23/201
Enabling technologies for precise aerial manufacturing with unmanned aerial vehicles
The construction industry is currently experiencing a revolution with automation techniques
such as additive manufacturing and robot-enabled construction. Additive Manufacturing (AM)
is a key technology that can o er productivity improvement in the construction industry by
means of o -site prefabrication and on-site construction with automated systems. The key
bene t is that building elements can be fabricated with less materials and higher design freedom
compared to traditional manual methods.
O -site prefabrication with AM has been investigated for some time already, but it has limitations
in terms of logistical issues of components transportation and due to its lack of design
exibility on-site. On-site construction with automated systems, such as static gantry systems
and mobile ground robots performing AM tasks, can o er additional bene ts over o -site
prefabrication, but it needs further research before it will become practical and economical.
Ground-based automated construction systems also have the limitation that they cannot extend
the construction envelope beyond their physical size. The solution of using aerial robots
to liberate the process from the constrained construction envelope has been suggested, albeit
with technological challenges including precision of operation, uncertainty in environmental
interaction and energy e ciency.
This thesis investigates methods of precise manufacturing with aerial robots. In particular,
this work focuses on stabilisation mechanisms and origami-based structural elements that allow
aerial robots to operate in challenging environments. An integrated aerial self-aligning delta
manipulator has been utilised to increase the positioning accuracy of the aerial robots, and
a Material Extrusion (ME) process has been developed for Aerial Additive Manufacturing
(AAM). A 28-layer tower has been additively manufactured by aerial robots to demonstrate the
feasibility of AAM. Rotorigami and a bioinspired landing mechanism demonstrate their abilities
to overcome uncertainty in environmental interaction with impact protection capabilities and
improved robustness for UAV. Design principles using tensile anchoring methods have been
explored, enabling low-power operation and explores possibility of low-power aerial stabilisation.
The results demonstrate that precise aerial manufacturing needs to consider not only just the
robotic aspects, such as
ight control algorithms and mechatronics, but also material behaviour
and environmental interaction as factors for its success.Open Acces
- …