Sensor-based autonomous pipeline monitoring robotic system

The field of robotics applications continues to advance. This dissertation addresses the computational challenges of robotic applications and translations of actions using sensors. One of the most challenging fields for robotics applications is pipeline-based applications which have become an indispensable part of life. Proactive monitoring and frequent inspections are critical in maintaining pipeline health. However, these tasks are highly expensive using traditional maintenance systems, knowing that pipeline systems can be largely deployed in an inaccessible and hazardous environment. Thus, we propose a novel cost effective, scalable, customizable, and autonomous sensor-based robotic system, called SPRAM System (Sensor-based Autonomous Pipeline Monitoring Robotic System). It combines robot agent based technologies with sensing technologies for efficiently locating health related events and allows active and corrective monitoring and maintenance of the pipelines. The SPRAM System integrates RFID systems with mobile sensors and autonomous robots. While the mobile sensor motion is based on the fluid transported by the pipeline, the fixed sensors provide event and mobile sensor location information and contribute efficiently to the study of health history of the pipeline. In addition, it permits a good tracking of the mobile sensors. Using the output of event analysis, a robot agent gets command from the controlling system, travels inside the pipelines for detailed inspection and repairing of the reported incidents (e.g., damage, leakage, or corrosion). The key innovations of the proposed system are 3-fold: (a) the system can apply to a large variety of pipeline systems; (b) the solution provided is cost effective since it uses low cost powerless fixed sensors that can be setup while the pipeline system is operating; (c) the robot is autonomous and the localization technique allows controllable errors. In this dissertation, some simulation experiments described along with prototyping activities demonstrate the feasibility of the proposed system

Wireless communication, identification and sensing technologies enabling integrated logistics: a study in the harbor environment

In the last decade, integrated logistics has become an important challenge in the development of wireless communication, identification and sensing technology, due to the growing complexity of logistics processes and the increasing demand for adapting systems to new requirements. The advancement of wireless technology provides a wide range of options for the maritime container terminals. Electronic devices employed in container terminals reduce the manual effort, facilitating timely information flow and enhancing control and quality of service and decision made. In this paper, we examine the technology that can be used to support integration in harbor's logistics. In the literature, most systems have been developed to address specific needs of particular harbors, but a systematic study is missing. The purpose is to provide an overview to the reader about which technology of integrated logistics can be implemented and what remains to be addressed in the future

Living IoT: A Flying Wireless Platform on Live Insects

Sensor networks with devices capable of moving could enable applications ranging from precision irrigation to environmental sensing. Using mechanical drones to move sensors, however, severely limits operation time since flight time is limited by the energy density of current battery technology. We explore an alternative, biology-based solution: integrate sensing, computing and communication functionalities onto live flying insects to create a mobile IoT platform. Such an approach takes advantage of these tiny, highly efficient biological insects which are ubiquitous in many outdoor ecosystems, to essentially provide mobility for free. Doing so however requires addressing key technical challenges of power, size, weight and self-localization in order for the insects to perform location-dependent sensing operations as they carry our IoT payload through the environment. We develop and deploy our platform on bumblebees which includes backscatter communication, low-power self-localization hardware, sensors, and a power source. We show that our platform is capable of sensing, backscattering data at 1 kbps when the insects are back at the hive, and localizing itself up to distances of 80 m from the access points, all within a total weight budget of 102 mg.Comment: Co-primary authors: Vikram Iyer, Rajalakshmi Nandakumar, Anran Wang, In Proceedings of Mobicom. ACM, New York, NY, USA, 15 pages, 201

Proceedings of the 9th Conference on Autonomous Robot Systems and Competitions

Welcome to ROBOTICA 2009. This is the 9th edition of the conference on Autonomous Robot Systems and Competitions, the third time with IEEE‐Robotics and Automation Society Technical Co‐Sponsorship. Previous editions were held since 2001 in Guimarães, Aveiro, Porto, Lisboa, Coimbra and Algarve. ROBOTICA 2009 is held on the 7th May, 2009, in Castelo Branco , Portugal. ROBOTICA has received 32 paper submissions, from 10 countries, in South America, Asia and Europe. To evaluate each submission, three reviews by paper were performed by the international program committee. 23 papers were published in the proceedings and presented at the conference. Of these, 14 papers were selected for oral presentation and 9 papers were selected for poster presentation. The global acceptance ratio was 72%. After the conference, eighth papers will be published in the Portuguese journal Robótica, and the best student paper will be published in IEEE Multidisciplinary Engineering Education Magazine. Three prizes will be awarded in the conference for: the best conference paper, the best student paper and the best presentation. The last two, sponsored by the IEEE Education Society ‐ Student Activities Committee. We would like to express our thanks to all participants. First of all to the authors, whose quality work is the essence of this conference. Next, to all the members of the international program committee and reviewers, who helped us with their expertise and valuable time. We would also like to deeply thank the invited speaker, Jean Paul Laumond, LAAS‐CNRS France, for their excellent contribution in the field of humanoid robots. Finally, a word of appreciation for the hard work of the secretariat and volunteers. Our deep gratitude goes to the Scientific Organisations that kindly agreed to sponsor the Conference, and made it come true. We look forward to seeing more results of R&D work on Robotics at ROBOTICA 2010, somewhere in Portugal

Study and development of a reliable fiducials-based localization system for multicopter UAVs flying indoor

openThe recent evolution of technology in automation, agriculture, IoT, and aerospace fields has created a growing demand for mobile robots capable of autonomous operation and movement to accomplish various tasks. Aerial platforms are expected to play a central role in the future due to their versatility and swift intervention capabilities. However, the effective utilization of these platforms faces a significant challenge due to localization, which is a vital aspect for their interaction with the surrounding environment. While GNSS localization systems have established themselves as reliable solutions for open-space scenarios, the same approach is not viable for indoor settings, where localization remains an open problem as it is witnessed by the lack of extensive literature on the topic. In this thesis, we address this challenge by proposing a dependable solution for small multi-rotor UAVs using a Visual Inertial Odometry localization system. Our KF-based localization system reconstructs the pose by fusing data from onboard sensors. The primary source of information stems from the recognition of AprilTags fiducial markers, strategically placed in known positions to form a “map”. Building upon prior research and thesis work conducted at our university, we extend and enhance this system. We begin with a concise introduction, followed by a justification of our chosen strategies based on the current state of the art. We provide an overview of the key theoretical, mathematical, and technical aspects that support our work. These concepts are fundamental to the design of innovative strategies that address challenges such as data fusion from different AprilTag recognition and the elimination of misleading measurements. To validate our algorithms and their implementation, we conduct experimental tests using two distinct platforms by using localization accuracy and computational complexity as performance indices to demonstrate the practical viability of our proposed system. By tackling the critical issue of indoor localization for aerial platforms, this thesis tries to give some contribution to the advancement of robotics technology, opening avenues for enhanced autonomy and efficiency across various domains.The recent evolution of technology in automation, agriculture, IoT, and aerospace fields has created a growing demand for mobile robots capable of autonomous operation and movement to accomplish various tasks. Aerial platforms are expected to play a central role in the future due to their versatility and swift intervention capabilities. However, the effective utilization of these platforms faces a significant challenge due to localization, which is a vital aspect for their interaction with the surrounding environment. While GNSS localization systems have established themselves as reliable solutions for open-space scenarios, the same approach is not viable for indoor settings, where localization remains an open problem as it is witnessed by the lack of extensive literature on the topic. In this thesis, we address this challenge by proposing a dependable solution for small multi-rotor UAVs using a Visual Inertial Odometry localization system. Our KF-based localization system reconstructs the pose by fusing data from onboard sensors. The primary source of information stems from the recognition of AprilTags fiducial markers, strategically placed in known positions to form a “map”. Building upon prior research and thesis work conducted at our university, we extend and enhance this system. We begin with a concise introduction, followed by a justification of our chosen strategies based on the current state of the art. We provide an overview of the key theoretical, mathematical, and technical aspects that support our work. These concepts are fundamental to the design of innovative strategies that address challenges such as data fusion from different AprilTag recognition and the elimination of misleading measurements. To validate our algorithms and their implementation, we conduct experimental tests using two distinct platforms by using localization accuracy and computational complexity as performance indices to demonstrate the practical viability of our proposed system. By tackling the critical issue of indoor localization for aerial platforms, this thesis tries to give some contribution to the advancement of robotics technology, opening avenues for enhanced autonomy and efficiency across various domains

Smart Monitoring and Control in the Future Internet of Things

The Internet of Things (IoT) and related technologies have the promise of realizing pervasive and smart applications which, in turn, have the potential of improving the quality of life of people living in a connected world. According to the IoT vision, all things can cooperate amongst themselves and be managed from anywhere via the Internet, allowing tight integration between the physical and cyber worlds and thus improving efficiency, promoting usability, and opening up new application opportunities. Nowadays, IoT technologies have successfully been exploited in several domains, providing both social and economic benefits. The realization of the full potential of the next generation of the Internet of Things still needs further research efforts concerning, for instance, the identification of new architectures, methodologies, and infrastructures dealing with distributed and decentralized IoT systems; the integration of IoT with cognitive and social capabilities; the enhancement of the sensing–analysis–control cycle; the integration of consciousness and awareness in IoT environments; and the design of new algorithms and techniques for managing IoT big data. This Special Issue is devoted to advancements in technologies, methodologies, and applications for IoT, together with emerging standards and research topics which would lead to realization of the future Internet of Things

Dronevision: An Experimental 3D Testbed for Flying Light Specks

Today's robotic laboratories for drones are housed in a large room. At times, they are the size of a warehouse. These spaces are typically equipped with permanent devices to localize the drones, e.g., Vicon Infrared cameras. Significant time is invested to fine-tune the localization apparatus to compute and control the position of the drones. One may use these laboratories to develop a 3D multimedia system with miniature sized drones configured with light sources. As an alternative, this brave new idea paper envisions shrinking these room-sized laboratories to the size of a cube or cuboid that sits on a desk and costs less than 10K dollars. The resulting Dronevision (DV) will be the size of a 1990s Television. In addition to light sources, its Flying Light Specks (FLSs) will be network-enabled drones with storage and processing capability to implement decentralized algorithms. The DV will include a localization technique to expedite development of 3D displays. It will act as a haptic interface for a user to interact with and manipulate the 3D virtual illuminations. It will empower an experimenter to design, implement, test, debug, and maintain software and hardware that realize novel algorithms in the comfort of their office without having to reserve a laboratory. In addition to enhancing productivity, it will improve safety of the experimenter by minimizing the likelihood of accidents. This paper introduces the concept of a DV, the research agenda one may pursue using this device, and our plans to realize one