A UAV infrared measurement approach for defect detection in photovoltaic plants

Addabbo, Pia; Angrisano, Antonio; Bernardi, Mario Luca; Gagliarde, Graziano; Mennella, Alberto; Nisi, Marco; Ullo, Silvia Liberata

doi:10.1109/metroaerospace.2017.7999594

Cited by 60 publications

(28 citation statements)

References 7 publications

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“…During the experiment 3 , the UAV takes off, moves to the target position in order to attach the docking tool. Then, it starts measuring the relative position of the robot and performs the autonomous control.…”

Section: Docking and Autonomous Controlmentioning

confidence: 99%

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A 3D-Printable Docking System for Aerial Robots: Controlling Aerial Robotic Manipulators in Outdoor Industrial Applications

Soria

Arrue

Ollero

2019

IEEE Robot. Automat. Mag.

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This paper proposes a novel design of a docking system for Unmanned Aerial Vehicles (UAVs) which provides measurements of the position of the robot at high frequency. These measurements are used for controlling the aerial robot, enabling it to hover while it performs any kind of manipulation task in GPS denied industrial environments without causing the UAV to drift and putting into risk the platform and its environment. The novel tool is designed as end-effector of an arm preventing the aerial manipulator to collide while operating. A cascade controller is proposed to close the position loop. The prototype system is 3D printed in ABS. The paper presents outdoor experimental results. The accuracy of the system is evaluated against GPS, a state of art visual algorithm and a laser total station as a ground truth. The measurements obtained from the docking tool exceed a frequency of 1000 Hz which overtakes common localization algorithms.

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Section: Docking and Autonomous Controlmentioning

confidence: 99%

“…Authors in [2] use a combination of line detection and feature detection for locating wind turbines for inspection purposes. Addabbo et al in [3] use thermal images for locating and inspecting solar panels in photo-voltaic plants.…”

Section: Introductionmentioning

confidence: 99%

A 3D-Printable Docking System for Aerial Robots: Controlling Aerial Robotic Manipulators in Outdoor Industrial Applications

Soria

Arrue

Ollero

2019

IEEE Robot. Automat. Mag.

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“…Estos vehículos han demostrado ser de gran utilidad en tareas tales como el monitoreo medioambiental, la toma de muestras, la confección de mapas batimétricos entre otros, todos ellos sin el costo de desplegar grandes vehículos y personal. De igual modo, se han desarrollado UAVs para gran variedad de tareas específicas, como en [5]- [8], donde se observan aplicaciones en seguridad, agrimensura, tareas de monitoreo en zonas de difícil acceso, como bosques, volcanes, zonas de incendio o de desastres naturales. Cada vez son más las aplicaciones que se ven beneficiadas con el uso de los ASV o UAV y de pequeños vehículos terrestres.…”

Section: Introductionunclassified

“…Grupo de Procesamiento de Señales, Identificación y Control, Facultad de Ingeniería de la UBA[14] 8. Grupo de Estudio de Sistemas de Control, Facultad Regional San Nicolás, Universidad Tecnológica Nacional[15].…”

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Diseño de un autopiloto para pequeños vehículos no tripulados

Garberoglio

Pose

Mas

et al. 2019

Elek.

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Resumen-En este trabajo se presenta el diseño de un autopiloto para pequeños vehículos autónomos. El trabajo está enfocado principalmente en la arquitectura del sistema, pero se presentan también algunos detalles del firmware desarrollado para el autopiloto. En particular, el firmware incluye el paquete rosserial, que permite una conexión simple con ROS (Robot Operating System), resultando beneficioso para diversas aplicaciones.El desarrollo se valida experimentalmente en un vehículo aéreo no tripulado (UAV 1 ) del tipo multi-rotor y en un vehículo acuático de superficie (ASV 2 ). Estos vehículos han sido desarrollados por nuestro grupo, y en este trabajo puede encontrarse información sobre estos proyectos, lo cual puede ser de utilidad para los interesados en el desarrollo de UAV o ASV. Palabras clave: Autopiloto; Vehículos no tripulados; Navegación Guiado & Control.Abstract-In this work, the design of an autopilot for small unmanned vehicles is presented. It is focused mainly on the system's architecture, while presenting some important remarks of the developed firmware. In particular, the firmware uses rosserial, a package that allows a simple connection with ROS (Robot Operating System), which is useful for a number of applications.The work is validated experimentally on an multirotor-type unmanned aerial vehicle (UAV), and on an autonomous surface vehicle (ASV). These vehicles have been developed by our group, and this work provides information about such projects, which may be useful for those interested in the development of this kind of vehicles.

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“…More precisely, a UAV could perform missions, such as search & rescue, disaster relief, surveillance, surveying, and so forth. Several researchers [5]- [10], have proposed the use of small UAVs for monitoring and inspection of infrastructures, such as buildings, wind turbines, photovoltaic systems, power transmission lines, and gas pipelines. More precisely, the employment of UAVs for aerial inspection could minimise the risk of height hazard, inspection time, and cost, since large areas under inspection are mainly assessed, in real-time, by minimum human interventions and without the utilisation of any special infrastructure [5], [7], [9]- [13].…”

Section: Introductionmentioning

confidence: 99%

Inspection of Aircraft Wing Panels Using Unmanned Aerial Vehicles

Malandrakis

Chai

Domingo

et al. 2018

2018 5th IEEE International Workshop on Metrology for AeroSpace (MetroAeroSpace)

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In large civil aircraft manufacturing a timeconsuming post-production process is the non-destructive inspection of wing panels. This work aims to address this challenge and improve the defects' detection by performing automated aerial inspection using a small off-the-shelf multirotor. The UAV is equipped with a wide field-of-view camera and an ultraviolet torch for implementing non-invasive imaging inspection. In particular, the UAV is programmed to perform the complete mission and stream video, in real-time, to the ground control station where the defects' detection algorithm is executed. The proposed platform was mathematically modelled in MATLAB/SIMULINK in order to assess the behaviour of the system using a path following method during the aircraft wing inspection. The UAV was tested in the lab where a six-meter-long wing panel was oneside inspected. Initial results indicate that this inspection method could reduce significantly the inspection time, cost, and workload, whilst potentially increasing the probability of detection.

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A UAV infrared measurement approach for defect detection in photovoltaic plants

Cited by 60 publications

References 7 publications

A 3D-Printable Docking System for Aerial Robots: Controlling Aerial Robotic Manipulators in Outdoor Industrial Applications

A 3D-Printable Docking System for Aerial Robots: Controlling Aerial Robotic Manipulators in Outdoor Industrial Applications

Diseño de un autopiloto para pequeños vehículos no tripulados

Inspection of Aircraft Wing Panels Using Unmanned Aerial Vehicles

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