The maintenance of wind turbines is of growing importance considering the transition to renewable energy. This paper presents a multi-robot-approach for automated wind turbine maintenance including a novel climbing robot. Currently, wind turbine maintenance remains a manual task, which is monotonous, dangerous, and also physically demanding due to the large scale of wind turbines. Technical climbers are required to work at significant heights, even in bad weather conditions. Furthermore, a skilled labor force with sufficient knowledge in repairing fiber composite material is rare. Autonomous mobile systems enable the digitization of the maintenance process. They can be designed for weather-independent operations. This work contributes to the development and experimental validation of a maintenance system consisting of multiple robotic platforms for a variety of tasks, such as wind turbine tower and rotor blade service. In this work, multicopters with vision and LiDAR sensors for global inspection are used to guide slower climbing robots. Light-weight magnetic climbers with surface contact were used to analyze structure parts with non-destructive inspection methods and to locally repair smaller defects. Localization was enabled by adapting odometry for conical-shaped surfaces considering additional navigation sensors. Magnets were suitable for steel towers to clamp onto the surface. A friction-based climbing ring robot (SMART— Scanning, Monitoring, Analyzing, Repair and Transportation) completed the set-up for higher payload. The maintenance period could be extended by using weather-proofed maintenance robots. The multi-robot-system was running the Robot Operating System (ROS). Additionally, first steps towards machine learning would enable maintenance staff to use pattern classification for fault diagnosis in order to operate safely from the ground in the future.
The number of candidates waiting for a heart valve replacement rises yearly. Even though there is a trend toward implantation of biological valves or reconstruction, the prosthetic heart valves (PHVs) are still commonly used for implantation or as a part of cardiac assist devices in many countries worldwide. However, the hemodynamic consequences of these valves are still not completely understood. Unfortunately, these devices currently do not perform sufficiently on a long-term basis and may lead to several complications, many of them are related to fluid mechanical aspects. A novel method, stereoscopic high-speed particle image velocimetry, was applied to quantify all three velocity components behind a PHV in detailed time domain. In this study, we compared clinically used bileaflet aortic prosthetic (ATS) valve and monoleaflet prototype of tilting disk PHV. The absolute velocities calculated out of two and three velocity components were compared to each other to estimate the overall difference in the desired region of interest. The most significant discrepancies between the two- and three-component absolute velocities were found at the regions of Valsalva sinuses and in a major jet stream of monoleaflet PHV.
Flexible production is a key element in modern industrial manufacturing. Autonomous mobile manipulators can be used to execute various tasks: from logistics, to pick and place, or handling. Therefore, autonomous robotic systems can even increase the flexibility of existing production environments. However, the application of robotic systems is challenging due to their complexity and safety concerns. This paper addresses the design and implementation of the autonomous mobile manipulator OMNIVIL. A holonomic kinematic design provides high maneuverability and the implemented sensor setup with the underlying localization strategies are robust against typical static and dynamic uncertainties in industrial environments. For a safe and efficient human–robot collaboration (HRC), a novel workspace monitoring system (WMS) is developed to detect human co-workers and other objects in the workspace. The multilayer sensor setup and the parallel data analyzing capability provide superior accuracy and reliability. An intuitive zone-based navigation concept is implemented, based on the workspace monitoring system. Preventive behaviors are predefined for a conflict-free interaction with human co-workers. A workspace analyzing tool is implemented for adaptive manipulation, which significantly simplifies the determination of suitable platform positions for a manipulation task.
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