Evolutionary Human-UAV Cooperation for Transmission Network Restoration

Zheng, Yujun; Du, Yi; Su, Zheng-Lian; Ling, Haifeng; Zhang, Minxia; Chen, Shengyong

doi:10.1109/tii.2020.3003903

Cited by 26 publications

(12 citation statements)

References 33 publications

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“…In contrast, human operators can easily recognize objects on-site without prior knowledge, while robots can accurately map the material during the task [23], [24]. Additionally, integrating material mapping and path planning with human operation increases the system's capabilities, making it more flexible and robust to various site preparation scenarios [25].…”

Section: Materials Mappingmentioning

confidence: 99%

Vision-Based UAV-UGV Collaboration for Autonomous Construction Site Preparation

2022

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Construction site preparation tasks rely on experienced operators and heavy machinery for clearing debris, earthmoving, leveling, and soil stabilization. These actions require complex collaboration between human teams to survey the site, estimate the material condition, and guide the operators accordingly. In recent years there has been a critical labor shortage due to increasing demands in construction. Integrating autonomous systems can mitigate this gap by replacing traditional methods with robotic solutions. However, while ideal conditions for automatic systems are static and highly controlled, construction sites are dynamic and unstructured environments. The ability of autonomous systems to overcome these conditions during outdoor construction site preparation tasks relies on their capacity to map the material on-site and continuously perform localization. This study suggests a solution to these problems by collaborating between an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV). In this method, the UAV produces a material map and monitors the UGV's location relative to known static landmarks. These measurements are then sent to the ground vehicle and are added to the onboard sensors using the Extended Kalman Filter (EKF) approach. Thus, the UAV enhances the operation of the UGV by providing an accurate localization and mapping from the air and allowing it to perform a site-preparation task beyond mere sensing. This approach is examined with simulation and validated by outdoor experiments. Additionally, this method is integrated within Shepherd, a custom-developed plugin for computer-aided design applications.

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Section: Materials Mappingmentioning

confidence: 99%

Vision-Based UAV-UGV Collaboration for Autonomous Construction Site Preparation

2022

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“…However, their ability to interact with the environment, especially with humans, is limited [6], [7]. They are tipically made of rigid underlying structures.…”

Section: Introductionmentioning

confidence: 99%

A flexible propelled arm: Mechanical considerations for the use in UAVs

Pérez-Ruiz¹,

Arrue²,

Ollero³

2022

Preprint

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This paper presents a soft propelled arm, 3Dprinted in TPU 70A, designed to be used in flexible UAVs, an advantageous concept since it reduces risk in the event of a collision thanks to a high energy absorption. The proposed design also allows the possibility to adapt to the environment and land on pipelines. The flexibility of the arm can be controlled during the additive manufacturing process by adjusting the infill rate or internal density. In this work, a mechanical design based on simulations with an experimentally adjusted 5parameter Mooney-Rivlin non-linear model is proposed. Thrust efficiency is also maximized through CFD simulations.

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“…UAV systems can become even more efficient if they work in cooperation with human beings ( ZHAO et al, 2020 ; Zheng et al, 2021 ). The propulsion system is one of the main challenges to solve in order to perform these tasks safely and efficiently, hence deformable propellers have become a real alternative ( Nguyen et al, 2020 ).…”

Section: Introductionmentioning

confidence: 99%

Aeroelastics-aware compensation system for soft aerial vehicle stabilization

2022

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This paper describes a compensation system for soft aerial vehicle stabilization. Balancing the arms is one of the main challenges of soft UAVs since the propeller is freely tilting together with the flexible arm. In comparison with previous designs, in which the autopilot was adjusted to deal with these imbalances with no extra actuation, this work introduces a soft tendon-actuated system to achieve in-flight stabilization in an energy-efficient way. The controller is specifically designed for disturbance rejection of aeroelastic perturbations using the Ziegler-Nichols method, depending on the flight mode and material properties. This aerodynamics-aware compensation system allows to further bridge the gap between soft and aerial robotics, leading to an increase in the flexibility of the UAV, and the ability to deal with changes in material properties, increasing the useful life of the drone. In energetic terms, the novel system is 15–30% more efficient, and is the basis for future applications such as object grasping.

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Evolutionary Human-UAV Cooperation for Transmission Network Restoration

Cited by 26 publications

References 33 publications

Vision-Based UAV-UGV Collaboration for Autonomous Construction Site Preparation

Vision-Based UAV-UGV Collaboration for Autonomous Construction Site Preparation

A flexible propelled arm: Mechanical considerations for the use in UAVs

Aeroelastics-aware compensation system for soft aerial vehicle stabilization

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