Modelling and simulation of a bioinspired aquatic micro aerial vehicle

Armanini, Sophie F.; Siddall, Robert; Kovač, Mirko

doi:10.2514/6.2019-3115

Cited by 6 publications

(3 citation statements)

References 27 publications

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“…Robots that combine different mobility systems have been designed to work in complex environments. These include aerial robots that are able to perch on walls and cables [16][17] [18] [19], prototypes that fly and roll over ground [20], and also robots that fly and sail on water [21] or can fly and dig underwater [22]. However, most of these prototypes have been built for multimodal mobility demonstration and have not been designed to perform work in industrial plants.…”

Section: Introductionmentioning

confidence: 99%

MHYRO: Modular HYbrid RObot for contact inspection and maintenance in oil & gas plants

Lopez-Lora¹,

Sanchez-Cuevas²,

Suárez³

et al. 2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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In this paper, we propose a new concept of robot which is hybrid, including aerial and crawling subsystems and an arm, and also modular with interchangeable crawling subsystems for different pipe configurations, since it has been designed to cover most industrial oil & gas end-users' requirements. The robot has the same ability than aerial robots to reach otherwise inaccessible locations, but makes the inspection more efficient, increasing operation time since crawling requires less energy than flying, and achieving better accuracy in the inspection. It also integrates safety-related characteristics for operating in the potentially explosive atmosphere of a refinery, being able to immediately interrupt the inspection if a hazardous situation is detected and carry the sensible parts such as batteries and electronic devices away as soon as possible. The paper presents the design of this platform in detail and shows the feasibility of the whole system performing indoor experiments.

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Section: Introductionmentioning

confidence: 99%

MHYRO: Modular HYbrid RObot for contact inspection and maintenance in oil & gas plants

Lopez-Lora¹,

Sanchez-Cuevas²,

Suárez³

et al. 2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…During this phase, it is difficult to influence the system in a reliable and accurate way, hence it is important to ensure that the initial conditions before take-off (e.g. orientation) are set correctly [30].…”

Section: B Impulsive Transition Modeling and Controlmentioning

confidence: 99%

Challenges in Control and Autonomy of Unmanned Aerial-Aquatic Vehicles

Farinha

Tria

Zufferey

et al. 2021

2021 29th Mediterranean Conference on Control and Automation (MED)

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Autonomous aquatic vehicles capable of flight can deploy more rapidly, access remote or constricted areas, overfly obstacles and transition easily between distinct bodies of water. This new class of vehicles can be referred as Unmanned Aerial-Aquatic Vehicles (UAAVs), and is capable of reaching distant locations rapidly, conducting measurements and returning to base. This greatly improves upon current solutions, which often involve integrating different types of vehicles (e.g. vessels releasing underwater vehicles), or rely on manpower (e.g. sensors dropped manually from ships). Thanks to recent research efforts, UAAVs are becoming more sophisticated and robust. Nonetheless numerous challenges remain to be addressed, and particularly dedicated control and sensing solutions are still scarce. This paper discusses challenges and opportunities in UAAV control, sensing and actuation. Following a brief overview of the state of the art, we elaborate on the requirements and challenges for the main types of robots and missions proposed in the literature to date, and highlight existing solutions where available. The concise but wide-ranging overview provided will constitute a useful starting point for researchers undertaking UAAV control work.

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“…Most existing work stops short of demonstrating a full mission cycle, focusing on specific operation phases or on simulations [14], [15]. This points to the high complexity of the proposed solutions, especially for long-duration underwater missions, and has prompted some research into simpler approaches.…”

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confidence: 99%

MEDUSA: A Multi-Environment Dual-Robot for Underwater Sample Acquisition

Debruyn

Zufferey

Armanini

et al. 2020

IEEE Robot. Autom. Lett.

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Aerial-aquatic robots possess the unique ability of operating in both air and water. However, this capability comes with tremendous challenges, such as communication incompatibility, increased airborne mass, potentially inefficient operation in each of the environments and manufacturing difficulties. Such robots, therefore, typically have small payloads and a limited operational envelope, often making their field usage impractical. We propose a novel robotic water sampling approach that combines the robust technologies of multirotors and underwater micro-vehicles into a single integrated tool usable for field operations. The proposed solution encompasses a multirotor capable of landing and floating on the water, and a tethered mobile underwater pod that can be deployed to depths of several meters. The pod is controlled remotely in three dimensions and transmits video feed and sensor data via the floating multirotor back to the user. The 'dual-robot' approach considerably simplifies robotic underwater monitoring, while also taking advantage of the fact that multirotors can travel long distances, fly over obstacles, carry payloads and manoeuvre through difficult terrain, while submersible robots are ideal for underwater sampling or manipulation. The presented system can perform challenging tasks which would otherwise require boats or submarines. The ability to collect aquatic images, samples and metrics will be invaluable for ecology and aquatic research, supporting our understanding of local climate in difficult-to-access environments [Video attachment: https://youtu.be/v4xWmEHUSM4].

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Modelling and simulation of a bioinspired aquatic micro aerial vehicle

Cited by 6 publications

References 27 publications

MHYRO: Modular HYbrid RObot for contact inspection and maintenance in oil & gas plants

MHYRO: Modular HYbrid RObot for contact inspection and maintenance in oil & gas plants

Challenges in Control and Autonomy of Unmanned Aerial-Aquatic Vehicles

MEDUSA: A Multi-Environment Dual-Robot for Underwater Sample Acquisition

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