State‐of‐the‐art technologies for UAV inspections

Jordan, Sophie; Moore, Julian; Hovet, Sierra; Box, John R.; Perry, Julian Andrew; Kirsche, Kevin; Lewis, Dexter

doi:10.1049/iet-rsn.2017.0251

Cited by 173 publications

(100 citation statements)

References 36 publications

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“…The effect of multipath reflections was also investigated for the proposed CMD algorithm and the LLS algorithm. The position of the receiver was considered at (4,4,1), (7,4,1), (10,4,1) and (13,4,1) in order to test the effect of multipath reflections. These positions were selected as they covered the multipath reflections due to their position close to the walls and up to the middle of the room, i.e., the effect of high to low multipath reflections.…”

Section: Positioning Accuracy With Multipath Reflectionsmentioning

confidence: 99%

“…The results showed that when the receiver was at (4, 4, 1), and LLS achieved a positioning error of 107 cm, while CMD had an error of 79 cm. When the receiver was at (7,4,1), (10,4,1) and (13,4,1), the positioning error for LLS was 91.53 cm, 72.24 cm and 67.85 cm, respectively, while the CMD achieved a positioning error of 47.36 cm, 54.72 cm and 43.84 cm, respectively. Therefore, the performance of CMD was superior to that of LLS in the presence of multipath reflections.…”

Section: Positioning Accuracy With Multipath Reflectionsmentioning

confidence: 99%

“…Unmanned aerial vehicles (UAVs), commonly known as drones, are used for different applications, such as to perform visual inspections of a variety of indoor and outdoor environments, as they offer a safe and cost-effective way to inspect different heights and areas that are hard to reach. This also eliminates the need for manual inspections [1]. The areas under inspection can be offshore oil rigs, power plants, façades and buildings.…”

Section: Introductionmentioning

confidence: 98%

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A Novel 3D Visible Light Positioning Method Using Received Signal Strength for Industrial Applications

et al. 2019

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In this paper, a novel three-dimensional (3D) indoor visible light positioning (VLP) algorithm using the Cayley–Menger determinant (CMD) with a cost function is proposed and experimentally tested to track a drone for industrial applications. The proposed algorithm uses optical received signal strength (RSS) for estimating the drone’s 3D position without prior knowledge of its height. This reduces the need for additional height sensors used in some 3D VLP systems. The performance of the proposed algorithm in terms of positioning error is also compared with a linear least squares (LLS) trilateration algorithm, with and without tilting of the receiver and with multipath reflections. The simulation results show that the proposed algorithm is more accurate and outperforms the LLS algorithm by a median improvement of 21% and is also more robust to the effect of tilting, as well as in the presence of multipath reflections. Furthermore, the proposed algorithm has been experimentally tested and compared with the LLS algorithm in a VLP test bed measuring 4 × 4 × 4.1 m 3 . The experimental results show that the median errors for LLS are 11.4 cm, while the median errors for CMD are 10.5 cm, which results in an error decrease of 8% when CMD with a cost function is used.

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Section: Positioning Accuracy With Multipath Reflectionsmentioning

confidence: 99%

Section: Positioning Accuracy With Multipath Reflectionsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 98%

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A Novel 3D Visible Light Positioning Method Using Received Signal Strength for Industrial Applications

et al. 2019

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“…In industrial environments UAVs equipped with a combination of visible-light cameras and thermal cameras are used for inspection purposes for places and areas which are difficult to access. These areas include power lines, structures like bridges, and windturbines [1]. Camera sensors as well as light detection and ranging (LiDAR) sensors are used in forestry to estimate tree canopy heights [2], woody tree abundance, or even species richness [3].…”

Section: Application Areasmentioning

confidence: 99%

Radar Taking Off: New Capabilities for UAVs

et al. 2018

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Modern consumer and industrial unmanned aerial vehicles (UAVs) are easy to use flying sensor platforms. They offer stable flight, good maneuverability, hovering, and even waypoint flights in autopilot mode. For stabilization and localization sensors such as internal measurement units (IMUs) including gyroscope and accelerometer, barometric sensor, and global navigation satellite system (GNSS) are used. To sense the direct environment of the UAV, for instance for collision avoidance or fully automated flights, additional sensors are needed. State-of-the-art combinations of infrared sensors, ultrasonic sensors as well as vision based sensors (monocular and/or stereo vision) capture the close vicinity. Using radar sensors is advantageous, as they are able to directly sense range and velocity and are not prone to lighting conditions and contrast. With the help of a multi-channel radar, the angular information can also be extracted. UAVs can lift a considerable payload with respect to their size. All these characteristics combined with radar sensors make them a promising tool for a large variety of applications.

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“…Vertical Take Off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs) offer several advantages over standard mobile robots operating on ground in many application scenarios (e.g., inspection and manteinance services [1], data collection and exploration operations [2], precision agriculture [3]). More recently, aerial manipulators (i.e., UAVs equipped with grippers or robotic arms) opened up a new stream of applications, e.g., in assembly of structures in remote environments, maintenaince operations and payload transportation [4], [5].…”

Section: Introductionmentioning

confidence: 99%

Preliminary design, modeling and control of a fully actuated quadrotor UAV

Pierri

Caccavale

2019

2019 International Conference on Unmanned Aircraft Systems (ICUAS)

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In this paper a preliminary study on a new concept of fully actuated Unmanned Aerial Vehicle (UAV), named ODQuad (OmniDirectional Quadrotor), is presented. By exploiting two additional actuators, the designed UAV can simultaneously modify the tilting angle of all the propellers, in such a way to decouple position and attitude motions. This solution, differently from other fully actuated UAVs with tilted propellers, avoids internal forces and energy dissipation, due to non-parallel propellers' axes. A preliminary mechanical design and the kinematic and dynamic models are developed. Moreover, a motion control scheme, based on a hierarchical two loop, has been designed. Simulations are provided in order to show the feasibility of the concept and the effectiveness of the control scheme. This work was supported in part by the European Commission through the Horizon 2020 Program under Grant 644271 (AEROARMSAErial RObotic system integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenance).

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State‐of‐the‐art technologies for UAV inspections

Cited by 173 publications

References 36 publications

A Novel 3D Visible Light Positioning Method Using Received Signal Strength for Industrial Applications

A Novel 3D Visible Light Positioning Method Using Received Signal Strength for Industrial Applications

Radar Taking Off: New Capabilities for UAVs

Preliminary design, modeling and control of a fully actuated quadrotor UAV

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