References of "Heredia, Guillermo"
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See detailExperimental Investigation of Soft-Landing of Quadrotors via Induced Wind Modeling Approach
Nekoo, Saeed Rafee; Sanchez Cuevas, Pedro Jesus UL; Acosta, José Ángel et al

in Experimental Investigation of Soft-Landing of Quadrotors via Induced Wind Modeling Approach (2021)

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See detailLocalization System for Lightweight Unmanned Aerial Vehicles in Inspection Tasks
Benjumea, Diego; Alcántara, Alfonso; Ramos, Agustin et al

in Sensors (2021), 21(17 5937),

This paper presents a localization system for Unmanned Aerial Vehicles (UAVs) especially designed to be used in infrastructure inspection, where the UAVs have to fly in challenging conditions, such as ... [more ▼]

This paper presents a localization system for Unmanned Aerial Vehicles (UAVs) especially designed to be used in infrastructure inspection, where the UAVs have to fly in challenging conditions, such as relatively high altitude (e.g., 15 m), eventually with poor or absent GNSS (Global Navigation Satellite System) signal reception, or the need for a BVLOS (Beyond Visual Line of Sight) operation in some periods. In addition, these infrastructure inspection applications impose the following requirements for the localization system: defect traceability, accuracy, reliability, and fault tolerance. Our system proposes a lightweight solution combining multiple stereo cameras with a robotic total station to comply with these requirements, providing full-state estimation (i.e., position, orientation, and linear and angular velocities) in a fixed and time-persistent reference frame. Moreover, the system can align and fuse all sensor measurements in real-time at high frequency. We have integrated this localization system in our aerial platform, and we have tested its performance for inspection in a real-world viaduct scenario, where the UAV has to operate with poor or absent GNSS signal at high altitude. [less ▲]

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See detailFully-Actuated Aerial Manipulator for Infrastructure Contact Inspection: Design, Modeling, Localization, and Control
Sanchez Cuevas, Pedro Jesus UL; Gonzalez Morgado, Antonio; Cortes, Nicolas et al

in Sensors (2020)

This paper presents the design, modeling and control of a fully actuated aerial robot for infrastructure contact inspection as well as its localization system. Health assessment of transport ... [more ▼]

This paper presents the design, modeling and control of a fully actuated aerial robot for infrastructure contact inspection as well as its localization system. Health assessment of transport infrastructure involves measurements with sensors in contact with the bridge and tunnel surfaces and the installation of monitoring sensing devices at specific points. The design of the aerial robot presented in the paper includes a 3DoF lightweight arm with a sensorized passive joint which can measure the contact force to regulate the force applied with the sensor on the structure. The aerial platform has been designed with tilted propellers to be fully actuated, achieving independent attitude and position control. It also mounts a “docking gear” to establish full contact with the infrastructure during the inspection, minimizing the measurement errors derived from the motion of the aerial platform and allowing full contact with the surface regardless of its condition (smooth, rough, ...). The localization system of the aerial robot uses multi-sensor fusion of the measurements of a topographic laser sensor on the ground and a tracking camera and inertial sensors on-board the aerial robot, to be able to fly under the bridge deck or close to the bridge pillars where GNSS satellite signals are not available. The paper also presents the modeling and control of the aerial robot. Validation experiments of the localization system and the control system, and with the aerial robot inspecting a real bridge are also included. [less ▲]

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See detailMultirotor Aerodynamic Effects in Aerial Manipulation
Sanchez Cuevas, Pedro Jesus UL; Heredia, Guillermo; Ollero, Anibal

in Multirotor Aerodynamic Effects in Aerial Manipulation (2019)

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See detailRobotic system for inspection by contact of bridge beams using UAVs
Sanchez Cuevas, Pedro Jesus UL; Ramon Soria, Pablo; Arrue, Begoña et al

in Sensors (2019)

This paper presents a robotic system using Unmanned Aerial Vehicles (UAVs) for bridge-inspection tasks that require physical contact between the aerial platform and the bridge surfaces, such as beam ... [more ▼]

This paper presents a robotic system using Unmanned Aerial Vehicles (UAVs) for bridge-inspection tasks that require physical contact between the aerial platform and the bridge surfaces, such as beam-deflection analysis or measuring crack depth with an ultrasonic sensor. The proposed system takes advantage of the aerodynamic ceiling effect that arises when the multirotor gets close to the bridge surface. Moreover, this paper describes how a UAV can be used as a sensor that is able to fly and touch the bridge to take measurements during an inspection by contact. A practical application of the system involving the measurement of a bridge’s beam deflection using a laser tracking station is also presented. In order to validate our system, experiments on two different bridges involving the measurement of the deflection of their beams are shown. [less ▲]

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See detailLightweight and Compliant Long Reach Aerial Manipulator for Inspection Operations
Suarez, Alejandro; Sanchez Cuevas, Pedro Jesus UL; Fernandez, Manuel et al

in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2018, October 01)

The proximity between the multirotor blades and the environmental obstacles restricts the application of aerial manipulators in inspection tasks due to the risk of impacts, the limitation in the reach of ... [more ▼]

The proximity between the multirotor blades and the environmental obstacles restricts the application of aerial manipulators in inspection tasks due to the risk of impacts, the limitation in the reach of the arm, and the physical interactions. This paper presents a long reach aerial manipulator consisting of a hexarotor platform equipped with a 2-DOF compliant joint arm attached at the tip of a one-meter-length link in passive pendulum configuration. The arm integrates magnetic encoders for force/torque estimation-control based on joint deflection, a range sensor in the forearm link for measuring the distance to the contact point, and a camera for visual inspection. A 2-DOF wearable exoskeleton interface has been developed, allowing the teleoperation of the arm with visual feedback in a more intuitive way. The paper also covers the kinematics and dynamics of the aerial manipulator, including the dynamics of the flexible long reach link. The developed system has been evaluated in test-bench and in outdoor flight tests. [less ▲]

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See detailExperimental approach to the aerodynamic effects produced in multirotors flying close to obstacles
Sanchez Cuevas, Pedro Jesus UL; Heredia, Guillermo; Ollero, Anibal

in Experimental approach to the aerodynamic effects produced in multirotors flying close to obstacles (2017, November 12)

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See detailMultirotor UAS for bridge inspection by contact using the ceiling effect
Sanchez Cuevas, Pedro Jesus UL; Heredia, Guillermo; Ollero, Anibal

in Multirotor UAS for bridge inspection by contact using the ceiling effect (2017, June 13)

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