Robotic monocular SLAM in wastewater treatment plants with a sampling device

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hdl:2117/340335
Document typeConference lecture
Defense date2019
PublisherSpringer, Charm
Rights accessOpen Access
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Abstract
A novel application is presented in this paper. Wastewater treatment
plants need to sample water to follow the cleaned process continuously. This
task is very tedious for laboratory workers and, mainly, can be done in reduced
areas of the large basins that form the whole plant, specifically only in the edges
of those basins. The new proposal is to enlarge the sampling area and reduce the
load for workers. A new unmanned aerial vehicle has been designed together
with a novel tool to take water samples. Moreover, a new architecture for the
mission plan is presented in form of multi-agents. Experiments have been done
in order to test the feasibility of the proposal.
Description
The final publication is available at link.springer.com
CitationGuerra, E. [et al.]. Robotic monocular SLAM in wastewater treatment plants with a sampling device. A: International Conference on Applied Human Factors and Ergonomics. "Proceedings of the AHFE 2019 International Conference on Human Factors in Robots and Unmanned Systems". Springer, Charm, 2019, p. 150-162. ISBN 978-3-030-20466-2. DOI 10.1007/978-3-030-20467-9_14.
ISBN978-3-030-20466-2
Publisher versionhttps://link.springer.com/chapter/10.1007%2F978-3-030-20467-9_14
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