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Robotic monocular SLAM in wastewater treatment plants with a sampling device

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10.1007/978-3-030-20467-9_14
 
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Guerra Paradas, EdmundoMés informacióMés informacióMés informació
Bolea Monte, YolandaMés informacióMés informacióMés informació
Munguía Alcalá, Rodrigo Francisco
Grau Saldes, AntoniMés informacióMés informacióMés informació
Document typeConference lecture
Defense date2019
PublisherSpringer, Charm
Rights accessOpen Access
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder
ProjectAEROARMS - AErial RObotic system integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenance (EC-H2020-644271)
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.
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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. 
URIhttp://hdl.handle.net/2117/340335
DOI10.1007/978-3-030-20467-9_14
ISBN978-3-030-20466-2
Publisher versionhttps://link.springer.com/chapter/10.1007%2F978-3-030-20467-9_14
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  • Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial - Ponències/Comunicacions de congressos [1.413]
  • VIS - Visió Artificial i Sistemes Intel·ligents - Ponències/Comunicacions de congressos [282]
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