Robotic monocular SLAM in wastewater treatment plants with a sampling device

Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni

doi:10.1007/978-3-030-20467-9_14

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Guerra Paradas, Edmundo

Bolea Monte, Yolanda

Munguía Alcalá, Rodrigo Francisco

Grau Saldes, Antoni

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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