Sampling operation with robotic UAV
Visualitza/Obre
Cita com:
hdl:2117/340694
Tipus de documentText en actes de congrés
Data publicació2019
Condicions d'accésAccés obert
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continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
This work presents a solution to automatize sampling tasks in a wastewater treatment plant with open air basins. At the behest of human operators, a set of UAVs managed as a network of autonomous agents will perform sample missions by taking direct measurements (through a multiparametric probe) or capturing samples and carrying them to the laboratory with specific developed hardware. These capabilities allow the proposed solution to act as a virtual sensor network with sampling points deployed and connected at any point reachable by UAVs. The hardware prototypes are fully described, with focus on the integration of systems, and the software architecture used is analysed and fully justified. Special focus was put on the localization problem, and several solutions were evaluated. Experimental results of the prototype UAV and sampling probe built are provided to validate the hardware designs, with focus on the localizations tasks.
Descripció
© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
CitacióGuerra, E. [et al.]. Sampling operation with robotic UAV. A: IEEE International Conference on Emerging Technologies and Factory Automation. "2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA): proceedings: University of Zaragoza, Zaragoza, Spain: 10-13 September, 2019". 2019, p. 1583-1586. ISBN 978-1-7281-0303-7. DOI 10.1109/ETFA.2019.8869292.
ISBN978-1-7281-0303-7
Versió de l'editorhttps://ieeexplore.ieee.org/document/8869292
Col·leccions
- IRI - Institut de Robòtica i Informàtica Industrial, CSIC-UPC - Ponències/Comunicacions de congressos [576]
- Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial - Ponències/Comunicacions de congressos [1.500]
- VIS - Visió Artificial i Sistemes Intel·ligents - Ponències/Comunicacions de congressos [292]
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1583-ef-003891.pdf | 348,7Kb | Visualitza/Obre |