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Sampling operation with robotic UAV
dc.contributor.author | Guerra Paradas, Edmundo |
dc.contributor.author | Grau Saldes, Antoni |
dc.contributor.author | Bolea Monte, Yolanda |
dc.contributor.author | Munguía Alcalá, Rodrigo Francisco |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2021-03-02T09:11:16Z |
dc.date.available | 2021-03-02T09:11:16Z |
dc.date.issued | 2019 |
dc.identifier.citation | Guerra, 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. |
dc.identifier.isbn | 978-1-7281-0303-7 |
dc.identifier.uri | http://hdl.handle.net/2117/340694 |
dc.description | © 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. |
dc.description.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. |
dc.description.sponsorship | This research has been funded by Spanish Ministery of Innovation and Science CICYT DPI2016-78957-R |
dc.format.extent | 4 p. |
dc.language.iso | eng |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.other | Unmanned aerial vehicle |
dc.subject.other | Robotic software architecture |
dc.subject.other | Specific tools |
dc.subject.other | Robotic agents |
dc.title | Sampling operation with robotic UAV |
dc.type | Conference report |
dc.contributor.group | Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
dc.identifier.doi | 10.1109/ETFA.2019.8869292 |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Automation::Robots |
dc.relation.publisherversion | https://ieeexplore.ieee.org/document/8869292 |
dc.rights.access | Open Access |
local.identifier.drac | 29870962 |
dc.description.version | Postprint (published version) |
dc.relation.projectid | info:eu-repo/grantAgreement/MINECO/1PE/DPI2016-78957-R |
local.citation.author | Guerra, E.; Grau, A.; Bolea, Y.; Munguia, R.F. |
local.citation.contributor | IEEE International Conference on Emerging Technologies and Factory Automation |
local.citation.publicationName | 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA): proceedings: University of Zaragoza, Zaragoza, Spain: 10-13 September, 2019 |
local.citation.startingPage | 1583 |
local.citation.endingPage | 1586 |