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Autonomous Tracking and Navigation Controller for an Unmanned Aerial Vehicle Based on Visual Data for Inspection of Oil and Gas Pipelines |
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Amit Shukla, Huang Xiaoqian, Hamad Karki(The Petroleum Institute, Abu Dhabi, UAE, United Arab Emirates) |
| This paper presents automated navigation control of an UAV based on visual data. Pipelines carrying inflammable petroleum products are laid in extreme environmental conditions and require continuous inspection. UAVs are mostly used for visual surveillance, flying at very high altitude but in this novel work we propose accurate tracking and inspection while flying at very low altitude in close vicinity of the ground pipeline structure. Proposed automated inspection by the UAV has two stages of identification and navigation which are based on visual data gathered by onboard cameras without GPS. |
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Passivity-Based Quaternion Feedback Control of a Hover System |
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Remon Damen(Eindhoven University of Technology, Netherlands), Mahmut Reyhanoglu, William MacKunis(Embry-Riddle Aeronautical University, United States), Jaime Rubio Hervas(Infinium Robotics Pte Ltd, Singapore) |
| A passivity-based quaternion feedback control strategy is presented for a hover system, which achieves asymptotic attitude regulation. The proposed control design incorporates the input voltage constraints inherent in practical UAV systems. A rigorous Lyapunov-based analysis is provided to prove asymptotic regulation of the hover system attitude to a desired set point. Simulation results are also provided to demonstrate the closed-loop performance. |
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Intelligent UAV in Smart Cities using IoT |
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Young Im Cho, Andrey Giyenko(Gachon University, Korea) |
| The concept of a Smart City is becoming an increasingly important research area around the world. The amount of information collected and the number of stationary sensors, surveillance cameras and other devices that need to be places in a smart city is so vast that using a mobile platform to replace them can reduce the cost in both energy and resources. This paper proposes an open source intelligent IoT platform that would allow implementation of various Smart City services and discuses the structure of such a platform. |
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Development of Pipe Inspection Robot using Ring-type Laser |
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Yasuto Tamura, Ichirota Kanai, Kazuki Yamada, Hun-ok Lim(Kanagawa University, Japan) |
| This paper describes the robot capable of inspecting a pipe. The developed robot is composed of three bodies, six legs, a laser range finder, a ring-type laser, and a CCD camera. The six legs are composed of three worm gears that are arranged at an angle of 120 degrees to run inside pipes of different diameters. The robot is designed with two joints to change the direction in pipe junctions, and the robot can measure a fore pipe shape using the laser range finder. We verified the effectiveness of the robot through the movement experiment and the defect inspection experiment. |
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Path tracking control and identification of tire parameters using on-line model-based reinforcement learning |
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Taewan Kim, H. Jin Kim(Seoul National University, Korea) |
| Path tracking control for autonomous vehicle using model predictive control (MPC) algorithm maintains maneuverability by calculating a sequence of control input which minimizes a tracking error. The weakness of this method is that the performance of MPC may decrease significantly when the priori prediction model is not accurate. Therefore, it is important to keep the vehicle stable when MPC having model error. This paper uses an on-line model-based reinforcement learning (RL) to decrease the path error by learning unknown parameters and updating a prediction model. |
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The Stabilization of Attitude of a Manta Robot by a Mechanism for Moving the Center of Gravity and Improvement of Diving Ability |
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Takanori Nakatsuka, Keigo Watanabe, Isaku Nagai(Okayama University, Japan) |
| We have developed a Manta robot for biological research in the sea. The conventional Manta robot receives bad influence from a righting moment that varies according to the distance between the center of gravity (c.g.) and the center of buoyancy. If the righting moment is large, the diving ability is reduced. On the other hand, if the righting moment is small, the stability of the posture is insufficient.
Therefore, we improve the diving ability of the Manta robot as well as stabilizing the posture, by changing the righting moment due to adjusting the c.g. This paper describes how to adjust the |
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