Showing papers by "Eduardo Silva published in 2017"

PLineD: Vision-based power lines detection for Unmanned Aerial Vehicles

Abstract: It is commonly accepted that one of the most important factors for assuring the high performance of an electrical network is the surveillance and the respective preventive maintenance. From a long time ago that TSOs and DSOs incorporate in their maintenance plans the surveillance of the grid, where is included the aerial power lines inspection. Those inspections started by human patrol, including structure climbing when needed and later were substituted by helicopters with powerful sensors and specialised technicians. More recently the Unmanned Aerial Vehicles (UAV) technology has been used, taking advantage of its numerous advantages. This paper addresses the problem of improving the real-time perception capabilities of UAVs for endowing them with capabilities for safe and robust autonomous and semi-autonomous operations. It presents a new vision based power line detection algorithm denoted by PLineD, able to improve the detection robustness even in the presence of image with background noise. The algorithm is tested in real outdoor images of a dataset with multiple backgrounds and weather conditions. The experimental results demonstrate that the proposed approach is effective and able to implemented in real-time image processing pipeline.

Introduction to the Use of Robotic Tools for Search and Rescue

Abstract: Modern search and rescue workers are equipped with a powerful toolkit to address natural and man-made disasters. This introductory chapter explains how a new tool can be added to this toolkit: robots. The use of robotic assets in search and rescue operations is explained and an overview is given of the worldwide efforts to incorporate robotic tools in search and rescue operations. Furthermore, the European Union ICARUS project on this subject is introduced. The ICARUS project proposes to equip first responders with a comprehensive and integrated set of unmanned search and rescue tools, to increase the situational awareness of human crisis managers, such that more work can be done in a shorter amount of time. The ICARUS tools consist of assistive unmanned air, ground, and sea vehicles, equipped with victim-detection sensors. The unmanned vehicles collaborate as a coordinated team, communicating via ad hoc cognitive radio networking. To ensure optimal human-robot collaboration, these tools are seamlessly integrated into the command and control equipment of the human crisis managers and a set of training and support tools is provided to them to learn to use the ICARUS system.

Collision avoidance for safe structure inspection with multirotor UAV

Abstract: The multirotor UAVs are being integrated into a wide range of application scenarios due to maneuverability in 3D, versatility and reasonable payload of sensors. One of the application scenarios is the inspection of structures where the human intervention is difficult or unsafe and the UAV can provide an improvement of the collected data. At the same time introduce challenges due to low altitude missions and also the fact of being manually operated without line of sight. In order to overcome these issues, this paper presents a LiDAR-based real-time collision avoidance algorithm, denoted by Escape Elliptical Search Point with the ability to be integrated into autonomous and manned modes of operation. The algorithm was validated in a simulation environment developed in Gazebo and also in a mixed environment composed by a real robot in an outdoor scenario and simulated obstacle and LiDAR.

Unmanned Maritime Systems for Search and Rescue

Abstract: The development of maritime unmanned tools for search and rescue operations is not a trivial task. A great part of maritime unmanned systems developed did not target such application, being more focused on environmental monitoring, surveillance or defence. In opposition to these applications, search and rescue operations need to take into account relevant issues such as the presence of people or other vessels on the water. Building upon user requirements and overall integrated components for assisted rescue and unmanned search operations (ICARUS) system architecture, this chapter addresses the development of unmanned maritime systems. It starts with an overview of the approach where a two‐ tier solution was adopted to address safety issues and then proceeds to detail each of the developed technologies.

Fish farming autonomous calibration system

Abstract: The fish farming industry is becoming widespread all over the world. By 2039 most of the fish we eat will come from the fish farming industry. In this work, we propose an autonomous robotic solution for indoor fish farming biomass estimation. Our proposed system moves silently on top of the tank borders using differential wheels and a structured light vision system (SLS). The SLS system is composed by a camera and two line lasers (projectors) equipped with a line beam that allows to obtain the fish depth profile present in the tank to perform biomass estimation. Results in laboratory and in real aquaculture environment with live fish are presented.

A voting method for stereo egomotion estimation

Abstract: The development of vision-based navigation systems for mobile robotics applications in outdoor scenarios is a very challenging problem due to frequent changes in contrast and illumination, image bl...

UAV cooperative perception based on DDS communications network

Abstract: This paper focus on the use of unmanned aerial vehicle teams for performing cooperative perception using Data Distribution Service (DDS) Network. We develop a DDS framework to manage the incoming and out bounding network traffic of multiple types of data that is exchanged inside the UAV network. Experimental results both in laboratory and in actual flight are presented to help characterize the proposed system solution.

Cooperative deep water seafloor mapping with heterogeneous robotic platforms

Abstract: This paper describes the PISCES system, an integrated approach for fully autonomous mapping of large areas of the ocean in deep waters. A deep water AUV will use an acoustic navigation system to compute is position with bounded error. The range limitation will be overcome by a moving baseline scheme, with the acoustic sources installed in robotic surface vessels with previously combined trajectories. In order to save power, all systems will have synchronized clocks and implement the One Way Travel Time scheme. The mapping system will be a combination of an off-the-shelf MBES with a new long range bathymetry system, with a source on a moving surface vessel and the receivers on board the AUV. The system is being prepared to participate in round one of the XPRIZE challenge.

Autonomous systems in remote areas of the ocean using BLUECOM+ communication network

Abstract: The authors present a series of sea trails with autonomous systems using a long-range communication network. The continuous monitoring of the oceans and realtime data gathering/monitoring is a key issue in future marine challenges. To have long range communication, between land and ships at tens of kilometers', the authors used the BlueCom+ project research trials and tested their robotic systems. Bluecom+ project intends to fill the gap of long range communication with high bandwidth. It was demonstrated the usefulness of the system using autonomous systems, such as a small unmanned vehicle (ROAZ USV) for bathymetric mapping and tested an underwater acoustic positioning and communications system.

Operational Validation of Search and Rescue Robots

Abstract: This chapter describes how the different ICARUS unmanned search and rescue tools have been evaluated and validated using operational benchmarking techniques. Two large‐scale simulated disaster scenarios were organized: a simulated shipwreck and an earthquake response scenario. Next to these simulated response scenarios, where ICARUS tools were deployed in tight interaction with real end users, ICARUS tools also participated to a real relief, embedded in a team of end users for a flood response mission. These validation trials allow us to conclude that the ICARUS tools fulfil the user require‐ ments and goals set up at the beginning of the project.

UAV cooperative perception for target detection and tracking in maritime environment

Abstract: This paper addresses the topic of target detection and tracking using a team of UAVs for maritime border surveillance. We present a novel method on how to integrate the perception into the control loop using two distinct teams of UAVs that are cooperatively tracking the same target. We demonstrate and evaluate the effectiveness of our approach in a simulation environment.

Underwater navigation sensors calibration in inland water spaces

Abstract: This paper describes the calibration of an underwater navigation system in enclosed scenarios. The work was performed in the context of the VAMOS project addressing the development of robotic solutions for flooded open pit mine exploration. An algorithm for calibration of extrinsic parameters for DVL and USBL systems is presented. Field experiments were performed with the ROAZ autonomous surface vehicle equipped with the underwater sensors and using precision IMU/GNSS fused data as groundtruth. The tests were performed in Douro River and in the Bejanca open pit mine, one of the VAMOS test sites, both in northern Portugal. The procedure was validated in the operational scenarios and results are presented showing the error correction and navigation quality improvement.

Real-time 3D Mine Modelling in the ¡VAMOS! Project

Abstract: The project Viable Alternative Mine Operating System (¡VAMOS!) develops a new safe, clean and low visibility mining technique for excavating raw materials from submerged inland mines. During operations, the perception data of the mining vehicle can only be communicated to the operator via a computer interface. In order to assist remote control and facilitate assessing risks a detailed view of the mining process below the water surface is necessary. This paper presents approaches to real-time 3D reconstruction of the mining environment for immersive data visualisation in a virtual reality environment to provide advanced spatial awareness. From the raw survey data a more consistent 3D model is created using postprocessing techniques based on a continuous-time simultaneous localization and mapping (SLAM) solution. Signed distance function (SDF) based mapping is employed to fuse the measurements from multiple views into a single representation and reduce sensor noise. Results of the proposed techniques are demonstrated on a dataset captured in an submerged inland mine. REAL TIME MINING Conference on Innovation on Raw Material Extraction Amsterdam 2017

Simulation environment for underground flooded mines robotic exploration

Abstract: Underwater experiments with unmanned vehicles are complex, costly, time-consuming and in some circumstances potentially dangerous, involving the risk of losing or damaging the robots. The nature of the underwater environment, makes it very difficult, for researchers, to observe the evolution of the running system. Simulators are useful tools for the development of unmanned vehicle software, algorithm benchmarking and system preliminary validation. In this work, the problem of simulating a complex underwater scenario for marine robotics and a comparative analysis of simulators for marine robotics are presented. Relevant sensors for underwater robots under development, such as multibeam and imaging 2D sonar were implemented in two simulators and tested in a realistic experimental scenario like a flooded mine.

STRONGMAR Summer School 2016 — Joining theory with a practical application in Underwater Archeology

Abstract: This paper aims at presenting the STRONGMAR Summer School 2016 that took place at the Base Naval de Lisboa, of the Portuguese Navy. The STRONGMAR project ideal motivates the development of maritime and marine science research and technology through the knowledge transfer between INESC TEC and promising, and prestigious, leading research European institutions. This process takes place through theoretical lectures and training, and via experimental application of the concepts discussed in order to further develop technology related to the sea environment. The practical application of the STRONGMAR project ideal takes place during events such as summer schools, winter schools, thematic workshops and scientific conferences. The STRONGMAR Summer School 2016 approaches the subject of “Introduction to Advanced Marine Technologies”, providing a strong component of practical applications in underwater archaeology. It develops the study of unmanned systems applied to underwater archaeology, through the use of unmanned underwater vehicles. As a whole, this paper describes the Summer School experience, providing some results and greater insight on the topic of underwater archaeology.

Simulation environment for underground flooded mines robotic exploration

Abstract: This paper presents the work performed in the implementation of an underwater simulation environment for the development of an autonomous underwater vehicle for the exploration of flooded underground tunnels. In particular, the implementation of a laser based structured light system, multibeam sonar and other robot details were addressed. The simulation was used as a relevant tool in order to study and specify the robot multiple sensors characteristics and placement in order to adequately survey a realistic environment. A detailed description of the research and development work is presented along with the analysis of obtained results and the benefits this work brings to the project.