This paper proposes swarm intelligence based approach for the real time coordination of groups UAVs (Unmanned Aerial Vehicles) in tasks where values that are sensed from aerial platform can be used to qualify individuals. In particular, as an example application, here we consider environmental monitoring UAV teams. Their function is monitor area and when some undesired condition arises, coordinate themselves find source fast possible. The algorithm has been extensively tested using a 3D...

This paper describes the design and control architecture of an unsupervised robot developed for grit blasting ship hulls in shipyards. Grit is a very common environmentally unfriendly operation, required preparing metallic surfaces painting operations. It also implies unhealthy hazardous working conditions operators that must carry it out. The presented here has been designed to reduce environmental impact these operations completely eliminate health associated risks operators. based on...

This paper deals with the design and construction of a climbing robot for performing grit blasting operations in shipyards. The is based on double sliding platform that uses permanent magnets attachment. It lightweight compact can move up along shipside any inclination while surface to pre-specified quality levels. also rotate compensate hull curvature avoid obstacles its task. operation modulated by vision control system used mission adapt parameters order attain desired levels maximizing...

The nonlinear problem of sensing the attitude a solid body is solved by novel implementation Kalman Filter. This combines use quaternions to represent attitudes, time-varying matrices model dynamic behavior process and particular state vector. vector was explicitly created from measurable physical quantities, which can be estimated filter input output. specifically designed arrangement these three elements way they are combined allow proposed estimator formulated following classical Filter...

This work shows an attitude estimator (AE) based on a time-varying Kalman filter (TVKF) and adapted to those cases where low-acceleration assumption can be applied. is extended version of previously published (TVKAE). A comparative analysis the accuracies two estimators provided. The efficiencies both filters are also compared with other AEs. results show that new AE achieves best overall performance, followed by original one.

This article presents the development of a UAV system designed to perform visual inspections and thickness measurements in ships' cargo tanks. That includes conception evolution different components subsystems this several tests, including some carried out actual operating conditions. It also near-wall positioning propulsion developed improve stability avoid collisions. The paper describes an articulated arm around EMAT probe for wall measurement. measurement chain purpose all electronics...

UAVs often perform tasks that require flying close to walls or structures and in environments where a satellite-based location is not possible. Flying solid bodies implies higher risk of collisions, thus requiring an increase the precision measurement control UAV’s position. The aerodynamic distortions generated by nearby other objects are also relevant, making more complex further placing demands on positioning system. Performing wall-related very wall and, some cases, even touching it....

After studying the performance and characteristics of actual laminar flowmeters a new disposition for this type sensors is proposed in such way that measurement errors introduced by intrinsic nature device can be minimized. The preliminary study shows developing entry region introduces non-linearity effects all these devices. These bring about not only errors, but also change slope linear calibration respect Poiseuille relation. subsequent analysis on how reduced, introduced. This makes used...

This paper presents the work done for developing a self-propelled scale ship model towing tank testing, with main characteristic of not having any material link to device carry out tests. has been fully instrumented in order acquire all significant raw data, process them onboard and communicate an inshore station, this both seakeeping resistance In illustrate applicability advantages proposed model, some results obtained by its application on test campaign, aimed at parametric roll detection...

A framework based on a mixed reality simulator for coordinating teams of autonomous Unmanned Aerial Vehicles (UAVs) is been developed.This would serve as tool to facilitate crossing the gap different applications; particularly when using these UAVs air pollution monitoring and measurement.The system built co-evolutionary that makes use data transmitted from some real integrate them within team simulated UAVs.The allows progressive increase number UAV in team.This facilitates setting-up...

The initiation phase of a mixed reality simulator that is being used for training autonomous Unmanned Aerial Vehicles (UAV) presented. aims to adjust the UAVs controllers and their collaborative strategies. model physical phenomena under analysis key aspect virtual environment. This should be accurate, but also simple easily configurable. use an in application this framework can result simplification increase accuracy model. monitoring smoke plume exhausted by stack illustrate technique.

A new methodology for the estimation of tyre-contact forces is presented. The procedure an evolution a previous method based on harmonic elimination techniques developed with aim producing low cost dynamometric wheels. While original required stress measurement in many rim radial lines and fulfillment some rigid conditions symmetry, described this article significantly reduces number points greatly relaxes symmetry constraints. This can be done without compromising error level. reduction...

This work proposes a set of modifications to the Differential Evolution algorithm in order make it more efficient solving particular category problems, so called Constrained Sampling problems. In this type which are usually related on-line real-world application evolution, is not always straightforward evaluate fitness landscapes due computational cost implies or physical constraints specific application. The fact that sampling evaluation offspring points within landscape generally requires...

This paper presents the strategies used to develop a speed control system for ship model. is part of larger and data acquisition on board an autonomous model that being specifically developed perform towing tank testing. Taking into account requirements this system, speeds be measured are about one meter per second, Laser Rangefinder as mean measuring quite unusual because these devices just intended measure distances between motionless objects. Various approaches setting up controller also...

The paper presents a collaborative unmanned underwater vehicle tandem where one acts as host dock for the others. This configuration has advantages in situations differences size, power, or autonomy between and guest vehicles complement each other to perform assigned task more efficiently. development focuses on inspecting maintaining offshore structures but could be used applications.