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HYFLIERS SIGNED

HYbrid FLying-rollIng with-snakE-aRm robot for contact inSpection

Total Cost €

EC-Contrib. €

Partnership

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Outcomes and
results

HYFLIERS project word cloud

Explore the words cloud of the HYFLIERS project. It provides you a very rough idea of what is the project "HYFLIERS" about.

rope models first man 75 arm integrating eliminate gas guidance lifts aerial services hyfliers trajectory pipe mission time ultrasonic redundant scaffold plants avoidance itself attached facilities perception human pipes 60 environment validated constrained surfaces power scenarios dynamic landing sensor orders teleoperation prototypes efficient flight kinematic hyper performing interfaces sites equipped decrease oil minimizing positioning detection planning energy falls rolling points safe robot risks accidental interval accurate rely inspection magnitude industrial aerodynamic cranes concentrate hybrid optimize automatic larger worldwide media supporting articulated generation collision thickness lightweight savings ground robotic

Project "HYFLIERS" data sheet

The following table provides information about the project.

Coordinator	OULUN YLIOPISTO Organization address address: PENTTI KAITERAN KATU 1 city: OULU postcode: 90014 website: www.oulu.fi contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.
Coordinator Country	Finland [FI]
Project website	http://hyfliers-project.eu/
Total cost	3˙897˙020 €
EC max contribution	3˙897˙020 € (100%)
Programme	1. H2020-EU.2.1.1. (INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT))
Code Call	H2020-ICT-2017-1
Funding Scheme	RIA
Starting year	2018
Duration (year-month-day)	from 2018-01-01 to 2021-12-31

Partnership

Take a look of project's partnership.

#	participants	country	role	EC contrib. [€]
1	OULUN YLIOPISTO OULUN YLIOPISTO Organization address address: PENTTI KAITERAN KATU 1 city: OULU postcode: 90014 website: www.oulu.fi contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	FI (OULU)	coordinator	773˙000.00
2	UNIVERSIDAD DE SEVILLA UNIVERSIDAD DE SEVILLA Organization address address: CALLE S. FERNANDO 4 city: SEVILLA postcode: 41004 website: www.us.es contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	ES (SEVILLA)	participant	647˙420.00
3	GE INSPECTION ROBOTICS AG GE INSPECTION ROBOTICS AG Organization address address: TECHNOPARKSTRASSE 1 city: ZURICH postcode: 8005 website: n.a. contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	CH (ZURICH)	participant	641˙787.00
4	FUNDACION ANDALUZA PARA EL DESARROLLO AEROESPACIAL FUNDACION ANDALUZA PARA EL DESARROLLO AEROESPACIAL Organization address address: CALLE WILBUR Y ORVILLE WRIGHT NUM 17, PARQUE AEROP city: LA RINCONADA SEVILLA postcode: 41039 website: www.catec.aero contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	ES (LA RINCONADA SEVILLA)	participant	568˙687.00
5	C.R.E.A.T.E. CONSORZIO DI RICERCA PER L'ENERGIA L AUTOMAZIONE E LE TECNOLOGIE DELL'ELETTROMAGNETISMO C.R.E.A.T.E. CONSORZIO DI RICERCA PER L'ENERGIA L AUTOMAZIONE E LE TECNOLOGIE DELL'ELETTROMAGNETISMO Organization address address: VIA CLAUDIO 21 city: NAPOLI postcode: 80125 website: www.create.unina.it contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	IT (NAPOLI)	participant	566˙250.00
6	CHEVRON ORONITE SAS CHEVRON ORONITE SAS Organization address address: 1 RUE EUGENE ET ARMAND PEUGEOT LE COROSA CS city: RUEIL MALMAISON postcode: 92508 website: n.a. contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	FR (RUEIL MALMAISON)	participant	297˙500.00
7	DASEL SL DASEL SL Organization address address: CL DOCTOR ESQUERDO 39 city: MADRID postcode: 28028 website: www.daselsistemas.com contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	ES (MADRID)	participant	205˙500.00
8	TOTAL S.A. TOTAL S.A. Organization address address: PLACE JEAN MILLIER 2 city: COURBEVOIE postcode: 92400 website: www.total.com contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	FR (COURBEVOIE)	participant	196˙875.00

Map

Project objective

HYFLIERS will develop two prototypes for the first worldwide hybrid aerial/ground robot with a hyper-redundant lightweight robotic articulated arm equipped with an inspection sensor, together with supporting services for efficient and safe inspection in industrial sites. Energy savings will be achieved by minimizing the time of flight and by performing the inspection while attached to the pipe. To ensure accurate positioning, guidance, landing and rolling on constrained surfaces such as pipes, the robot will rely on a control system also integrating environment perception, particularly for landing on the pipes, and aerodynamic control taking into account aerodynamic effects of the pipes. The system will also have multi-media interfaces for teleoperation, automatic collision detection and avoidance; a trajectory planning system that will take into account aerodynamic effects in addition to kinematic and dynamic models; and a mission planning system to optimize the use of the robot in the inspection. The technology results will be validated in the inspection of pipes, which is a very relevant short-term application. HYFLIERS will decrease the cost and risks of current human inspection in production plants, such as oil and gas, where it is estimated that about 50 000 pipe thickness measurement points are needed within a 3 to 5 years interval. HYFLIERS will eliminate the risks of accidental falls and the cost associated to the use of man-lifts, cranes, scaffold or rope access, which is many orders of magnitude larger than the measurement cost by itself. Taking into account that about 60% to 75% of inspection costs in this type of facilities is dedicated to ultrasonic thickness measurements, the project will concentrate on these measurements. The results of the project could be also applied to other industrial scenarios, such as power generation plants.

Deliverables

List of deliverables.
Lightweight hyper-redundant robotic arm for aerial inspection tasks	Demonstrators, pilots, prototypes	2020-01-14 15:07:27
Dissemination and exploitation plan	Documents, reports	2020-01-14 15:07:29
Project presentation	Documents, reports	2020-01-14 15:06:40
Design of the hybrid robot	Documents, reports	2020-01-14 15:06:40
Project web-site	Other	2020-01-14 15:06:40

Take a look to the deliverables list in detail: detailed list of HYFLIERS deliverables.

Publications

List of publications.
year	authors and title	journal	last update
2018	Vincenzo Lippiello HYFLIERS: HYbrid FLying-rollIng with-snakE-aRm robot for contact inSpection published pages: , ISSN: , DOI:	Maker Faire Rome 12-14 Oct	2019-09-09
2019	Yushu Yu, Vincenzo Lippiello 6D pose task trajectory tracking for a class of 3D aerial manipulator from differential flatness published pages: , ISSN: 2169-3536, DOI:	IEEE Access vol. 7, Apr.	2019-09-09
2018	Vincenzo Lippiello, Juha RÃ¶ning Drones beyond the hobby published pages: , ISSN: , DOI:	Maker Faire Rome 13 Oct	2019-09-09
2019	Sanchez-Cuevas PJ, MartÃn V, Heredia G, Ollero A Multirotor aerodynamic effects close to obstacles: Modelling and mapping published pages: , ISSN: , DOI:	ROBOT Iberian Robotics Conference Nov, Porto, Portugal	2019-09-09
2018	Fabio Ruggiero, Vincenzo Lippiello, Anibal Ollero Aerial Manipulation: A Literature Review published pages: 1957-1964, ISSN: 2377-3766, DOI: 10.1109/lra.2018.2808541	IEEE Robotics and Automation Letters 3/3	2019-09-09
2019	Nekoo SR, Acosta JA, Ollero A Fully coupled six-DoF nonlinear suboptimal control of a quadrotor: Variable-pitch rotor design published pages: , ISSN: , DOI:	ROBOT Iberian Robotics Conference Nov, Porto, Portugal	2019-09-09
2019	Ramon-Soria P, Gomez-Tamm AE, Garcia-Rubiales FJ, Arrue BC, Ollero A Autonomous landing on pipes using soft gripper for inspection and maintenance in outdoor environments- Green Open Access.- Embargo: 0- Peer-reviewed? YES- Public-private publication? NO- Type: Conference proceedings- Publisher: IEEE published pages: , ISSN: , DOI:	IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Nov	2019-09-09
2018	Juha RÃ¶ning, et al. Presentation of HYFLIERS project published pages: , ISSN: , DOI:	European Robotics Forum (ERF 2018) 13-15 Mar	2019-09-05
2018	Russell Brown, Juha RÃ¶ning HYFLIERS: UT inspections at height in congested pipe racks published pages: , ISSN: , DOI:	PRINT Robotics, World Conference for Inspection and Maintenance Robotics 13-14 Nov	2019-09-05
2018	Juha RÃ¶ning, Anibal Ollero Lentorobotti saa pyÃ¶rÃ¤t ja kÃ¤sivarren - Oulun yliopiston johdolla automatisoidaan kaasu- ja Ã¶ljyteollisuuden kunnossapitoa (In Finnish) published pages: , ISSN: , DOI:	Interview by Mikkola A, Finnish newspaper Kaleva	2019-09-05

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