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International Conference on Applied Human Factors and Ergonomics

AHFE 2019: Advances in Human Factors in Robots and Unmanned Systems pp 150–162Cite as

Robotic Monocular SLAM in Wastewater Treatment Plants with a Sampling Device

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Part of the Advances in Intelligent Systems and Computing book series (AISC,volume 962)

Abstract

A novel application is presented in this paper. Wastewater treatment plants need to sample water to follow the cleaned process continuously. This task is very tedious for laboratory workers and, mainly, can be done in reduced areas of the large basins that form the whole plant, specifically only in the edges of those basins. The new proposal is to enlarge the sampling area and reduce the load for workers. A new unmanned aerial vehicle has been designed together with a novel tool to take water samples. Moreover, a new architecture for the mission plan is presented in form of multi-agents. Experiments have been done in order to test the feasibility of the proposal.

Keywords

  • Monocular SLAM
  • HRI
  • Mobile robotics
  • Wastewater treatment plant

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  • DOI: 10.1007/978-3-030-20467-9_14
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Acknowledgments

This research has been funded by AEROARMS EU Project H2020-ICT-2014-1-644271.

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Authors and Affiliations

  1. Automatic Control Department, BarcelonaTech, 08034, Barcelona, Spain

    Edmundo Guerra, Yolanda Bolea & Antoni Grau

  2. Department of Computer Science, CUCEI, University of Guadalajara, 44430, Guadalajara, Mexico

    Rodrigo Munguia

Authors
  1. Edmundo Guerra
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  2. Yolanda Bolea
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  3. Rodrigo Munguia
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  4. Antoni Grau
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Corresponding author

Correspondence to Antoni Grau .

Editor information

Editors and Affiliations

  1. U.S. Army Research Laboratory, Orlando, FL, USA

    Jessie Chen

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Cite this paper

Guerra, E., Bolea, Y., Munguia, R., Grau, A. (2020). Robotic Monocular SLAM in Wastewater Treatment Plants with a Sampling Device. In: Chen, J. (eds) Advances in Human Factors in Robots and Unmanned Systems. AHFE 2019. Advances in Intelligent Systems and Computing, vol 962. Springer, Cham. https://doi.org/10.1007/978-3-030-20467-9_14

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