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      저자 : Vidya Sudevan (검색결과 2 건)
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      • Vision based Autonomous Landing of an Unmanned Aerial Vehicle on a Stationary Target

        Vidya Sudevan,Amit Shukla,Hamad Karki 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10

        The foremost, yet challenging problem of an Unmanned Aerial Vehicle (UAV) is the autonomous landing. This paper presents a solution for the independent landing of a quadrotor UAV on a stationary target. This method includes a searching and a landing part. The visual data is collected by the onboard camera of the AR Drone. Speeded Up Robust Features (SURF) method is used to detect and compute the keypoint descriptors and Fast Approximate Nearest Neighbor Search Library (FLANN) based descriptor matcher is utilized for the accurate matching of the template image with the captured images to determine the target position. The aim of this method is to minimize the distance between the drone and the target. A Proportional-Integral-Derivative (PID) controller is designed to generate the desired velocity signals for the drone. Also, in this work, the drone is directly navigating and landing on the target by adjusting the x , y and z velocities simultaneously. The method is tested and validated on a quadrotor with two different initial heights.

      • Current and Future Research Focus on Inspection of Vertical Structures in Oil and Gas Industry

        Vidya Sudevan,Amit Shukla,Hamad Karki 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10

        Regular inspection of oil and gas installations are vital for production, maintenance, safety and environmental impact assessment. Due to complex set-up and hazardous operation environment, the inspection, maintenance and repair (IMR) operations as considered as an inevitable task in oil and gas industries. Integrating technologies from the field of robotics, sensing and process control will be a decisive step in digitalization of oil and gas industry. The traditional vertical structures inspection system uses rope access, scaffolds, telescopic elevation platforms supported by cranes and manned helicopters. The challenges faced by conventional techniques are the construction of scaffolding, sending inspectors into dangerous and fatal environments, shutdown of plant operations etc. that has financial burden on the plant operating cost. Introduction of robotic technologies such as wall-climbing robots, Unmanned Aerial Vehicle (UAV) and wall-climbing drones, provides a possible solution for these challenges by increasing the efficiency, reducing the risks and lowering the cost of IMR tasks. The current research focus in this field is to automate and improve the inspection and testing capabilities of these systems. This paper presents the state of art of current scenario and future research focus on vertical structure inspection in oil and gas industry.

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