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This letter is focused on the benchmark evaluation and comparison of the flapping and fixed wing flight modes on an hybrid platform developed for the realization of autonomous inspection operations outdoors. The platform combines the high range and endurance of fixed-wing UAVs (unmanned aerial vehicles), with the higher maneuverability and intrinsic safety of flapping wing in the interaction with humans during the hand launch and capture. A unified model of the hybrid platform is derived for both configurations following the Lagrange formulation to express the multi-body dynamics and aerodynamic forces of the flapping wing and the propellers. The proposed control scheme exploits the similarities of both flight modes in the tail actuation and in the generation of thrust either with the flapping wings or the propellers, in such a way that it can be implemented on conventional autopilots, facilitating in this way the adoption of this type of aerial platforms. To evaluate and compare the performance of both modes, a set of benchmark tests and metrics are defined, including the energy efficiency in forward flight, trajectory tracking, hand launch and capture, and accuracy in visual inspection. Experimental results in outdoors validate the developed prototype, identifying the fixed/flapping transitions, and evidencing the higher energy efficiency of the flapping wing mode compared to the fixed wing.

This work presents the application of an aerial manipulation robot for the semi-autono-mous installation of clip-type bird flight diverters on overhead power line cables. A custom-made prototype is designed, developed, and experimentally validated. The proposed solution aims to reduce the cost and risk of current procedures carried out by human operators deployed on sus-pended carts, lifts, or manned helicopters. The system consists of an unmanned aerial vehicle (UAV) equipped with a custom-made tool. This tool allows the high force required for the diverter installation to be generated; however, it is isolated from the aerial robot through a passive joint. Thus, the aerial robot stability is not compromised during the installation. This paper thoroughly describes the designed prototype and the control system for semi-autonomous operation. Flight experiments conducted in an illustrative scenario validate the performance of the system; the tests were carried out in an indoor testbed using a power line cable mock-up.

This paper presents an aerial manipulation robot intended to conduct the installation of clip-type bird diverters on power lines, consisting of a multirotor platform equipped with a high force linear actuator and a clamp mechanism that holds the device until it is exerted on the cable. The installation mechanism has been specifically designed for a particular model of bird flight diverter that is extensively employed on the Spanish power grid. The paper analyzes the risks involved in this operation and describes the approach followed in the validation of the aerial robot, from the installation in indoor testbed, to representative outdoor scenario, and preliminary flight tests on a 15 kV power line to identify possible malfunctions on the platform due to the electrostatic discharge.

The use of aerial manipulators for the inspection and maintenance of the power grid requires the safe interaction of the robot with high voltage power lines. In order to identify possible faults or malfunctions during the approaching or interaction phases, this paper presents experimental results in a real 15 kV power line, considering four different configurations for the manipulator: 1) aluminum tube attached to the landing gear, 2) robotic arm attached to the multi-rotor base, 3) shielded aerial manipulator, and 4) long reach configuration (insulated). The paper investigates the electromagnetic susceptibility of the autopilot and the electronic speed controllers to the electrostatic discharge (ESD) raised when the manipulator touches the line, causing the momentary failure of the rotors. A model of the electromagnetic effects associated to the interaction with the line is provided, comparing later the effectiveness of the two solutions for the aerial manipulator: shielding, and insulation.

En el desarrollo de este trabajo se abordará la instalación de un sistema GPS diferencial de bajo costo en un RPA de ala fija, a fin de comprobar la mejora de precisión obtenida en aplicaciones fotogramétricas. Para tal efecto, se plantearán las ventajas y desventajas del PPK respecto al RTK y se realizará un estudio comparativo de los resultados obtenidos en geoetiquetado entre el GPS de navegación y el GPS diferencial.