
Ambar Garofano-SoldadoUniversity of Seville | US · Systems Engineering and Automatics
Ambar Garofano-Soldado
Master of Engineering
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8
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Publications (8)
This paper investigates the ground proximity effects of a fully-actuated multirotor unmanned aerial vehicle (UAV). Different configurations of tilted rotors and a wide range of UAV heights relative to the ground are considered. In order to characterize the effect, an extensive experimental study was conducted on a static test-bench. The experimenta...
The present work is aimed at analyzing and modelling the aerodynamic interactions of two small-scale tilted propellers operating at low Reynolds numbers near the ground. Two configurations of counter-rotating propellers found in fully-actuated multirotors are investigated: Face-to-Face, where the propeller flows are opposite and non-overlapping, an...
The inspection and maintenance of power lines with aerial robots requires to decrease as much as possible the performance time given the limited capacity of the batteries and the vast extension of this kind of infrastructure. In order to avoid the waste of time associated to the take-off and landing maneuvers, this paper proposes the use of aerial...
In recent years, aerial manipulators with fully-actuated capabilities are gaining popularity for being used in aerial manipulation operations such as critical infrastructure inspection or aerial manipulation tasks. Those scenarios usually demand the aerial platform to operate in constrained and narrow scenarios. It is well known that in these situa...
Inspection and maintenance tasks are increasingly being carried out by multi-rotor platforms in order to avoid certain risks being taken by humans. In this way, it is necessary to have a good knowledge of the aerodynamic effects that occur when tasks are performed in confined environments. In addition, the use of tilted rotors is becoming more and...
In this paper, we propose a new concept of robot which is hybrid, including aerial and crawling subsystems and an arm, and also modular with interchangeable crawling subsystems for different pipe configurations, since it has been designed to cover most industrial oil & gas end-users' requirements. The robot has the same ability than aerial robots t...
This paper considers the inspection by contact of long arrays of pipe structures in hard-to-reach places, typical of chemical plants or oil and gas industries, presenting the design of a hybrid rolling-aerial platform capable of landing and moving along the pipes without wasting energy in the propellers during the inspection. The presented robot ov...