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This work studies the propagation characteristics of a rectangular waveguide with aligned/ misaligned double-sided dielectric-filled metallic corrugations. Two modes are found to propagate in the proposed double-sided configuration below the hollow-waveguide cutoff frequency: a quasi resonant mode and a backward mode. This is in contrast to the single-sided configuration, which only allows for backward propagation. Moreover, the double-sided configuration can be of interest for waveguide miniaturization on account of the broader band of its backward mode. The width of the stopband between the quasi-resonant and backward modes can be controlled by the misalignment of the top and bottom corrugations, being null for the glide-symmetric case. The previous study is complemented with numerical results showing the impact of the height of the corrugations, as well as the filling dielectric permittivity, on the bandwidth and location of the appearing negative effective-permeability band. The multi-modal transmission-matrix method has also been employed to estimate the rejection level and material losses in the structure and to determine which port modes are associated with the quasi-resonant and backward modes. Finally, it is shown that glide symmetry can advantageously be used to reduce the dispersion and broadens the operating band of the modes European Union COST Action SyMat CA18223 Ministerio de Ciencia, Innovación y Universidades TEC2017-84724-P

This paper presents a crawling mechanism using a soft-tentacle gripper integrated into an unmanned aerial vehicle for pipe inspection in industrial environments. The objective was to allow the aerial robot to perch and crawl along the pipe, minimizing the energy consumption, and allowing to perform contact inspection. This paper introduces the design of the soft limbs of the gripper and also the internal mechanism that allows movement along pipes. Several tests have been carried out to ensure the grasping capability on the pipe and the performance and reliability of the developed system. This paper shows the complete development of the system using additive manufacturing techniques and includes the results of experiments performed in realistic environments. Unión Europea SI-1762/23/2017

Although numerous references present the beneficial effects on surface integrity of ultrasonic vibration-assisted ball burnishing (UVABB), nothing has been reported about the dynamic behavior of the UVABB tool, workpiece, and machine triad during the process. In this paper, a dynamic monitorization through a set of 5 accelerometers is tested to analyze the interactions between the tool&ndash, workpiece&ndash, machine mechanical assembly. A UVABB tool attached to a milling machine and equipped with a piezoelectric stack that is able to assist the process with a 40-kHz vibration is tested on a milled C45 steel surface. First, the natural frequencies of the mechanical system are obtained through hammer impact tests. Then, the vibratory signals transmitted during the execution of the process are monitored and compared to those: two feed velocities and two burnishing preloads, all with and without vibration-assistance. Results show that the proposed accelerometer set is valid to assess the behavior of a UVABB process. The system&rsquo, s natural frequencies are not varied by vibration-assistance and are not excited when the piezoelectric is functioning. It is confirmed that UVABB is safe for the machine and the tool, and there is no unexpected excited frequencies due to the piezoelectric excitation.

Active optical sensing (LIDAR and light curtain transmission) devices mounted on a mobile platform can correctly detect, localize, and classify trees. To conduct an evaluation and comparison of the different sensors, an optical encoder wheel was used for vehicle odometry and provided a measurement of the linear displacement of the prototype vehicle along a row of tree seedlings as a reference for each recorded sensor measurement. The field trials were conducted in a juvenile tree nursery with one-year-old grafted almond trees at Sierra Gold Nurseries, Yuba City, CA, United States. Through these tests and subsequent data processing, each sensor was individually evaluated to characterize their reliability, as well as their advantages and disadvantages for the proposed task. Test results indicated that 95.7% and 99.48% of the trees were successfully detected with the LIDAR and light curtain sensors, respectively. LIDAR correctly classified, between alive or dead tree states at a 93.75% success rate compared to 94.16% for the light curtain sensor. These results can help system designers select the most reliable sensor for the accurate detection and localization of each tree in a nursery, which might allow labor-intensive tasks, such as weeding, to be automated without damaging crops. European Union 245986

The use of multiple aerial vehicles for autonomous missions is turning into commonplace. In many of these applications, the Unmanned Aerial Vehicles (UAVs) have to cooperate and navigate in a shared airspace, becoming 3D collision avoidance a relevant issue. Outdoor scenarios impose additional challenges: (i) accurate positioning systems are costly, (ii) communication can be unreliable or delayed, and (iii) external conditions like wind gusts affect UAVs&rsquo, maneuverability. In this paper, we present 3D-SWAP, a decentralized algorithm for 3D collision avoidance with multiple UAVs. 3D-SWAP operates reactively without high computational requirements and allows UAVs to integrate measurements from their local sensors with positions of other teammates within communication range. We tested 3D-SWAP with our team of custom-designed UAVs. First, we used a Software-In-The-Loop simulator for system integration and evaluation. Second, we run field experiments with up to three UAVs in an outdoor scenario with uncontrolled conditions (i.e., noisy positioning systems, wind gusts, etc). We report our results and our procedures for this field experimentation.