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<div class="parallax">
<h1>Problem Area</h1>
</div>
<div class="boundary" style="padding: 10px 10px">
<h3
style="text-align: center; color: #1c1c1c"
data-aos="zoom-in"
class="aos-init aos-animate"
>
Usage of micro aerial vehicles for cleaning and inspection of high-rise
structures with non-planar facades in a built environment.
</h3>
</div>
<div class="parallax">
<h1>Current Issues</h1>
</div>
<div class="boundary" style="padding: 10px 10px">
<div class="container">
<div class="item" style="text-align: center">
<img
data-aos="fade-right"
class="aos-init aos-animate"
src="https://capstone2022.sutd.edu.sg/uploads/attachments/cl6lzr5vo0domavo4egoai51h-supertree.png"
style="max-height: 500px;"
/>
</div>
<div class="item">
<h3
style="color: #1c1c1c"
data-aos="fade-left"
class="aos-init aos-animate"
>
High risk of height-related accidents and fatalities.
</h3>
<h3
style="color: #1c1c1c"
data-aos="fade-left"
class="aos-init aos-animate"
>
High manpower requirement with operation certification.
</h3>
<h3
style="color: #1c1c1c"
data-aos="fade-left"
class="aos-init aos-animate"
>
High cost of maintenance and training.
</h3>
</div>
</div>
</div>
<div class="parallax">
<h1>Solution</h1>
</div>
<div
class="boundary"
style="margin-bottom: 6px; padding-bottom: 10px; padding-top: 10px"
>
<p
style="margin-top: 12px; color: #1c1c1c"
data-aos="fade-right"
class="aos-init aos-animate"
>
The following UAV and UGV would be connected by a tether that would carry power, ethernet, and even water.
</p>
<h2
style="color: #1c1c1c"
data-aos="fade-right"
class="aos-init aos-animate"
>
Unmanned Aerial Vehicle (Hawk)
</h2>
<div style="width: 100%">
<img
data-aos="zoom-in"
class="aos-init aos-animate"
src="https://capstone2022.sutd.edu.sg/uploads/attachments/cl6ly270f0ayfavo4867kg8vm-hawk.png"
style="display: block; height: auto; width: auto; margin: auto; max-height: 80vh; max-width: 80vw; padding: 0rem 4rem"
/>
</div>
<p
style="margin-top: 12px; color: #1c1c1c"
data-aos="fade-right"
class="aos-init aos-animate"
>
You can inspect the 3D model of our UAV here!
</p>
<div>
<iframe width="100%" height="450px" style="display: block; margin: auto;" srcdoc='<html>
<head>
<title>Hawk UAV 3D Model</title>
<meta name="author" content="SymMotion" />
<style>
body {
overflow: hidden;
margin: 0px;
}
#progressBar {
width: 500px;
height: 24px;
position: absolute;
left: 50%;
top: 10px;
margin-left: -250px;
}
</style>
<!-- Import maps polyfill -->
<!-- Remove this when import maps will be widely supported -->
<script async src="https://unpkg.com/es-module-shims@1.3.6/dist/es-module-shims.js"></script>
<script type="importmap">
{
"imports": {
"three": "https://unpkg.com/three@0.143.0/build/three.module.js",
"three/examples/jsm/controls/OrbitControls": "https://unpkg.com/three@0.143.0/examples/jsm/controls/OrbitControls.js",
"three/examples/jsm/loaders/STLLoader": "https://unpkg.com/three@0.143.0/examples/jsm/loaders/STLLoader.js",
"three/examples/jsm/libs/stats.module": "https://unpkg.com/three@0.143.0/examples/jsm/libs/stats.module.js"
}
}
</script>
</head>
<body>
<progress value="0" max="100" id="progressBar"></progress>
<script type="module">
import * as THREE from "three"
import { OrbitControls } from "three/examples/jsm/controls/OrbitControls"
import { STLLoader } from "three/examples/jsm/loaders/STLLoader"
import Stats from "three/examples/jsm/libs/stats.module"
const scene = new THREE.Scene()
var light = new THREE.DirectionalLight()
light.position.set(2.5, 7.5, 15)
scene.add(light)
const camera = new THREE.PerspectiveCamera(75, window.innerWidth / window.innerHeight, 0.1, 1000)
camera.position.z = 50
const renderer = new THREE.WebGLRenderer()
renderer.outputEncoding = THREE.sRGBEncoding
renderer.setSize(window.innerWidth, window.innerHeight)
document.body.appendChild(renderer.domElement)
const controls = new OrbitControls(camera, renderer.domElement)
controls.enableDamping = true
const envTexture = new THREE.CubeTextureLoader().load([
"https://corsproxy.io/?https://github.com/SymMotion/showcase_web/raw/main/assets/px_25.jpg",
"https://corsproxy.io/?https://github.com/SymMotion/showcase_web/raw/main/assets/nx_25.jpg",
"https://corsproxy.io/?https://github.com/SymMotion/showcase_web/raw/main/assets/py_25.jpg",
"https://corsproxy.io/?https://github.com/SymMotion/showcase_web/raw/main/assets/ny_25.jpg",
"https://corsproxy.io/?https://github.com/SymMotion/showcase_web/raw/main/assets/pz_25.jpg",
"https://corsproxy.io/?https://github.com/SymMotion/showcase_web/raw/main/assets/nz_25.jpg",
])
envTexture.mapping = THREE.CubeReflectionMapping
const material = new THREE.MeshPhysicalMaterial({
color: 0xb2ffc8,
envMap: envTexture,
metalness: 0.1,
roughness: 0.1,
transparent: true,
transmission: 1.0,
side: THREE.DoubleSide,
clearcoat: 1.0,
clearcoatRoughness: 0.25,
})
const loader = new STLLoader()
let mesh
loader.load(
"https://corsproxy.io/?https://github.com/SymMotion/showcase_web/raw/main/assets/hawk.stl",
function (geometry) {
geometry.center()
geometry.rotateX(-Math.PI / 2)
geometry.rotateY(Math.PI / 4)
mesh = new THREE.Mesh(geometry, material)
scene.add(mesh)
progressBar.style.display = "none"
},
(xhr) => {
if (xhr.lengthComputable) {
var percentComplete = (xhr.loaded / xhr.total) * 100
progressBar.value = percentComplete
progressBar.style.display = "block"
}
},
(error) => {
console.log(error)
}
)
window.addEventListener("resize", onWindowResize, false)
function onWindowResize() {
camera.aspect = window.innerWidth / window.innerHeight
camera.updateProjectionMatrix()
renderer.setSize(window.innerWidth, window.innerHeight)
render()
}
const stats = Stats()
document.body.appendChild(stats.dom)
var animate = function () {
requestAnimationFrame(animate)
controls.update()
render()
stats.update()
}
function render() {
renderer.render(scene, camera)
}
animate()
</script>
</body>
</html>' title="Hawk UAV 3D Model"></iframe>
</div>
<h2
style="color: #1c1c1c"
data-aos="fade-right"
class="aos-init aos-animate"
>
Unmanned Ground Vehicle (Husky)
</h2>
<div style="width: 100%">
<img
data-aos="zoom-in"
class="aos-init aos-animate"
src="https://capstone2022.sutd.edu.sg/uploads/attachments/cl6o61roh00jrhio4tzd9tw37-husky.png"
style="display: block; height: auto; width: auto; margin: auto; max-height: 80vh; max-width: 80vw; padding: 0rem 4rem"
/>
</div>
<p
style="margin-top: 12px; color: #1c1c1c"
data-aos="fade-right"
class="aos-init aos-animate"
>
You can inspect the 3D model of our UGV here!
</p>
<div>
<iframe width="100%" height="450px" style="display: block; margin: auto;" srcdoc='<html>
<head>
<title>Husky UGV 3D Model</title>
<meta name="author" content="SymMotion" />
<style>
body {
overflow: hidden;
margin: 0px;
}
#progressBar {
width: 500px;
height: 24px;
position: absolute;
left: 50%;
top: 10px;
margin-left: -250px;
}
</style>
<!-- Import maps polyfill -->
<!-- Remove this when import maps will be widely supported -->
<script async src="https://unpkg.com/es-module-shims@1.3.6/dist/es-module-shims.js"></script>
<script type="importmap">
{
"imports": {
"three": "https://unpkg.com/three@0.143.0/build/three.module.js",
"three/examples/jsm/controls/OrbitControls": "https://unpkg.com/three@0.143.0/examples/jsm/controls/OrbitControls.js",
"three/examples/jsm/loaders/STLLoader": "https://unpkg.com/three@0.143.0/examples/jsm/loaders/STLLoader.js",
"three/examples/jsm/libs/stats.module": "https://unpkg.com/three@0.143.0/examples/jsm/libs/stats.module.js"
}
}
</script>
</head>
<body>
<progress value="0" max="100" id="progressBar"></progress>
<script type="module">
import * as THREE from "three"
import { OrbitControls } from "three/examples/jsm/controls/OrbitControls"
import { STLLoader } from "three/examples/jsm/loaders/STLLoader"
import Stats from "three/examples/jsm/libs/stats.module"
const scene = new THREE.Scene()
var light = new THREE.DirectionalLight()
light.position.set(2.5, 7.5, 15)
scene.add(light)
const camera = new THREE.PerspectiveCamera(75, window.innerWidth / window.innerHeight, 0.1, 1000)
camera.position.z = 1
const renderer = new THREE.WebGLRenderer()
renderer.outputEncoding = THREE.sRGBEncoding
renderer.setSize(window.innerWidth, window.innerHeight)
document.body.appendChild(renderer.domElement)
const controls = new OrbitControls(camera, renderer.domElement)
controls.enableDamping = true
const envTexture = new THREE.CubeTextureLoader().load([
"https://corsproxy.io/?https://github.com/SymMotion/showcase_web/raw/main/assets/px_25.jpg",
"https://corsproxy.io/?https://github.com/SymMotion/showcase_web/raw/main/assets/nx_25.jpg",
"https://corsproxy.io/?https://github.com/SymMotion/showcase_web/raw/main/assets/py_25.jpg",
"https://corsproxy.io/?https://github.com/SymMotion/showcase_web/raw/main/assets/ny_25.jpg",
"https://corsproxy.io/?https://github.com/SymMotion/showcase_web/raw/main/assets/pz_25.jpg",
"https://corsproxy.io/?https://github.com/SymMotion/showcase_web/raw/main/assets/nz_25.jpg",
])
envTexture.mapping = THREE.CubeReflectionMapping
const material = new THREE.MeshPhysicalMaterial({
color: 0xb2ffc8,
envMap: envTexture,
metalness: 0.1,
roughness: 0.1,
transparent: true,
transmission: 1.0,
side: THREE.DoubleSide,
clearcoat: 1.0,
clearcoatRoughness: 0.25,
})
const loader = new STLLoader()
let mesh
loader.load(
"https://corsproxy.io/?https://github.com/SymMotion/showcase_web/raw/main/assets/husky.stl",
function (geometry) {
geometry.center()
geometry.rotateX(-Math.PI / 2)
geometry.rotateY(-3 * Math.PI / 4)
mesh = new THREE.Mesh(geometry, material)
scene.add(mesh)
progressBar.style.display = "none"
},
(xhr) => {
if (xhr.lengthComputable) {
var percentComplete = (xhr.loaded / xhr.total) * 100
progressBar.value = percentComplete
progressBar.style.display = "block"
}
},
(error) => {
console.log(error)
}
)
window.addEventListener("resize", onWindowResize, false)
function onWindowResize() {
camera.aspect = window.innerWidth / window.innerHeight
camera.updateProjectionMatrix()
renderer.setSize(window.innerWidth, window.innerHeight)
render()
}
const stats = Stats()
document.body.appendChild(stats.dom)
var animate = function () {
requestAnimationFrame(animate)
controls.update()
render()
stats.update()
}
function render() {
renderer.render(scene, camera)
}
animate()
</script>
</body>
</html>' title="Husky UGV 3D Model"></iframe>
</div>
<h2
style="color: #1c1c1c"
data-aos="fade-right"
class="aos-init aos-animate"
>
Simulation
</h2>
<p
style="margin-top: 12px; color: #1c1c1c"
data-aos="fade-right"
class="aos-init aos-animate"
>
A simulation was created to test and develop the various packages that would be used in the collaboration of the UAV Hawk and the UGV Husky.
In addition to that, the simulation could also be used to train operators in using the system.
</p>
<div class="video-container">
<iframe width="100%" style="display: block; margin: auto;" src="https://www.youtube.com/embed/lVwcevNVTpw" title="SymMotion Drone Simulation" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
</div>
<h2
style="color: #1c1c1c"
data-aos="fade-right"
class="aos-init aos-animate"
>
User Interface
</h2>
<p
style="margin-top: 12px; color: #1c1c1c"
data-aos="fade-right"
class="aos-init aos-animate"
>
The intuitive user interface allows single-person operations with operators performing one-click drone control. This removes the need for a highly-skilled drone pilot!
</p>
<p
style="margin-top: 12px; color: #1c1c1c"
data-aos="fade-right"
class="aos-init aos-animate"
>
You can watch a demo of our user interface here!
</p>
<div class="video-container">
<iframe width="100%" style="display: block; margin: auto;" src="https://www.youtube.com/embed/61iOzyg7kQQ" title="SymMotion UI Demo" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
</div>
</div>
<div class="parallax">
<h1>Features</h1>
</div>
<div class="boundary" style="padding: 10px 10px">
<h2
style="color: #1c1c1c"
data-aos="fade-right"
class="aos-init aos-animate"
>
<i class="fa fa-arrows-v"></i> Relative Positioning
</h2>
<div class="container">
<div class="item" style="text-align: center">
<img
data-aos="fade-right"
class="aos-init aos-animate"
src="https://capstone2022.sutd.edu.sg/uploads/attachments/cl6ooorj506sshio4593j3ic0-5.png"
style="display: block; height: auto; width: auto; margin: auto; max-width: 500px;"
/>
</div>
<div class="item">
<p
style="margin-top: 12px; color: #1c1c1c"
data-aos="fade-left"
class="aos-init aos-animate"
>
ArUco markers and ultra-wideband beacons are used to determine the relative positioning of the UAV and the UGV.
</p>
</div>
</div>
<h2
style="color: #1c1c1c"
data-aos="fade-right"
class="aos-init aos-animate"
>
<i class="fa fa-compass"></i> Dynamic Navigation
</h2>
<p
style="margin-top: 12px; color: #1c1c1c"
data-aos="fade-left"
class="aos-init aos-animate"
>
Dynamic obstacle avoidance and real-time path planning allow both the UAV and the UGV to avoid obstacles while performing their tasks.
</p>
<h2
style="color: #1c1c1c"
data-aos="fade-right"
class="aos-init aos-animate"
>
<i class="fa fa-cubes"></i> Simulation
</h2>
<div class="container">
<div class="item" style="text-align: center">
<img
data-aos="fade-right"
class="aos-init aos-animate"
src="https://capstone2022.sutd.edu.sg/uploads/attachments/cl6oi91u004juhio4gx0i4jeu-3.png"
style="display: block; height: auto; width: auto; margin: auto; max-width: 500px;"
/>
</div>
<div class="item">
<p
style="margin-top: 12px; color: #1c1c1c"
data-aos="fade-left"
class="aos-init aos-animate"
>
A simulation environment for our use case of cleaning Supertrees were developed to assist with the development and testing of both the UAV and the UGV.
</p>
</div>
</div>
</div>
<div class="parallax">
<h1>Impacts</h1>
</div>
<div class="boundary" style="padding: 10px 10px">
<h3
style="color: #1c1c1c"
data-aos="fade-right"
class="aos-init aos-animate"
>
<i class="fa-solid fa-helmet-safety"></i> Safer workplace operations.
</h3>
<h3
style="color: #1c1c1c"
data-aos="fade-right"
class="aos-init aos-animate"
>
<i class="fa-solid fa-business-time"></i> Reduce required man-hours by at least 85%.
</h3>
<h3
style="color: #1c1c1c"
data-aos="fade-right"
class="aos-init aos-animate"
>
<i class="fa-solid fa-money-bill"></i> Decrease costs by at least 65%.
</h3>
<h3
style="color: #1c1c1c"
data-aos="fade-right"
class="aos-init aos-animate"
>
<i class="fa-solid fa-volume-off"></i> Quieter operations.
</h3>
</div>
<div class="parallax">
<h1>Future Work</h1>
</div>
<div class="boundary" style="padding: 10px 10px">
<div class="feature col">
<h3
style="color: #1c1c1c"
data-aos="fade-right"
class="aos-init aos-animate"
>
<i class="fa fa-asterisk"></i> Better tether implementation.
</h3>
<p
style="margin-top: 12px; color: #1c1c1c"
data-aos="fade-left"
class="aos-init aos-animate"
>
The tether should be retractable so as to not obstruct the sensors and restrict the movement of both the UAV and the UGV too much. This would allow the system to achieve better relative positioning and localization accuracy.
</p>
</div>
<div class="feature col">
<h3
style="color: #1c1c1c"
data-aos="fade-right"
class="aos-init aos-animate"
>
<i class="fa fa-users"></i> More integrated collaboration algorithms.
</h3>
<p
style="margin-top: 12px; color: #1c1c1c"
data-aos="fade-left"
class="aos-init aos-animate"
>
More advanced algorithms such as Simultaneous Localisation and Mapping (SLAM) on the UAV or collaborative environment mapping would allow for greater autonomy and flight control assistance for users of the system.
</p>
</div>
<div class="feature col">
<h3
style="color: #1c1c1c"
data-aos="fade-right"
class="aos-init aos-animate"
>
<i class="fa fa-microchip"></i> Stronger processor units.
</h3>
<p
style="margin-top: 12px; color: #1c1c1c"
data-aos="fade-left"
class="aos-init aos-animate"
>
Installing stronger processor units on both the UGV and the UAV would allow the system to perform more expensive computations and process large video streaming data without sacrificing performance.
</p>
</div>
<div class="feature col">
<h3
style="color: #1c1c1c"
data-aos="fade-right"
class="aos-init aos-animate"
>
<i class="fa fa-video-camera"></i> Improved video streaming technique.
</h3>
<p
style="margin-top: 12px; color: #1c1c1c"
data-aos="fade-left"
class="aos-init aos-animate"
>
More optimized video streaming and UI rendering techniques would allow users to experience less latency or FPS drops on the UI.
</p>
</div>
</div>
<div class="boundary" style="padding: 10px 10px">
<div
style="margin-top: 12px; color: #1c1c1c"
data-aos="fade-up"
class="aos-init aos-animate"
>
<div>
<h3 style="text-align: center; padding: 0px 0px 4rem 0rem">
In collaboration with:
</h3>
<div style="text-align: center;">
<a href="https://www.sutd.edu.sg/">
<img style="max-width: 300px;" src="https://capstone2022.sutd.edu.sg/modules/my-apostrophe-assets/images/sutd-logo.png"
/>
</a>
<a href="https://www.spinoff.io/">
<img style="max-width: 300px;" src="https://capstone2022.sutd.edu.sg/uploads/attachments/cl6lwa8zu080aavo4ffr8ybp1-spinoff.png"
/>
</a>
<a href="https://www.gardensbythebay.com.sg/">
<img style="max-width: 300px;" src="https://capstone2022.sutd.edu.sg/uploads/attachments/cl6lwjrxg08g5avo4lzilxmjn-gardens-by-the-bay.png"
/>
</a>
</div>
</div>
</div>
</div>
<div class="boundary" style="padding: 10px 10px">
<div
style="margin-top: 12px; color: #1c1c1c"
data-aos="fade-up"
class="aos-init aos-animate"
>
<div>
<h3 style="text-align: center; padding: 0px 0px 4rem 0rem">
Powered by:
</h3>
<div style="text-align: center;">
<a href="https://ros.org/">
<img style="max-width: 300px;" src="https://capstone2022.sutd.edu.sg/uploads/attachments/cl6lwobdv08n6avo4xocmmwyn-ros.png"
/>
</a>
<a href="https://px4.io/">
<img style="max-width: 300px;" src="https://capstone2022.sutd.edu.sg/uploads/attachments/cl6lx0ts30955avo45eg42h8y-px4.png"
/>
</a>
<a href="https://gazebosim.org/">
<img style="max-width: 300px;" src="https://capstone2022.sutd.edu.sg/uploads/attachments/cl6lx0tle0951avo48l6gxnd7-gazebo.png"
/>
</a>
<a href="https://nodejs.org/">
<img style="max-width: 300px;" src="https://capstone2022.sutd.edu.sg/uploads/attachments/cl6lx0sss094uavo4fcx8psw0-nodejs.png"
/>
</a>
<a href="https://expressjs.com/">
<img style="max-width: 300px;" src="https://capstone2022.sutd.edu.sg/uploads/attachments/cl6lx0sqb094savo4j482011a-expressjs.png"
/>
</a>
<a href="https://www.mongodb.com/">
<img style="max-width: 300px;" src="https://capstone2022.sutd.edu.sg/uploads/attachments/cl6lx0sqr094tavo4al4orcq0-mongodb.png"
/>
</a>
<a href="https://socket.io/">
<img style="max-width: 300px;" src="https://capstone2022.sutd.edu.sg/uploads/attachments/cl6lx0smi094qavo44p7q0b4c-socketio.png"
/>
</a>
<a href="https://reactjs.org/">
<img style="max-width: 300px;" src="https://capstone2022.sutd.edu.sg/uploads/attachments/cl6lx0spv094ravo49eftn32n-react.png"
/>
</a>
</div>
</div>
</div>
</div>