Abstract

Abstract
Offshore wind farms are becoming the main alternative to fossil fuels and the future key to mitigating climate change by achieving energy sustainability. With favorable indicators in almost every environmental index, these structures operate under varying and dynamic environmental conditions, leading to efficiency losses and sudden failures. For these reasons, it's fundamental to promote the development of autonomous solutions to monitor the health condition of the construction parts, preventing structural damage and accidents. This paper introduces a new simulation environment for testing and training autonomous inspection techniques under a more realistic offshore wind farm scenario. Combining the Gazebo simulator with ROS, this framework can include multi-robots with different sensors to operate in a customizable simulation environment regarding some external elements (fog, wind, buoyancy...). The paper also presents a use case composed of a 3D LiDAR-based technique for autonomous wind turbine inspection with UAV, including point cloud clustering, model estimation, and the preliminary results under this simulation framework using a mixed environment (offshore simulation with a real UAV platform).

Abstract

Abstract
This paper presents the implementation of an innovative solution based on heterogeneous autonomous vehicles to tackle maritime pollution (in particular, oil spills). This solution is based on native microbial consortia with bioremediation capacity, and the adaptation of air and surface autonomous vehicles for in situ release of autochthonous microorganisms (bioaugmentation) and nutrients (biostimulation). By doing so, these systems can be applied as the first line of the response to pollution incidents from several origins that may occur inside ports, around industrial and extraction facilities, or in the open sea during transport activities in a fast, efficient, and low-cost way. The paper describes the work done in the development of a team of autonomous vehicles able to carry as payload, native organisms to naturally degrade oil spills (avoiding the introduction of additional chemical or biological additives), and the development of a multi-robot framework for efficient oil spill mitigation. Field tests have been performed in Portugal and Spain's harbors, with a simulated oil spill, and the coordinate oil spill task between the autonomous surface vehicle (ASV) ROAZ and the unmanned aerial vehicle (UAV) STORK has been validated.

Abstract
Inspecting and maintaining power lines is essential for ensuring the safety, reliability, and efficiency of electrical infrastructure. This process involves regular assessment to identify hazards such as damaged wires, corrosion, or vegetation encroachment, followed by timely maintenance to prevent accidents and power outages. By conducting routine inspections and maintenance, utilities can comply with regulations, enhance operational efficiency, and extend the lifespan of power lines and equipment. Unmanned Aerial Vehicles (UAVs) can play a relevant role in this process by increasing efficiency through rapid coverage of large areas and access to difficult-to-reach locations, enhanced safety by minimizing risks to personnel in hazardous environments, and cost-effectiveness compared to traditional methods. UAVs equipped with sensors such as visual and thermographic cameras enable the accurate collection of high-resolution data, facilitating early detection of defects and other potential issues. To ensure the safety of the autonomous inspection process, UAVs must be capable of performing onboard processing, particularly for detection of power lines and obstacles. In this paper, we address the development of a deep learning approach with YOLOv8 for power line detection based on visual and thermographic images. The developed solution was validated with a UAV during a power line inspection mission, obtaining mAP@0.5 results of over 90.5% on visible images and over 96.9% on thermographic images.

Abstract
The deployment of offshore wind turbines (WTs) has emerged as a pivotal strategy in the transition to renewable energy, offering significant potential for clean electricity generation. However, these structures' operation and maintenance (O&M) present unique challenges due to their remote locations and harsh marine environments. For these reasons, it is fundamental to promote the development of autonomous solutions to monitor the health condition of the construction parts, preventing structural damage and accidents. This paper explores the application of Unmanned Aerial Vehicles (UAVs) in the inspection and maintenance of offshore wind turbines, introducing a new strategy for autonomous wind turbine inspection and a simulation environment for testing and training autonomous inspection techniques under a more realistic offshore scenario. Instead of relying on visual information to detect the WT parts during the inspection, this method proposes a three-dimensional (3D) light detection and ranging (LiDAR) method that estimates the wind turbine pose (position, orientation, and blade configuration) and autonomously controls the UAV for a close inspection maneuver. The first tests were carried out mainly in a simulation framework, combining different WT poses, including different orientations, blade positions, and wind turbine movements, and finally, a mixed reality test, where a real vehicle performed a full inspection of a virtual wind turbine.