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Pregled bibliografske jedinice broj: 1142935

Towards Autonomous Bridge Inspection: Sensor Mounting Using Aerial Manipulators


Ivanovic, Antun; Markovic, Lovro; Car, Marko; Duvnjak, Ivan; Orsag, Matko
Towards Autonomous Bridge Inspection: Sensor Mounting Using Aerial Manipulators // Applied Sciences-Basel, 11 (2021), 18; 8279, 21 doi:10.3390/app11188279 (međunarodna recenzija, članak, znanstveni)


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Naslov
Towards Autonomous Bridge Inspection: Sensor Mounting Using Aerial Manipulators

Autori
Ivanovic, Antun ; Markovic, Lovro ; Car, Marko ; Duvnjak, Ivan ; Orsag, Matko

Izvornik
Applied Sciences-Basel (2076-3417) 11 (2021), 18; 8279, 21

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
aerial robotics ; inspection and maintenance ; aerial manipulation ; multirotor control

Sažetak
Periodic bridge inspections are required every several years to determine the state of a bridge. Most commonly, the inspection is performed using specialized trucks allowing human inspectors to review the conditions underneath the bridge, which requires a road closure. The aim of this paper was to use aerial manipulators to mount sensors on the bridge to collect the necessary data, thus eliminating the need for the road closure. To do so, a two-step approach is proposed: an unmanned aerial vehicle (UAV) equipped with a pressurized canister sprays the first glue component onto the target area ; afterward, the aerial manipulator detects the precise location of the sprayed area, and mounts the required sensor coated with the second glue component. The visual detection is based on an Red Green Blue - Depth (RGB-D) sensor and provides the target position and orientation. A trajectory is then planned based on the detected contact point, and it is executed through the adaptive impedance control capable of achieving and maintaining a desired force reference. Such an approach allows for the two glue components to form a solid bond. The described pipeline is validated in a simulation environment while the visual detection is tested in an experimental environment.

Izvorni jezik
Engleski



POVEZANOST RADA


Projekti:
EK-EFRR-KK01.1.1.04.0041 - ASAP - "Autonomni sustav za pregled i predviđanje integriteta prometne infrastrukture'' (ASAP) (Serdar, Marijana; Jerbić, Bojan; Kovačić, Zdenko, EK - Ulaganje u znanost i inovacije, prvi poziv, KK.01.1.1.04) ( POIROT)
EK-H2020-820434 - BIM platforma u oblaku za energetski učinkovito i cjenovno efikasno renoviranje zgrada (ENCORE) (Bogdan, Stjepan, EK - H2020-NMBP-EEB-2018) ( POIROT)

Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb,
Građevinski fakultet, Zagreb

Profili:

Avatar Url Antun Ivanović (autor)

Avatar Url Ivan Duvnjak (autor)

Avatar Url Matko Orsag (autor)

Avatar Url Marko Car (autor)

Poveznice na cjeloviti tekst rada:

doi www.mdpi.com

Citiraj ovu publikaciju:

Ivanovic, Antun; Markovic, Lovro; Car, Marko; Duvnjak, Ivan; Orsag, Matko
Towards Autonomous Bridge Inspection: Sensor Mounting Using Aerial Manipulators // Applied Sciences-Basel, 11 (2021), 18; 8279, 21 doi:10.3390/app11188279 (međunarodna recenzija, članak, znanstveni)
Ivanovic, A., Markovic, L., Car, M., Duvnjak, I. & Orsag, M. (2021) Towards Autonomous Bridge Inspection: Sensor Mounting Using Aerial Manipulators. Applied Sciences-Basel, 11 (18), 8279, 21 doi:10.3390/app11188279.
@article{article, year = {2021}, pages = {21}, DOI = {10.3390/app11188279}, chapter = {8279}, keywords = {aerial robotics, inspection and maintenance, aerial manipulation, multirotor control}, journal = {Applied Sciences-Basel}, doi = {10.3390/app11188279}, volume = {11}, number = {18}, issn = {2076-3417}, title = {Towards Autonomous Bridge Inspection: Sensor Mounting Using Aerial Manipulators}, keyword = {aerial robotics, inspection and maintenance, aerial manipulation, multirotor control}, chapternumber = {8279} }
@article{article, year = {2021}, pages = {21}, DOI = {10.3390/app11188279}, chapter = {8279}, keywords = {aerial robotics, inspection and maintenance, aerial manipulation, multirotor control}, journal = {Applied Sciences-Basel}, doi = {10.3390/app11188279}, volume = {11}, number = {18}, issn = {2076-3417}, title = {Towards Autonomous Bridge Inspection: Sensor Mounting Using Aerial Manipulators}, keyword = {aerial robotics, inspection and maintenance, aerial manipulation, multirotor control}, chapternumber = {8279} }

Časopis indeksira:


  • Current Contents Connect (CCC)
  • Web of Science Core Collection (WoSCC)
    • Science Citation Index Expanded (SCI-EXP)
    • SCI-EXP, SSCI i/ili A&HCI
  • Scopus


Citati:





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