Pregled bibliografske jedinice broj: 1142935
Towards Autonomous Bridge Inspection: Sensor Mounting Using Aerial Manipulators
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:
--KK.01.1.1.04.0041 - Autonomni sustav za pregled i predviđanje integriteta prometne infrastrukture (ASAP) (Jerbić, Bojan; Kovačić, Zdenko; Serdar, Marijana) ( CroRIS)
EK-H2020-820434 - BIM platforma u oblaku za energetski učinkovito i cjenovno efikasno renoviranje zgrada (ENCORE) (Bogdan, Stjepan, EK ) ( CroRIS)
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb,
Građevinski fakultet, Zagreb
Profili:
Antun Ivanović
(autor)
Ivan Duvnjak
(autor)
Matko Orsag
(autor)
Marko Car
(autor)
Lovro Marković
(autor)
Citiraj ovu publikaciju:
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