Towards Autonomous Bridge Inspection: Sensor Mounting Using Aerial Manipulators

Znanstveni rad - Izvorni znanstveni rad

• Autor: Antun Ivanovic
• Autor: Lovro Markovic
• Autor: Marko Car
• Autor: Ivan Duvnjak
• Autor: Matko Orsag
• Autorova ustanova: Sveučilište u Zagrebu; Građevinski fakultet
• Znanstveno / umjetničko područje, polje i grana: TEHNIČKE ZNANOSTI; Građevinarstvo

Sažetak (engleski)

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.

• Ključne riječi (engleski): aerial robotics; inspection and maintenance; aerial manipulation; multirotor control
• Jezik: engleski
• Vrsta publikacije: Znanstveni rad - Izvorni znanstveni rad
• Status objave: Objavljen
• Vrsta recenzije: Recenziran - međunarodna recenzija
• Verzija publikacije: Objavljena verzija rada (izdavačev PDF)
• Naslov časopisa: Applied sciences (Basel)
• Brojčani podaci: vol. 11(18), 8279
• e-ISSN: 2076-3417
• DOI: https://doi.org/10.3390/app11188279
• URN:NBN: urn:nbn:hr:237:658709
• Datum objave publikacije: 2021
• Vrsta resursa: Tekst
• Prava pristupa: Otvoreni pristup
• Datum i vrijeme pohrane: 2024-09-04 10:43:01