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Towards Autonomous Bridge Inspection: Sensor Mounting Using Aerial Manipulators
Applied sciences (Basel), 11(18) (2021); 8279. https://doi.org/10.3390/app11188279
Ivanovic, Antun; Markovic, Lovro; Car, Marko; Duvnjak, Ivan; Orsag, Matko

Institucijski repozitorij: Repozitorij Građevinskog fakulteta Sveučilišta u Zagrebu

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Ivanovic, A., Markovic, L., Car, M., Duvnjak, I. i Orsag, M. (2021). Towards Autonomous Bridge Inspection: Sensor Mounting Using Aerial Manipulators. Applied sciences (Basel), 11(18).. doi: 10.3390/app11188279

Ivanovic, Antun, et al. "Towards Autonomous Bridge Inspection: Sensor Mounting Using Aerial Manipulators." Applied sciences (Basel), vol. 11(18), 2021. https://doi.org/10.3390/app11188279

Ivanovic, Antun, Lovro Markovic, Marko Car, Ivan Duvnjak i Matko Orsag. "Towards Autonomous Bridge Inspection: Sensor Mounting Using Aerial Manipulators." Applied sciences (Basel) 11(18) (2021). https://doi.org/10.3390/app11188279

Ivanovic, A., et al. (2021) 'Towards Autonomous Bridge Inspection: Sensor Mounting Using Aerial Manipulators', Applied sciences (Basel), 11(18). doi: 10.3390/app11188279

Ivanovic A, Markovic L, Car M, Duvnjak I, Orsag M. Towards Autonomous Bridge Inspection: Sensor Mounting Using Aerial Manipulators. Applied sciences (Basel) [Internet]. 2021. [pristupljeno 26.11.2024.];11(18). doi: 10.3390/app11188279

A. Ivanovic, L. Markovic, M. Car, I. Duvnjak i M. Orsag, "Towards Autonomous Bridge Inspection: Sensor Mounting Using Aerial Manipulators", Applied sciences (Basel), vol. 11(18), 2021. [Online]. Dostupno na: https://urn.nsk.hr/urn:nbn:hr:237:658709. [Citirano: 26.11.2024.]

Za citiranje koristite ovu mrežnu adresu: https://urn.nsk.hr/urn:nbn:hr:237:658709
Podaci o radu
Naslov (engleski)Towards Autonomous Bridge Inspection: Sensor Mounting Using Aerial Manipulators
AutorAntun Ivanovic
AutorLovro Markovic
AutorMarko Car
AutorIvan Duvnjak
AutorMatko Orsag
Autorova ustanovaSveučilište 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)
Jezikengleski
Vrsta publikacijeZnanstveni rad - Izvorni znanstveni rad
Status objaveObjavljen
Vrsta recenzijeRecenziran - međunarodna recenzija
Verzija publikacijeObjavljena verzija rada (izdavačev PDF)
Naslov časopisaApplied sciences (Basel)
Brojčani podacivol. 11(18), 8279
e-ISSN2076-3417
DOIhttps://doi.org/10.3390/app11188279
URN:NBNurn:nbn:hr:237:658709
Datum objave publikacije2021
Vrsta resursaTekst
Prava pristupaOtvoreni pristup
Uvjeti korištenjaIkona licence Zaštićeno autorskim pravom.
Datum i vrijeme pohrane2024-09-04 10:43:01