Crack detection by a climbing robot using image analysis

Paz, Jonny P. Zavala-De; Castañeda, Eduardo Castillo; Sandoval-Castro, X. Yamile; Jimenez, Stéphane

doi:10.1109/conielecomp.2013.6525765

Cited by 5 publications

(1 citation statement)

References 4 publications

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“…Several systems have been developed to automate the inspection process in some specific environments, such as subway tunnels ( Zhang et al, 2014 ), flexible pavement surfaces ( Oliveira and Correia, 2013 ) ( Shi et al, 2016 ), bridge decks ( Prasanna et al, 2016 ), and buildings ( Yan et al, 2017 ) ( Chen et al, 2016 ). De Paz et al (2013 ) used a hexapod robot, named Hex-piderix, with a stereo camera to inspect the cracking on surfaces such as walls or roofs of buildings. Access to these places is sometimes difficult for the operators.…”

Section: Introductionmentioning

confidence: 99%

Integrated design of an aerial soft-continuum manipulator for predictive maintenance

Yang

Kahouadji²,

Lakhal³

2022

Front. Robot. AI

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This article presents an integrated concept of an aerial robot used for predictive maintenance in the construction sector. The latter can be remotely controlled, allowing the localization of cracks on wall surfaces and the adaptive deposit of the material for in situ repairs. The use of an aerial robot is motivated by fast intervention, allowing time and cost minimizing of overhead repairs without the need for scaffolding. It is composed of a flying mobile platform positioned in stationary mode to guide a soft continuum arm that allows to reach the area of cracks with different access points. Indeed, some constructions have complex geometries that present problems for access using rigid mechanical arms. The aerial robot uses visual sensors to automatically identify and localize cracks in walls, based on deep learning convolutional neural networks. A centerline representing the structural feature of the crack is computed. The soft continuum manipulator is used to guide the continuous deposit of the putty material to fill the microscopic crack. For this purpose, an inverse kinematic model-based control of the soft arm is developed, allowing to estimate the length of the bending tubes. The latter are then used as inputs for a neural network to predict the desired input pressure to bend the actuated soft tubes. A set of experiments was carried out on cracks located on flat and oblique surfaces, to evaluate the actual performances of the predictive maintenance mechatronic robot.

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Section: Introductionmentioning

confidence: 99%

Integrated design of an aerial soft-continuum manipulator for predictive maintenance

Yang

Kahouadji²,

Lakhal³

2022

Front. Robot. AI

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Inverse Kinematics Solution for Position–Orientation Adjustment Algorithm of Six-Legged Robot Based on Geometry Structure

Chen

Jin

Chen

2016

Iran. J. Sci. Technol. Trans. Mech. Eng.

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Multi-legged robot often needs to change its body position and orientation in order to walk over different terrain. A useful position-orientation adjustment algorithm is needed to meet the goal. This paper focuses on position-orientation adjustment algorithm of a sixlegged robot which is used to calculate the joint angles when the foothold positions, the center of six-legged robot body and the six-legged robot's orientation are given. Sixlegged robot can move to target position and orientation according to joint angles got by the position-orientation adjustment algorithm. A new approach based on geometry structure is proposed to solve inverse kinematics of the six-legged robot. Furthermore, the inverse kinematics method is used in the position-orientation adjustment algorithm. In addition, a linear tracking simulation is conducted by MATLAB and ADAMS to evaluate the performance of the position-orientation adjustment algorithm, and experiments are done on the six-legged robot to demonstrate the validity of the position-orientation adjustment algorithm.

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Automated Hammering Inspection System With Multi-Copter Type Mobile Robot for Concrete Structures

Nishimura

Takahashi

Mochiyama

et al. 2022

IEEE Robot. Autom. Lett.

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Crack detection by a climbing robot using image analysis

Cited by 5 publications

References 4 publications

Integrated design of an aerial soft-continuum manipulator for predictive maintenance

Integrated design of an aerial soft-continuum manipulator for predictive maintenance

Inverse Kinematics Solution for Position–Orientation Adjustment Algorithm of Six-Legged Robot Based on Geometry Structure

Automated Hammering Inspection System With Multi-Copter Type Mobile Robot for Concrete Structures

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