UAV with manipulator for bridge inspection — Hammering system for mounting to UAV

Ichikawa, Akihiko; Abe, Yasuo; Ikeda, Takahiro; Ohara, Kenichi; Kishikawa, Jyunpei; Ashizawa, Satoshi; Oomichi, Takeo; Okino, Akitoshi; Fukuda, Toshio

doi:10.1109/sii.2017.8279316

Cited by 11 publications

(9 citation statements)

References 16 publications

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“…Another example is the acoustic inspection application, performed by the custom-built UAVs developed in Chun et al [109], Mason et al [144], and Moreu et al [145], whose onboard hammering device systems were developed to perform both impact and sound recording for post-processing analyses of concrete structure assessment. Besides that, the implementation of onboard manipulators on UAVs, both 1 Degree-of-Freedom (DoF) ones (explored in Ikeda et al [124] and Ichikawa et al [126]) and 3 DoF ones (in Jimenez-Cano et al [123] and Ikeda et al [125]), may not only be employed for this kind of test, but also for other contact based inspection applications, where a specific device may be manipulated by these UAVs.…”

Section: Contact Based Inspection Applicationsmentioning

confidence: 99%

UAV-based inspection of bridge and tunnel structures: an application review

Toriumi

Bittencourt

Futai

2023

Rev. IBRACON Estrut. Mater.

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Bridges and tunnels are large and complex structures that demand periodic inspections to assess their physical conditions. Although both have different designs and constructions from each other, a common problem they share is the drawbacks that their conventional inspections face. Moreover, conventional procedures not only are laborious, time-consuming, and costly, but also involve high and/or hard-to-reach places, often exposing the specialized inspectors to danger. To overcome these problems, the Unmanned Aerial Vehicle (UAV) is being explored to automate these inspections. Recently, the number of researches employing it within the civil infrastructure condition assessment has been growing in recent years, especially for the inspection of large and complex structures. Unlike the UAV-based bridge inspection that already has some review articles available in the literature, there are none yet for the tunnel inspection, to the best of authors' knowledge. Therefore, this article intends to conduct not only a review of the few UAV-based tunnel inspection researches available in the literature, but also an up-to-date review of UAV-based bridge inspection researches. Finally, the key challenges and future trends of the UAV-based inspection of these two structures are discussed, followed by the review conclusions.

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Section: Contact Based Inspection Applicationsmentioning

confidence: 99%

UAV-based inspection of bridge and tunnel structures: an application review

Toriumi

Bittencourt

Futai

2023

Rev. IBRACON Estrut. Mater.

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“…The tilting of the UAV affects also the tool orientation, and most applications require a specific tool orientation. In [ 4 ], the tool is reoriented using articulations and actuators. However, these types of mechanical contraptions add weight and complexity and decrease flight time.…”

Section: Related Workmentioning

confidence: 99%

“…For example, using UAV in civil and structural inspection applications is often limited to visual inspections, and GNSS is required [ 1 , 2 ]. The literature on this subject shows efforts made to develop aerial platforms capable of performing sound-based [ 2 ], contact-based [ 3 ], or hammering inspection [ 4 ], even though positioning and navigation for these platforms have not yet been fully developed in these conditions.…”

Section: Introductionmentioning

confidence: 99%

Towards Precise Positioning and Movement of UAVs for Near-Wall Tasks in GNSS-Denied Environments

Orjales

Losada-Pita

Deibe

2021

Sensors

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UAVs often perform tasks that require flying close to walls or structures and in environments where a satellite-based location is not possible. Flying close to solid bodies implies a higher risk of collisions, thus requiring an increase in the precision of the measurement and control of the UAV’s position. The aerodynamic distortions generated by nearby walls or other objects are also relevant, making the control more complex and further placing demands on the positioning system. Performing wall-related tasks implies flying very close to the wall and, in some cases, even touching it. This work presents a Near-Wall Positioning System (NWPS) based on the combination of an Ultra-wideband (UWB) solution and LIDAR-based range finders. This NWPS has been developed and tested to allow precise positioning and orientation of a multirotor UAV relative to a wall when performing tasks near it. Specific position and orientation control hardware based on horizontal thrusters has also been designed, allowing the UAV to move smoothly and safely near walls.

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“…Some of the recent studies have also focused towards developing hybrid robotic frameworks (e.g., wall-climbing unmanned aerial vehicles (UAVs), robots capable of flying and crawling and other multi-rotor flying robots capable of latching on to specific parts of infrastructure that require inspection), which are able to provide multi-functional roles and capabilities for the different types of inspection activities [ 43 , 81 , 82 , 83 , 84 , 85 ]. A number of different types of robots (e.g., flying robots, walking robots, sliding robots, climbing robots, and underwater diving robots) have been leveraged for the SHM and NDE of bridges in order to gain access to different parts of the bridges.…”

Section: Technological Platformsmentioning

confidence: 99%

Review of Non-Destructive Civil Infrastructure Evaluation for Bridges: State-of-the-Art Robotic Platforms, Sensors and Algorithms

Ahmed

Gucunski

2020

Sensors

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The non-destructive evaluation (NDE) of civil infrastructure has been an active area of research in recent decades. The traditional inspection of civil infrastructure mostly relies on visual inspection using human inspectors. To facilitate this process, different sensors for data collection and techniques for data analyses have been used to effectively carry out this task in an automated fashion. This review-based study will examine some of the recent developments in the field of autonomous robotic platforms for NDE and the structural health monitoring (SHM) of bridges. Some of the salient features of this review-based study will be discussed in the light of the existing surveys and reviews that have been published in the recent past, which will enable the clarification regarding the novelty of the present review-based study. The review methodology will be discussed in sufficient depth, which will provide insights regarding some of the primary aspects of the review methodology followed by this review-based study. In order to provide an in-depth examination of the state-of-the-art, the current research will examine the three major research streams. The first stream relates to technological robotic platforms developed for NDE of bridges. The second stream of literature examines myriad sensors used for the development of robotic platforms for the NDE of bridges. The third stream of literature highlights different algorithms for the surface- and sub-surface-level analysis of bridges that have been developed by studies in the past. A number of challenges towards the development of robotic platforms have also been discussed.

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UAV with manipulator for bridge inspection — Hammering system for mounting to UAV

Cited by 11 publications

References 16 publications

UAV-based inspection of bridge and tunnel structures: an application review

UAV-based inspection of bridge and tunnel structures: an application review

Towards Precise Positioning and Movement of UAVs for Near-Wall Tasks in GNSS-Denied Environments

Review of Non-Destructive Civil Infrastructure Evaluation for Bridges: State-of-the-Art Robotic Platforms, Sensors and Algorithms

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