Design and Development of an Inspection Robotic System for Indoor Applications

The inspection and monitoring of industrial sites, structures, and infrastructure are important issues for their sustainability and further maintenance. Although these tasks are repetitive and time consuming, and some of these environments may be characterized by dust, humidity, or absence of natural light, classical approach relies on large human activities. Automatic or robotic solutions can be considered useful tools for inspection because they can be effective in exploring dangerous or inaccessible sites, at relatively low-cost and reducing the time required for the relief. The development of a paradigmatic system called Inspection Robotic System (IRS) is the main objective of this paper to demonstrate the feasibility of mechatronic solutions for inspection of industrial sites. The development of such systems will be exploited in the form of a tool kit to be flexible and installed on a mobile system, in order to be used for inspection and monitoring, possibly introducing high efficiency, quality and repetitiveness in the related sector. The interoperability of sensors with wireless communication may form a smart sensors tool kit and a smart sensor network with powerful functions to be effectively used for inspection purposes. Moreover, it may constitute a solution for a broad range of scenarios spacing from industrial sites, brownfields, historical sites or sites dangerous or difficult to access by operators. First experimental tests are reported to show the engineering feasibility of the system and interoperability of the mobile hybrid robot equipped with sensors that allow real-time multiple acquisition and storage

3D Reconstruction of Civil Infrastructures from UAV Lidar point clouds

Na atualidade, infraestruturas para transporte, comunicação, energia, produção industrial e fim social apresentam-se como pilares da sociedade, sendo imprescindíveis para o seu bom funcionamento. Aliada a esta grande importância dentro da sociedade, existe necessidade de garantir a segurança e durabilidade destes ativos. Assim, técnicas confiáveis devem ser utilizadas para avaliar o seu estado. Com o avanço tecnológico e o desenvolvimento de novos métodos de aquisição de dados, algumas tarefas relacionadas com a construção civil, atualmente realizadas por seres humanos, como a inspeção e o controlo de qualidade, tornam-se ineficientes dado o seu perigo e custo. Neste contexto, a reconstrução 3D de infraestruturas surge como uma possível solução, apresentando-se como um primeiro passo para a monitorização e acompanhamento de infraestruturas, bem como uma ferramenta para processos de inspeção semi ou completamente automatizados. Para o desenvolvimento desta tese, recorreu-se a um sensor Lidar acoplado a um UAV. Com este equipamento, tornou-se possível sobrevoar de forma autónoma infraestruturas reais, extraindo dados de todas as suas superfícies, independentemente das dificuldades que poderiam surgir para alcançar tais regiões a partir do solo. Os dados são extraídos na forma de nuvens de pontos com respetivas intensidades, filtrados, e utilizados em algoritmos de reconstrução e texturização, culminando numa representação virtual e tridimensional da infraestrutura alvo. Com estas representações torna-se possível avaliar a evolução da infraestrutura aquando da sua construção ou reparação, bem como permite avaliar a evolução temporal de determinados defeitos presentes na construção, bastando, para isso, comparar modelos relativos ao mesmo cenário obtidos a partir de dados extraídos em diferentes ocasiões. Esta abordagem permite que o processo de monitorização de infraestruturas possa ser realizado de forma mais eficiente, com menores custos e garantindo a segurança dos trabalhadores.Nowadays, infrastructures for transportation, communication, energy, industrial production and social purpose are presented as pillars of society, being essential for its proper functioning. Coupled with this great importance within society, there is a need to ensure the safety and durability of these assets. Thus, reliable techniques should be used to assess their condition. With technological advances and the development of new methods of data acquisition, some tasks related to civil construction, currently performed by human beings, such as inspection and quality control, become inefficient due to their danger and cost. In this context, 3D reconstruction of infrastructures appears as a possible solution, presenting itself as a first step for the monitoring of infrastructures, as well as a tool for semi or completely automated inspection processes. For the development of this thesis, a Lidar sensor coupled to a UAV was used. With this equipment, it became possible to autonomously fly over real infrastructures, extracting data from all its surfaces, regardless of the difficulties that could arise to reach such regions from the ground. The data is extracted in the form of point clouds with respective intensities, filtered, and used in reconstruction and texturing algorithms, culminating in a virtual and three-dimensional representation of the target infrastructure. With these representations, it is possible to evaluate the evolution of the infrastructure during its construction or repair, as well as to evaluate the temporal evolution of certain defects present in the construction, by comparing models for the same scenario obtained from data extracted on different occasions. This approach allows the process of monitoring infrastructures to be carried out more efficiently, with lower costs and ensuring the safety of workers

屋外調査用自律移動型ロボットの不整地移動性能

早大学位記番号:新7829早稲田大

Robotics 2010

Without a doubt, robotics has made an incredible progress over the last decades. The vision of developing, designing and creating technical systems that help humans to achieve hard and complex tasks, has intelligently led to an incredible variety of solutions. There are barely technical fields that could exhibit more interdisciplinary interconnections like robotics. This fact is generated by highly complex challenges imposed by robotic systems, especially the requirement on intelligent and autonomous operation. This book tries to give an insight into the evolutionary process that takes place in robotics. It provides articles covering a wide range of this exciting area. The progress of technical challenges and concepts may illuminate the relationship between developments that seem to be completely different at first sight. The robotics remains an exciting scientific and engineering field. The community looks optimistically ahead and also looks forward for the future challenges and new development

Play Among Books

How does coding change the way we think about architecture? Miro Roman and his AI Alice_ch3n81 develop a playful scenario in which they propose coding as the new literacy of information. They convey knowledge in the form of a project model that links the fields of architecture and information through two interwoven narrative strands in an “infinite flow” of real books

VR Technologies in Cultural Heritage

This open access book constitutes the refereed proceedings of the First International Conference on VR Technologies in Cultural Heritage, VRTCH 2018, held in Brasov, Romania in May 2018. The 13 revised full papers along with the 5 short papers presented were carefully reviewed and selected from 21 submissions. The papers of this volume are organized in topical sections on data acquisition and modelling, visualization methods / audio, sensors and actuators, data management, restoration and digitization, cultural tourism

VR Technologies in Cultural Heritage

This open access book constitutes the refereed proceedings of the First International Conference on VR Technologies in Cultural Heritage, VRTCH 2018, held in Brasov, Romania in May 2018. The 13 revised full papers along with the 5 short papers presented were carefully reviewed and selected from 21 submissions. The papers of this volume are organized in topical sections on data acquisition and modelling, visualization methods / audio, sensors and actuators, data management, restoration and digitization, cultural tourism

Proceedings of the 2018 Canadian Society for Mechanical Engineering (CSME) International Congress

Published proceedings of the 2018 Canadian Society for Mechanical Engineering (CSME) International Congress, hosted by York University, 27-30 May 2018

Play Among Books

How does coding change the way we think about architecture? Miro Roman and his AI Alice_ch3n81 develop a playful scenario in which they propose coding as the new literacy of information. They convey knowledge in the form of a project model that links the fields of architecture and information through two interwoven narrative strands in an “infinite flow” of real books

A Holmes and Doyle Bibliography, Volume 9: All Formats—Combined Alphabetical Listing

This bibliography is a work in progress. It attempts to update Ronald B. De Waal’s comprehensive bibliography, The Universal Sherlock Holmes, but does not claim to be exhaustive in content. New works are continually discovered and added to this bibliography. Readers and researchers are invited to suggest additional content. This volume contains all listings in all formats, arranged alphabetically by author or main entry. In other words, it combines the listings from Volume 1 (Monograph and Serial Titles), Volume 3 (Periodical Articles), and Volume 7 (Audio/Visual Materials) into a comprehensive bibliography. (There may be additional materials included in this list, e.g. duplicate items and items not yet fully edited.) As in the other volumes, coverage of this material begins around 1994, the final year covered by De Waal's bibliography, but may not yet be totally up-to-date (given the ongoing nature of this bibliography). It is hoped that other titles will be added at a later date. At present, this bibliography includes 12,594 items