Stable camera position control of unmanned aerial vehicle with three‐degree‐of‐freedom manipulator for visual test of bridge inspection

2019 ◽  
Vol 36 (7) ◽  
pp. 1212-1221
Author(s):  
Takahiro Ikeda ◽  
Satoshi Minamiyama ◽  
Shogo Yasui ◽  
Kenichi Ohara ◽  
Akihiko Ichikawa ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Position Control ◽  
Degree Of Freedom ◽  
Visual Test ◽  
Bridge Inspection ◽  
Aerial Vehicle ◽  
Camera Position ◽  
Three Degree Of Freedom

scholarly journals Aerial Manipulator Control Method Based on Generalized Jacobian

2021 ◽  
Vol 33 (2) ◽  
pp. 231-241
Author(s):  
Takahiro Ikeda ◽  
Kenichi Ohara ◽  
Akihiko Ichikawa ◽  
Satoshi Ashizawa ◽  
Takeo Oomichi ◽  
...  
Keyword(s):  
Coordinate System ◽  
Unmanned Aerial Vehicle ◽  
Control Method ◽  
The Body ◽  
Degree Of Freedom ◽  
Bridge Inspection ◽  
Generalized Jacobian ◽  
Aerial Manipulator ◽  
Aerial Vehicle ◽  
Manipulator Control

This paper describes a control method for an aerial manipulator on an unmanned aerial vehicle (UAV) by using a generalized Jacobian (GJ). Our task is to realize visual check of bridge inspection by employing a UAV with a multi-degree-of-freedom (DoF) manipulator on its top. The manipulator is controlled by using the GJ. Subsequently, by comparing the aerial manipulator control with a conventional Jacobian experimentally, we discovered that the accuracy of the control improved by applying the GJ. The manipulator has three DoFs in the X-Z plane of the UAV coordinate system. The experiment shows that the manipulator controlled with the GJ can compensate for the pose error of the body by 54.5% and 47.7% in the X- and Z-axes, respectively.

Development of Wire Suspended Robot System (ARANEUS 2.0) for Bridge Inspection

10.29007/zw9k ◽  
2020 ◽  
Author(s):  
Kazuhide Nakata ◽  
Kazuki Umemoto ◽  
Kenji Kaneko ◽  
Ryusuke Fujisawa
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Concrete Surface ◽  
Wire Length ◽  
High Definition ◽  
Bridge Inspection ◽  
Robot System ◽  
Inspection Method ◽  
Aerial Vehicle ◽  
The Wire

This study addresses the development of a robot for inspection of old bridges. By suspending the robot with a wire and controlling the wire length, the movement of the robot is realized. The robot mounts a high-definition camera and aims to detect cracks on the concrete surface of the bridge using this camera. An inspection method using an unmanned aerial vehicle (UAV) has been proposed. Compared to the method using an unmanned aerial vehicle, the wire suspended robot system has the advantage of insensitivity to wind and ability to carry heavy equipments, this makes it possible to install a high-definition camera and a cleaning function to find cracks that are difficult to detect due to dirt.

Inertial Vibration Damping Control for a Flexible Base Manipulator

2002 ◽  
Author(s):  
Lynnane E. George ◽  
Wayne J. Book
Keyword(s):  
Performance Index ◽  
Degrees Of Freedom ◽  
Position Control ◽  
Joint Space ◽  
Vibration Damping ◽  
Degree Of Freedom ◽  
Inertia Effects ◽  
Inertial Interaction ◽  
Flexible Base ◽  
Three Degree Of Freedom

A rigid (micro) robot mounted serially to the tip of a long, flexible (macro) manipulator is often used to increase reach capability, but flexibility in the macromanipulator can interfere with positioning accuracy. A rigid manipulator attached to a flexible but unactuated base was used to study a scheme to achieve positioning of the micromanipulator combined with enhanced vibration damping of the base. Inertial interaction forces and torques acting between the robot and its base were modeled and studied to determine how to use them to damp the vibration. One issue is that there are locations in the workspace where the rigid robot loses its ability to create interactions in one or more degrees of freedom. These “inertial singularities” are functions of the rigid robot’s joint variables. A performance index was developed to predict the ability of the rigid robot to damp vibration and will help ensure the robot is operating in joint space configurations favorable for inertial damping. When the performance index is used along with the appropriate choice of feedback gains, the inertia effects, or those directly due to accelerating the robot’s links, have the greatest influence on the interactions. By commanding the robot link’s accelerations out of phase with the base velocity, vibration energy will be removed from the system. This signal is then added to the rigid robot’s position control signal. Simulations of a rigid three degree of freedom anthropomorphic robot mounted on a flexible base were developed and show the effectiveness of the control scheme. In addition, experimental results demonstrating two degree of freedom vibration damping are included.

scholarly journals Utilization of Unmanned Aerial Vehicle, Artificial Intelligence, and Remote Measurement Technology for Bridge Inspections

2020 ◽  
Vol 32 (6) ◽  
pp. 1244-1258
Author(s):  
Pang-jo Chun ◽  
Ji Dang ◽  
Shunsuke Hamasaki ◽  
Ryosuke Yajima ◽  
Toshihiro Kameda ◽  
...  
Keyword(s):  
Artificial Intelligence ◽  
Unmanned Aerial Vehicle ◽  
Measurement Technology ◽  
Remote Measurement ◽  
Bridge Inspection ◽  
Current State ◽  
Bridge Collapse ◽  
Bridge Inspections ◽  
Aerial Vehicle

In recent years, aging of bridges has become a growing concern, and the danger of bridge collapse is increasing. To appropriately maintain bridges, it is necessary to perform inspections to accurately understand their current state. Until now, bridge inspections have involved a visual inspection in which inspection personnel come close to the bridges to perform inspection and hammering tests to investigate abnormal noises by hammering the bridges with an inspection hammer. Meanwhile, as there are a large number of bridges (for example, 730,000 bridges in Japan), and many of these are constructed at elevated spots; the issue is that the visual inspections are laborious and require huge cost. Another issue is the wide disparity in the quality of visual inspections due to the experience, knowledge, and competence of inspectors. Accordingly, the authors are trying to resolve or ameliorate these issues using unmanned aerial vehicle (UAV) technology, artificial intelligence (AI) technology, and telecommunications technology. This is discussed first in this paper. Next, the authors discuss the future prospects of bridge inspection using robot technology such as a 3-D model of bridges. The goal of this paper is to show the areas in which deployment of the UAV, robots, telecommunications, and AI is beneficial and the requirements of these technologies.

scholarly journals Application of Crack Identification Techniques for an Aging Concrete Bridge Inspection Using an Unmanned Aerial Vehicle

Sensors ◽  
2018 ◽  
Vol 18 (6) ◽  
pp. 1881 ◽  
Author(s):  
In-Ho Kim ◽  
Haemin Jeon ◽  
Seung-Chan Baek ◽  
Won-Hwa Hong ◽  
Hyung-Jo Jung
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Crack Identification ◽  
Concrete Bridge ◽  
Bridge Inspection ◽  
Aerial Vehicle ◽  
Identification Techniques

scholarly journals Development and Control of a Pneumatic-Actuator 3-DOF Translational Parallel Manipulator with Robot Vision

Sensors ◽  
2019 ◽  
Vol 19 (6) ◽  
pp. 1459 ◽  
Author(s):  
Lian-Wang Lee ◽  
Hsin-Han Chiang ◽  
I-Hsum Li
Keyword(s):  
Feedback Linearization ◽  
Parallel Manipulator ◽  
Position Control ◽  
Sliding Mode ◽  
Vision System ◽  
Robot Vision ◽  
Degree Of Freedom ◽  
Pneumatic Actuator ◽  
Horizontal Structure ◽  
Three Degree Of Freedom

A vision-based three degree-of-freedom translational parallel manipulator (TPM) was developed. The developed TPM has the following characteristics. First, the TPM is driven by three rodless pneumatic actuators and is designed as a horizontal structure to enlarge its horizontal working space to cover a conveyor. Then, a robot-vision system (including a webcam mounted on the TPM) collects images of objects on the conveyor and transfers them through the LabVIEW application programming interface for image processing. Since it is very difficult to achieve precise position control of the TPM due to the nonlinear couplings among the robot axes, feedback linearization is utilized to design an adaptive interval type-2 fuzzy controller with self-tuning fuzzy sliding-mode compensation (AIT2FC-STFSMC) for each rodless pneumatic actuator to attenuate nonlinearities, function approximation errors, and external disturbances. Finally, experiments proved that the vision-based three degree-of-freedom TPM was capable of accurately tracking desired trajectories and precisely executing pick-and-place movement in real time.

Towards Autonomous Cargo Deployment and Retrieval by an Unmanned Aerial Vehicle Using Visual Servoing

2008 ◽  
Author(s):  
Noah R. Kuntz ◽  
Paul Y. Oh
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Visual Servoing ◽  
Tracking System ◽  
Computer Control ◽  
Open Loop ◽  
Velocity Control ◽  
Design And Implementation ◽  
Ground Station ◽  
Aerial Vehicle ◽  
Three Degree Of Freedom

This paper presents the design and implementation of systems for autonomous tracking, payload pickup, and deployment of a 1/10th scale RC vehicle via a UAV helicopter. The tracking system uses a visual servoing algorithm and is tested using open loop velocity control of a three degree of freedom gantry system with a camera mounted via a pan-tilt unit on the end effecter. The pickup system uses vision to control the camera pan tilt unit as well as a second pan tilt unit with a hook mounted on the end of the arm. The ability of the pickup system to hook a target is tested by mounting it on the gantry while recorded helicopter velocities are played back by the gantry. A preliminary semi-autonomous deployment system is field tested, where a manually controlled RC car is transported by a UAV helicopter under computer control that is manually directed to GPS waypoints using a ground station.

Modeling of Wing Flapping Motion

2016 ◽  
Vol 842 ◽  
pp. 132-140
Author(s):  
Tien Dat Nguyen ◽  
Subhan Sdywaliva ◽  
Taufiq Mulyanto
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Horizontal Plane ◽  
Vertical Plane ◽  
Degree Of Freedom ◽  
Pitching Motion ◽  
Flapping Motion ◽  
Aerial Vehicle ◽  
Animal World

In flying animal world, there are different flapping motions to produce lift and thrust depending on their species and size. Recent development in Unmanned Aerial Vehicle had tried to mimic flying animal. Rather than having two separate systems in providing lift and thrust, the wing upstroke and downstroke movement combined with wing twisting produce the necessary lift and thrust. Insects and some small birds have even the ability to fly hover.The present study is focused on the modeling of wing flapping motion. Instead of only accommodating flapping motion in a vertical plane and spanwise pitching motion, the model permits to include wing lead-lag motion in the horizontal plane. This more degree of freedom permit to model more complex wing flapping motion.

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