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Article

Towards Autonomous Bridge Inspection: Sensor Mounting Using Aerial Manipulators

1
Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia
2
Faculty of Civil Engineering, University of Zagreb, Fra Andrije Kacica-Miosica 26, 10000 Zagreb, Croatia
*
Author to whom correspondence should be addressed.
Academic Editor: Alessandro Gasparetto
Appl. Sci. 2021, 11(18), 8279; https://doi.org/10.3390/app11188279
Received: 23 July 2021 / Revised: 26 August 2021 / Accepted: 1 September 2021 / Published: 7 September 2021
(This article belongs to the Special Issue Aerial Robotics for Inspection and Maintenance)
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. View Full-Text
Keywords: aerial robotics; inspection and maintenance; aerial manipulation; multirotor control aerial robotics; inspection and maintenance; aerial manipulation; multirotor control
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MDPI and ACS Style

Ivanovic, A.; Markovic, L.; Car, M.; Duvnjak, I.; Orsag, M. Towards Autonomous Bridge Inspection: Sensor Mounting Using Aerial Manipulators. Appl. Sci. 2021, 11, 8279. https://doi.org/10.3390/app11188279

AMA Style

Ivanovic A, Markovic L, Car M, Duvnjak I, Orsag M. Towards Autonomous Bridge Inspection: Sensor Mounting Using Aerial Manipulators. Applied Sciences. 2021; 11(18):8279. https://doi.org/10.3390/app11188279

Chicago/Turabian Style

Ivanovic, Antun, Lovro Markovic, Marko Car, Ivan Duvnjak, and Matko Orsag. 2021. "Towards Autonomous Bridge Inspection: Sensor Mounting Using Aerial Manipulators" Applied Sciences 11, no. 18: 8279. https://doi.org/10.3390/app11188279

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