Sensor agent robot with servo-accelerometer for structural health monitoring

Tatsuya Akiba, Nobukazu Lee, Akira Mita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

SHM systems are becoming feasible with the growth of computer and sensor technologies during the last decade. However, high implantation cost prevents SHM from becoming common in general buildings. The reason of this high cost is partially due to many accelerometers. In this research, we propose a mobile sensor agent robot with accelerometers and a laser range finder (LRF). If this robot can properly measure accurate acceleration data, the cost of SHM would be cut down and the SHM systems would become common. Our goal is to develop a platform for SHM using the sensor agent robot. We designed the prototype robot to detect the floor vibrations and acquire the micro tremor information correctly. When the sensor agent robot is set in the mode of acquiring the data, the dynamics of the robot should be tuned not to be affected by its flexibility. To achieve this purpose the robot frame was modified to move down to the floor and to provide enough rigidity to obtain good data. In addition to this mechanism, we tested an algorithm to know the location of the robot and the map of the floor correctly to be used in the SHM system using the LRF and Simultaneously Localization and Mapping (SLAM).

Original languageEnglish
Title of host publicationStructural Health Monitoring
Subtitle of host publicationResearch and Applications
Pages289-296
Number of pages8
DOIs
Publication statusPublished - 2013 Jul 26
Externally publishedYes
Event4th Asia-Pacific Workshop on Structural Health Monitoring - Melbourne, VIC, Australia
Duration: 2012 Dec 52012 Dec 7

Publication series

NameKey Engineering Materials
Volume558
ISSN (Print)1013-9826

Other

Other4th Asia-Pacific Workshop on Structural Health Monitoring
CountryAustralia
CityMelbourne, VIC
Period12/12/512/12/7

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Keywords

  • Fixation model
  • LRF
  • Micro tremor
  • SHM
  • SLAM
  • Sensor agent robot
  • Transfer function
  • Wireless accelerometer

ASJC Scopus subject areas

  • Materials Science(all)
  • Mechanics of Materials
  • Mechanical Engineering

Cite this

Akiba, T., Lee, N., & Mita, A. (2013). Sensor agent robot with servo-accelerometer for structural health monitoring. In Structural Health Monitoring: Research and Applications (pp. 289-296). (Key Engineering Materials; Vol. 558). https://doi.org/10.4028/www.scientific.net/KEM.558.289