Sensor agent robot with servo-accelerometer for structural health monitoring

Tatsuya Akiba, Nobukazu Lee, Akira Mita

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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).

本文言語English
ホスト出版物のタイトルStructural Health Monitoring
ホスト出版物のサブタイトルResearch and Applications
出版社Trans Tech Publications Ltd
ページ289-296
ページ数8
ISBN(印刷版)9783037857151
DOI
出版ステータスPublished - 2013
外部発表はい
イベント4th Asia-Pacific Workshop on Structural Health Monitoring - Melbourne, VIC, Australia
継続期間: 2012 12 52012 12 7

出版物シリーズ

名前Key Engineering Materials
558
ISSN(印刷版)1013-9826
ISSN(電子版)1662-9795

Other

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

ASJC Scopus subject areas

  • 材料科学(全般)
  • 材料力学
  • 機械工学

フィンガープリント

「Sensor agent robot with servo-accelerometer for structural health monitoring」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル