- Volume 9 Issue 3
DOI QR Code
Incremental displacement estimation of structures using paired structured light
- Jeon, Haemin (Department of Civil and Environmental Engineering, KAIST) ;
- Shin, Jae-Uk (Robotics Program, KAIST) ;
- Myung, Hyun (Department of Civil and Environmental Engineering, KAIST)
- Received : 2011.06.13
- Accepted : 2012.02.27
- Published : 2012.03.25
As civil structures are exposed to various external loads, it is essential to assess the structural condition, especially the structural displacement, in every moment. Therefore, a visually servoed paired structured light system was proposed in the previous study. The proposed system is composed of two screens facing with each other, each with a camera, a screen, and one or two lasers controlled by a 2-DOF manipulator. The 6-DOF displacement can be calculated from the positions of three projected laser beams and the rotation angles of the manipulators. In the estimation process, one of well-known iterative methods such as Newton-Raphson or extended Kalman filter (EKF) was used for each measurement. Although the proposed system with the aforementioned algorithms estimates the displacement with high accuracy, it takes relatively long computation time. Therefore, an incremental displacement estimation (IDE) algorithm which updates the previously estimated displacement based on the difference between the previous and the current observed data is newly proposed. To validate the performance of the proposed algorithm, simulations and experiments are performed. The results show that the proposed algorithm significantly reduces the computation time with the same level of accuracy compared to the EKF with multiple iterations.
Supported by : National Research Foundation of Korea (NRF)
- Balageas, D., Fritzen, C.P. and Guemes, A.(Eds.) (2006), Structural Health Monitoring, New Jersey, John Wiley& Sons.
- Casciati, F. and Fuggini, C. (2011), "Monitoring a steel building using GPS sensors", Smart Struct.Syst., 7(5), 349-363. https://doi.org/10.12989/sss.2011.7.5.349
- Jeon, H., Bang, Y. and Myung, H. (2011), "A paired visual servoing system for 6-DOF displacement measurement of structures", Smart Mater. Struct., 20(4), 45019-45034. https://doi.org/10.1088/0964-1726/20/4/045019
- Ji, Y.F. and Chang, C.C. (2008), "Nontarget stereo vision technique for spatiotemporal response measurement of line-like structures", J. Eng. Mech. - ASCE, 134(6), 466-474. https://doi.org/10.1061/(ASCE)0733-9399(2008)134:6(466)
- Lee, J.J. and Shinozuka, M. (2006), "Real-time displacement measurement of a flexible bridge using digital image processing techniques", Exp. Mech., 46(1), 105-114. https://doi.org/10.1007/s11340-006-6124-2
- Leith, J.G., Thompson, A. and Sloan, T.D. (1989), "A novel dynamic deflection measurement system for large structure", Proceedings of the 4th Int. Conf. on Civil and Structural Engineering Computing, London.
- Marecos, J., Castanheira, M. and Trigo, J. (1969), "Field observation of Tagus river suspension bridge", J. Struct. Div.- ASCE, 95(4), 555-583.
- Myung, H., Lee, S.M. and Lee, B.J. (2011), "Paired structured light for structural health monitoring robot system", Struct. Health Monit., 10(1), 49-64. https://doi.org/10.1177/1475921710365413
- Ni, Y.Q. (2009), "Fusion of vision-based displacement and acceleration using Kalman filter", Proceedings of the 5th Int. Workshop on Advanced Smart Materials and Smart Structures Technology, Boston.
- Ni, Y.Q., Wong, K.Y. and Xia, Y. (2011), "Health checks through land mark bridges to sky-high structures", Adv. Struct. Eng., 14(1), 103-119. https://doi.org/10.1260/1369-43126.96.36.199
- Olaszek, P. (1999), "Investigation of the dynamic characteristic of bridge structures using a computer vision method", Measurement, 25(3), 227-236. https://doi.org/10.1016/S0263-2241(99)00006-8
- Park, J.W., Lee, J.J., Jung, H.J. and Myung, H. (2010), "Vision-based displacement measurement method for high-rise building structures using partitioning approach", NDT & E Int., 43(7), 642-647. https://doi.org/10.1016/j.ndteint.2010.06.009
- Park, K.T., Kim, S.H., Park, H.S. and Lee, K.W. (2005), "The determination of bridge displacement using measured acceleration", Eng. Struct., 27(3), 371-378. https://doi.org/10.1016/j.engstruct.2004.10.013
- Psimoulis, P., Pytharouli, S., Karambalis, D. and Stiros, S. (2008), "Potential of global positioning system (GPS) to measure frequencies of oscillations of engineering structures", J. Sound Vib., 318(3), 606-623. https://doi.org/10.1016/j.jsv.2008.04.036
- Siegwart, R. and Nourbakhsh, I.R. (2004), Introduction to Autonomous Mobile Robots, MIT Press.
- Spencer, B.F., Jr., Christenson, R.E. and Dyke, S.J. (1998), "Next generation benchmark control problem for seismically excited buildings", Proceedings of the 2nd Int. Conf. on Structural Control, June 29-July 2.
- Stephen, G.A., Brownjohn, J.M.W. and Taylor, C.A. (1993), "Measurements of static and dynamic displacement from visual monitoring of the Humber bridge", Eng. Struct., 15(3), 197-208. https://doi.org/10.1016/0141-0296(93)90054-8
- Wahbeh, A.M., Caffrey, J.P. and Masri, S.F. (2003), "A vision-based approach for the direct measurement of displacements in vibrating systems", Smart Mater. Struct., 12(5), 785-794. https://doi.org/10.1088/0964-1726/12/5/016
- Welch, G. and Bishop, G. (2006), An introduction to the Kalman filter, TR95-041., Department of Computer Science, University of North Carolina, Chapel Hill.
- Xu, Y.L. and Chan, W.S. (2009), "Wind structural monitoring of long span cable-supported bridges with GPS", Proceedings of the 7th Asia-Pacific Conference on Wind Engineering, Taipei.
- Experimental Validation of Visually Servoed Paired Structured Light System (ViSP) for Structural Displacement Monitoring vol.19, pp.5, 2014, https://doi.org/10.1109/TMECH.2013.2290020
- Survey on robotics and automation technologies for civil infrastructure vol.13, pp.6, 2014, https://doi.org/10.12989/sss.2014.13.6.891
- Laser pose calibration of ViSP for precise 6-DOF structural displacement monitoring vol.18, pp.4, 2016, https://doi.org/10.12989/sss.2016.18.4.801
- Incremental Displacement Estimation Algorithm for Real-Time Structural Displacement Monitoring vol.18, pp.6, 2012, https://doi.org/10.5302/J.ICROS.2012.18.6.579
- Pose-graph optimized displacement estimation for structural displacement monitoring vol.14, pp.5, 2014, https://doi.org/10.12989/sss.2014.14.5.943
- One-way ViSP (Visually Servoed Paired structured light system) for structural displacement monitoring vol.26, pp.8, 2017, https://doi.org/10.1088/1361-665X/aa746f
- Vision-based remote 6-DOF structural displacement monitoring system using a unique marker vol.13, pp.6, 2014, https://doi.org/10.12989/sss.2014.13.6.927
- The displacement estimation error back-propagation (DEEP) method for a multiple structural displacement monitoring system vol.24, pp.4, 2013, https://doi.org/10.1088/0957-0233/24/4/045104
- High-speed 6-DOF structural displacement monitoring by fusing ViSP (Visually Servoed Paired structured light system) and IMU with extended Kalman filter vol.24, pp.6, 2017, https://doi.org/10.1002/stc.1926