Smart Structures and Systems

  • 제9권3호
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  • Pages.273-286
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  • 2012
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  • 1738-1584(pISSN)
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  • 1738-1991(eISSN)
테크노프레스 (Techno-Press)
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DOI QR코드

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)
  • 투고 : 2011.06.13
  • 심사 : 2012.02.27
  • 발행 : 2012.03.25
⟨ 이전 논문 다음 논문 ⟩

초록

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.

키워드

과제정보

연구 과제 주관 기관 : National Research Foundation of Korea (NRF)

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피인용 문헌

  1. 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
  2. Survey on robotics and automation technologies for civil infrastructure vol.13, pp.6, 2014, https://doi.org/10.12989/sss.2014.13.6.891
  3. 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
  4. 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
  5. Pose-graph optimized displacement estimation for structural displacement monitoring vol.14, pp.5, 2014, https://doi.org/10.12989/sss.2014.14.5.943
  6. 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
  7. 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
  8. 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
  9. 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
  10. Vision-based hybrid 6-DOF displacement estimation for precast concrete member assembly vol.20, pp.4, 2012, https://doi.org/10.12989/sss.2017.20.4.397