The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지
DOI QR코드

DOI QR Code

Mobile Robots for the Concrete Crack Search and Sealing

콘크리트 크랙 탐색 및 실링을 위한 다수의 자율주행로봇

  • Jin, Sung-Hun (Robotics, Graduate School of energy, Korea Polytechnic University) ;
  • Cho, Cheol-Joo (Electrical Engineering, Graduate School of energy, Korea Polytechnic University) ;
  • Lim, Kye-Young (Energy and Electrical Engineering, Korea Polytechnic University)
  • Received : 2016.01.07
  • Accepted : 2016.04.28
  • Published : 2016.05.31
Download PDF
⟨ Previous Next ⟩

Abstract

This study proposes a multi-robot system, using multiple autonomous robots, to explore concrete structures and assist in their maintenance by sealing any cracks present in the structure. The proposed system employed a new self-localization method that is essential for autonomous robots, along with a visualization system to recognize the external environment and to detect and explore cracks efficiently. Moreover, more efficient crack search in an unknown environment became possible by arranging the robots into search areas divided depending on the surrounding situations. Operations with increased efficiency were also realized by overcoming the disadvantages of the infeasible logical behavioral model design with only six basic behavioral strategies based on distributed control-one of the methods to control swarm robots. Finally, this study investigated the efficiency of the proposed multi-robot system via basic sensor testing and simulation.

Keywords

References

  1. J.I. Park, S.H. Bae, J.W. Yu, K.M. LEE, "Factors Influencing the Service Life of Concrete Structures", The Transactions of the Korea Concrete Institute, pp. 21-22, 2010.
  2. J.Y. Lee, B.Y. Cho, Y.K. Kim, S.K. Oh, "An Experimental Study about Characteristics of Penetracting Surface Protection", The Transactions of the Korea Institute of Building Construction, Vol.5, pp.93-96, 2005.
  3. K.Y. Lim, W.W, Lee, K.T. Kim, C.J. Choi, "A concrete Repair Robot Under the Upper Plate of Bridge", ICASS, pp. 488-491, October. 2008.
  4. Ito, A., Aoki, Y., and Hashimoto, S., "Accurate Extraction and Measurement of Fine Cracks from Concrete Block Surface Image," IEEE Industrial Electronics Society, Vol.3, 2002, pp.2202-2207.
  5. B.Y. Lee, Y.Y. Kim, J.K. Kim, "Development of Image Processing for Concrete Surface Cracks by Employing Enhanced Binarization and Shape Analysis Technique," journal of the Korea Concrete Institute, vol. 17, no. 3, pp. 361-368, June, 2005. https://doi.org/10.4334/JKCI.2005.17.3.361
  6. Y. Fujita, Y. Mitani, and Y. Hamamoto, "A Method for Crack Detection on a Concrete Structure," ICPR '06, Hong Kong, Aug. 2006, pp. 901-904.
  7. J.K. Oh, Y.J Choi, B.J. Yi, H.W. Yang, J.H. Lee, Y.S. Moon, "Robotic System for Searching Cracks beneath Bridge," The 5th International Conference on URAI 2008
  8. Mohammad Salman, Vaidehi Baporikar, "Autonomous Robot for Crack Detection and Mapping for Bridge Surface," IRCCE, Vol.3, Issue. 7, July. 2015
  9. Haas, C., Hendrickson, C., MeNeil, S. and Bullock, D., "A field prototype of a robotic pavement crack sealing system," Proc. of 9th Int. Symp. Automation and Robotics in const., ISARC Tokyo, Japan, pp. 313-322.
  10. Y.S. Kim, "Development and application of an automatic crack and joint sealing system," J. of the Korean Society of Civil Engineers, KSCE, Vol.2, No.4, pp. 407-417.
  11. John A.Sauter, Robert Matthews, H.Van Dyke Parunak, and Sven A. Brueckner, "Performance of Digital Pheromones for Swarming Vehicle Control," AAMAS 05, July 25-29, Utrecht, Netherlands.
  12. Erik Kuiper, Simin Nadjm-Tehrani, "Mobility Models for UAV Group Reconnaissance Applications," IEEE, 2006.
  13. S.N. Yu, J.H. Jang, and C.S. Han, "Auto Inspection System using a Mobile Robot for Detecting Concrete Cracks in a Tunnel," Automation in Construction, Vol. 16, pp. 718-725, 2004.
  14. N.M. Kwok, Q.P. Ha, and G. Fang, "Motion Coordination for Construction Vehicles using Swarm Intelligence," International J. of Advanced Robotic System, Vol. 4, No. 4, pp. 469-476, 2007.
  15. Hakan Koyuncu, Shuang Hua Yang, "A Survey of Indoor Positioning and Object Localization Systems," International Journal of Computer Science and Network Security, vol. 10 no. 5, May 2010.
  16. Nissanka B. Priyantha, Anit Chakraborty, Hari Balakrishnan, "The Crecket Location-Support system" 6th ACM International Conference on Mobile Computing and Networking, Boston, MA, pp. 32-43, Aug, 2000.
  17. Luis E. Navarro-Serment, Christiaan J. J. Paredis, and Pradeep K. Khosla, "A Beacon System for the Localization of Distributed Robotic Teams," In Proceedings of the International Conference on Field and Service Robotics, 1999.
  18. Y.R. Heo, J.H. Yun, J.D. Ryeom, "Location Measurment method Depending on Reflection Characteristics of Ultrasonic Sensors for The Flat LED Lamp," JIEIE, vol. 27, No. 12, pp. 38-43, 2013. https://doi.org/10.5207/JIEIE.2013.27.12.038
  19. S.I. Roumeliotis, and G.A. Bekey, "An extended Kalman filter for frequent local and infrequent global sensor data fusion," Proc of the Sensor Fusion and Decentralized Control in Autonomous Robotic Systems(SPIE), Pittsburgh, PA, USA, pp. 11-22, 14-15, Oct. 1997.
  20. R.C. Gonzalez, R.E. Woods, "Digital Image Processing," Addison Wesley Longman, 1992.
  21. N.A. Otsu, "Threshold Selection Method from Gray-Level Histogram," IEEE Transactions on Systems, Man, and Cybernetics, Vol. SMC-9, No. 1, 1979, pp. 62-66.
  22. G. Wang, G. Cao, and T.L. Porta, "Movement-assisted Sensor Deployment," IEEE INFOCOM 2004, Vol .4, pp. 2469-2479, 2004.
  23. R. Daily and D.M. Bevly, "Harmonic Potential field Path Planning for High Speed Vehicles," American Control Conference, pp. 4609-4614, 2008.
  24. O. Khatib, "Real-time Obstacle Avoidance for Manipulators and Mobile Robots," 1985 IEEE International Conference on Robotics and Automation, St. Louis, Missouri, March 25-28, pp. 500-505, 1990.