Pub Date : 2015-12-01DOI: 10.1109/ISMA.2015.7373459
Lili Liu, I. Chen, E. Kayacan, L. K. Tiong, V. Maruvanchery
Post-construction quality assessment is an integrated part of any construction project which plays a vital role for the entire project. Existing repetitive, labor intensive and less productive manual inspection methods make the construction quality assessment automation a necessary research topic. In contrast to the manual inspection methods, recent advances in robotic technologies and low cost sensors have opened the doors of automatic assessment techniques. Motivated by these recent developments, this study surveys the state-of-the-art post-construction quality assessment methods. Thermal imaging analysis methods, 3D laser scan measurement and mobile robot applications are briefly examined. It is concluded that infra-red thermography (IRT) and 3D laser scanner are the most useful tools for automated construction quality assessment robotic systems (A-CONQUARS) in the building sector to introduce more efficient construction inspection techniques. The upcoming challenges of A-CONQUARS are highlighted and their promising opportunities are also elaborated.
{"title":"Automated construction quality assessment: A review","authors":"Lili Liu, I. Chen, E. Kayacan, L. K. Tiong, V. Maruvanchery","doi":"10.1109/ISMA.2015.7373459","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373459","url":null,"abstract":"Post-construction quality assessment is an integrated part of any construction project which plays a vital role for the entire project. Existing repetitive, labor intensive and less productive manual inspection methods make the construction quality assessment automation a necessary research topic. In contrast to the manual inspection methods, recent advances in robotic technologies and low cost sensors have opened the doors of automatic assessment techniques. Motivated by these recent developments, this study surveys the state-of-the-art post-construction quality assessment methods. Thermal imaging analysis methods, 3D laser scan measurement and mobile robot applications are briefly examined. It is concluded that infra-red thermography (IRT) and 3D laser scanner are the most useful tools for automated construction quality assessment robotic systems (A-CONQUARS) in the building sector to introduce more efficient construction inspection techniques. The upcoming challenges of A-CONQUARS are highlighted and their promising opportunities are also elaborated.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124490609","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-12-01DOI: 10.1109/ISMA.2015.7373465
Omar Olwan, A. Matan, Mohammad E. Abdullah, J. Abu-Khalaf
This paper aims to exploit technology in saving lives; a robotic arm is designed for EOD (Explosive Ordnance Disposal) applications that can rival the EOD robotic arms available in the market, in terms of both its capabilities and functionality, and still cost a small fraction of their price. Though there are many robotic arms that are commercially available, which can be used to handle different objects in various environments, our robotic arm has been designed to meet specific application-based requirements. The arm is required to reach 2 meters in every direction, to carry a maximum payload of 10 kilograms at that full extension, and to have 6 degrees of freedom for effective manipulation and complex movements by the end effector. In this paper, we present the design process as well as the analysis of the proposed robotic arm to be fixed on an UGV (Unmanned Ground Vehicle). The mobile robotic arm can then be operated remotely in dangerous zones, and deal with suspicious objects, without jeopardizing human lives.
{"title":"The design and analysis of a six-degree of freedom robotic arm","authors":"Omar Olwan, A. Matan, Mohammad E. Abdullah, J. Abu-Khalaf","doi":"10.1109/ISMA.2015.7373465","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373465","url":null,"abstract":"This paper aims to exploit technology in saving lives; a robotic arm is designed for EOD (Explosive Ordnance Disposal) applications that can rival the EOD robotic arms available in the market, in terms of both its capabilities and functionality, and still cost a small fraction of their price. Though there are many robotic arms that are commercially available, which can be used to handle different objects in various environments, our robotic arm has been designed to meet specific application-based requirements. The arm is required to reach 2 meters in every direction, to carry a maximum payload of 10 kilograms at that full extension, and to have 6 degrees of freedom for effective manipulation and complex movements by the end effector. In this paper, we present the design process as well as the analysis of the proposed robotic arm to be fixed on an UGV (Unmanned Ground Vehicle). The mobile robotic arm can then be operated remotely in dangerous zones, and deal with suspicious objects, without jeopardizing human lives.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124848131","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-12-01DOI: 10.1109/ISMA.2015.7373496
Tiago Cabral Ferreira, Pedro A. C. Sousa, J. Barata, J. Pimentão
Reliability and Maintainability engineering is a well known field. Along the years several methods and techniques have been developed to deal with this type of problem. The great majority of the work developed hasn't been able to integrate context information correctly in their proposed solutions. Furthermore systems requiring reliability and maintainability have greatly evolved becoming more and more complex. For this reasons this is still a challenging and innovative field of research. In this paper a way for integrating context in reliability calculation is proposed.
{"title":"Context integration in reliability assessment for service robots","authors":"Tiago Cabral Ferreira, Pedro A. C. Sousa, J. Barata, J. Pimentão","doi":"10.1109/ISMA.2015.7373496","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373496","url":null,"abstract":"Reliability and Maintainability engineering is a well known field. Along the years several methods and techniques have been developed to deal with this type of problem. The great majority of the work developed hasn't been able to integrate context information correctly in their proposed solutions. Furthermore systems requiring reliability and maintainability have greatly evolved becoming more and more complex. For this reasons this is still a challenging and innovative field of research. In this paper a way for integrating context in reliability calculation is proposed.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132357544","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-12-01DOI: 10.1109/ISMA.2015.7373489
Ahmad Alshoubaki, M. Alsharman, M. Aljarrah
Small scale autonomous helicopter flight involves a challenging control problem. A new small scale flybarless helicopter model is utilized in this research in order to evaluate the control designs and the experimental platform. The mazari developed autopilot for a fixed wing aircraft was re-designed in this research to fit highly agile flybarless Maxi Joker 3 helicopter. This paper presents a flybarless helicopter model, the PID control design, and the experimental validation for the model, including the hardware in loop simulation and actual flight tests.
{"title":"Flybarless helicopter autopilot rapid prototyping using hardware in the loop simulation","authors":"Ahmad Alshoubaki, M. Alsharman, M. Aljarrah","doi":"10.1109/ISMA.2015.7373489","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373489","url":null,"abstract":"Small scale autonomous helicopter flight involves a challenging control problem. A new small scale flybarless helicopter model is utilized in this research in order to evaluate the control designs and the experimental platform. The mazari developed autopilot for a fixed wing aircraft was re-designed in this research to fit highly agile flybarless Maxi Joker 3 helicopter. This paper presents a flybarless helicopter model, the PID control design, and the experimental validation for the model, including the hardware in loop simulation and actual flight tests.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121102386","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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