Design and validation of a mobile structural health monitoring system based on legged robots

Publikationstyp
Conference Paper
Date Issued
2022-07-08
Sprache
English
Author(s)
Smarsly, Kay  
Worm, Mathias 
Dragos, Kosmas  
Institut
Digitales und autonomes Bauen B-1  
TORE-URI
http://hdl.handle.net/11420/14406
Citation
29th International Workshop on Intelligent Computing in Engineering (EG-ICE 2022)
Contribution to Conference
29th International Workshop on Intelligent Computing in Engineering, EG-ICE 2022  
Publisher Link
https://smarsly.files.wordpress.com/2022/04/smarsly2022q.pdf
Structural health monitoring (SHM) has been witnessing the transition from cable-based systems to wireless systems, owing to the reduced installation costs and efforts of wireless sensor nodes. However, reliable information on civil infrastructure requires dense arrays of wireless sensor nodes, which may nullify the merits of wireless SHM. This paper proposes a mobile SHM system, comprising maneuverable quadruped robots equipped with sensors for collecting, processing, and analyzing structural response data. The mobile SHM system is validated through field tests on a pedestrian bridge, proving that a minimum deployment of quadruped robots yields the same structural information as an array of wireless sensor nodes. Furthermore, the tests results are compared to results obtained from a benchmark SHM system, showcasing the accuracy of the mobile SHM system. The proposed mobile SHM system marks an advance towards employing fully autonomous robotic fleets for SHM in lieu of stationary wireless sensor nodes.