UAV with two passive rotating hemispherical shells and horizontal rotor for hammering inspection of infrastructure

Carl John Salaan, Kenjiro Tadakuma, Yoshito Okada, Kazunori Ohno, Satoshi Tadokoro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

Infrastructure is vital for economic development and growth and the destruction of infrastructure could lead to economical losses and fatalities. Periodic inspection and maintenance must be performed to avoid such incidents. However, inspection, which was traditionally performed manually, is laborious, expensive, time-consuming, and unsafe for the human inspector. UAVs have been proposed in recent studies as an alternative for conducting infrastructure inspection. In this paper, a system comprising a quadrotor UAV, passive rotating shell mechanism, horizontal rotor, and hammering device is proposed to provide a robust solution for performing hammer test in an infrastructure - a complex-structured site. Each subsystem is responsible for a vital function. The UAV acts as the main platform for efficient and safe inspection, the passive rotating hemispherical shell mechanism ensures protection and better stability during a collision with the obstacle, the horizontal rotor helps with the hammering action, and the hammering device performs the task. The paper describes the general idea, design and analysis of main subsystems, fabricated prototype, and conducted flight experiments. The capabilities of the proposed system were verified by conducting flight experiments. The passive rotating shell mechanism is shown to be effective against obstacles while the horizontal rotor is helpful in hammering action.

Original languageEnglish
Title of host publicationSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages769-774
Number of pages6
ISBN (Electronic)9781538622636
DOIs
Publication statusPublished - 2018 Feb 1
Event2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan, Province of China
Duration: 2017 Dec 112017 Dec 14

Publication series

NameSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
Volume2018-January

Other

Other2017 IEEE/SICE International Symposium on System Integration, SII 2017
CountryTaiwan, Province of China
CityTaipei
Period17/12/1117/12/14

ASJC Scopus subject areas

  • Modelling and Simulation
  • Instrumentation
  • Artificial Intelligence
  • Computer Science Applications
  • Engineering (miscellaneous)
  • Materials Science (miscellaneous)
  • Control and Optimization

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  • Cite this

    Salaan, C. J., Tadakuma, K., Okada, Y., Ohno, K., & Tadokoro, S. (2018). UAV with two passive rotating hemispherical shells and horizontal rotor for hammering inspection of infrastructure. In SII 2017 - 2017 IEEE/SICE International Symposium on System Integration (pp. 769-774). (SII 2017 - 2017 IEEE/SICE International Symposium on System Integration; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2017.8279315