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Proceedings Paper

Sensor agent robot with servo-accelerometer for structural health monitoring
Author(s): Nobukazu Lee; Akira Mita
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Paper Abstract

SHM systems are becoming feasible with the growth of computer and sensor technologies during the last decade. However, high cost prevents SHM to become common in general homes. The reason of this high cost is partially due to many accelerometers. In this research, we propose a moving sensor agent robot with accelerometers and a laser range finder (LRF). If this robot can properly measure accurate acceleration data, the cost of SHM would be cut down and resulting in the spread of SHM systems. Our goal is to develop a platform for SHM using the sensor agent robot. We designed the prototype robot to correctly detect the floor vibrations and acquire the micro tremor information. When the sensor agent robot is set in the mode of acquiring the data, the dynamics of the robot should be tuned not to be affected by its flexibility. To achieve this purpose the robot frame was modified to move down to the ground and to provide enough rigidity to obtain good data. In addition to this mechanism, we tested an algorithm to correctly know the location of the robot and the map of the floor to be used in the SHM system using the LRF and Simultaneously Localization and Mapping (SLAM).

Paper Details

Date Published: 3 April 2012
PDF: 7 pages
Proc. SPIE 8345, Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2012, 83452Q (3 April 2012); doi: 10.1117/12.915573
Show Author Affiliations
Nobukazu Lee, Keio Univ. (Japan)
Akira Mita, Keio Univ. (Japan)

Published in SPIE Proceedings Vol. 8345:
Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2012
Masayoshi Tomizuka; Chung-Bang Yun; Jerome P. Lynch, Editor(s)

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