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Jung, Sungwook;Choi, Duckyu;Song, Seungwon;Myung, Hyun
- The Journal of Korea Robotics Society
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- v.16 no.3
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- pp.216-222
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- 2021
Recently, various robots are being used for the purpose of structural inspection or safety diagnosis, and their needs are also rising rapidly. Among the structural inspection using robots, a lot of researches has recently been conducted on inspection of various facilities and structures using an unmanned aerial vehicle (UAV). However, since GNSS (Global Navigation Satellite System) signals cannot be received in an environment near or below structures, the operation of UAVs has been done manually. For a stable autonomous flight without GNSS signals, additional technologies are required. This paper proposes the autonomous flight system for structural inspection consisting of simultaneous localization and mapping (SLAM), path planning, and controls. The experiments were conducted on an actual large bridge to verify the feasibility of the system, and especially the performance of the proposed SLAM algorithm was compared through comparative analysis with the state-of-the-art algorithms.
https://doi.org/10.7746/jkros.2021.16.3.216 인용 PDF KSCI

Yang, Jaekwang;Kang, Taewook;Shin, Jiuk
- Journal of the Earthquake Engineering Society of Korea
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- v.27 no.6
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- pp.331-337
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- 2023
Due to the aging of a building, 38.8% (about 2.82 million buildings) of the total buildings are old for more than 30 years after completion and are located in a blind spot for an inspection, except for buildings subject to regular legal inspection (about 3%). Such existing buildings require users to self-inspect themselves and make efforts to take preemptive risks. The scope of this study was defined as the general public's visual self-inspection of buildings and was limited to structural members that affect the structural stability of old buildings. This study categorized possible damage to reinforced concrete to check the structural safety of buildings and proposed a checklist to prevent the damage. A damage assessment methodology was presented during the inspection, and a self-inspection scenario was tested through a chatbot connection. It is believed that it can increase the accessibility and convenience of non-experts and induce equalized results when performing inspections, according to the chatbot guide.
https://doi.org/10.5000/EESK.2023.27.6.331 인용 PDF