Thermoelasticity and ArUco marker-based model validation of polymer structure: application to the San Giorgio’s bridge inspection robot

Authors

  • Lorenzo Capponi University of Perugia http://orcid.org/0000-0002-1333-9930
  • Tommaso Tocci University of Perugia http://orcid.org/0000-0002-2159-5643
  • Mariapaola D'Imperio Italian Institute of Technology
  • Syed Haider Jawad Abidi Italian Institute of Technology
  • Massimiliano Scaccia Italian Institute of Technology
  • Ferdinando Cannella Italian Institute of Technology
  • Roberto Marsili University of Perugia
  • Gianluca Rossi University of Perugia

DOI:

https://doi.org/10.21014/acta_imeko.v10i4.1148

Abstract

Experimental procedures are often involved in the numerical models validation. To define the behaviour of a structure, its underlying dynamics and stress distributions are generally investigated. In this research, a multi-instrumental and multi-spectral method is proposed in order to validate the numerical model of the Inspection Robot mounted on the new San Giorgio's Bridge on the Polcevera river. An infrared thermoelasticity-based approach is used to measure stress-concentration factors and, additionally, an innovative methodology is implemented to define the natural frequencies of the Robot Inspection structure, based on the detection of ArUco fiducial markers. Established impact hammer procedure is also performed for the validation of the results.

Author Biographies

Lorenzo Capponi, University of Perugia

Department of Engineering

Tommaso Tocci, University of Perugia

Department of Engineering

Mariapaola D'Imperio, Italian Institute of Technology

Industrial Robotic Unit

Syed Haider Jawad Abidi, Italian Institute of Technology

Industrial Robotic Unit

Massimiliano Scaccia, Italian Institute of Technology

Industrial Robotic Unit

Ferdinando Cannella, Italian Institute of Technology

Industrial Robotic Unit

Roberto Marsili, University of Perugia

Department of Engineering

Gianluca Rossi, University of Perugia

Department of Engineering

Downloads

Published

2021-12-30

Issue

Vol. 10 No. 4 (2021)

Section

Research Papers

License

Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under the CC BY 4.0, Creative Commons Attribution 4.0 International License.

Users are free to

  • share, i.e. copy and redistribute the material in any medium or format for any purpose, even commercially;
  • adapt, i.e. remix, transform, and build upon the material for any purpose, even commercially.

At the same time, the user must give appropriate credit, provide a link to the license, and indicate if changes were made.
Additional information about the license can be found at: https://creativecommons.org/licenses/by/4.0/.

Authors are

  • able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
  • permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).