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Title: 3D model generation using an airborne swarm

Using an artificial kinematic field to provide co-ordination between multiple inspection UAVs, the authors herein demonstrate full 3D modelling capability based on a photogrammetric system. The operation of the system is demonstrated by generating a full 3D surface model of an intermediate level nuclear waste storage drum. Such drums require periodic inspection to ensure that drum distortion or corrosion is carefully monitored. Performing this inspection with multiple airborne platforms enables rapid inspection of structures that are inaccessible to on-surface remote vehicles and are in human-hazardous environments. A three-dimensional surface-meshed model of the target can then be constructed in post-processing through photogrammetry analysis of the visual inspection data. The inspection environment uses a tracking system to precisely monitor the position of each aerial vehicle within the enclosure. The vehicles used are commercially available Parrot AR. Drone quadcopters, controlled through a computer interface connected over an IEEE 802.11n (WiFi) network, implementing a distributed controller for each vehicle. This enables the autonomous and distributed elements of the control scheme to be retained, while alleviating the vehicles of the control algorithm’s computational load. The control scheme relies on a kinematic field defined with the target at its centre. This field defines the trajectory formore » all the drones in the volume relative to the central target, enabling the drones to circle the target at a set radius while avoiding drone collisions. This function enables complete coverage along the height of the object, which is assured by transitioning to another inspection band only after completing circumferential coverage. Using a swarm of vehicles, the time until complete coverage can be significantly reduced.« less
Authors:
; ;  [1] ; ; ; ;  [2] ;  [3]
  1. Department of Mechanical and Aerospace Engineering, University of Strathclyde, Glasgow, G1 1XW (United Kingdom)
  2. Centre for Ultrasonic Engineering, University of Strathclyde, Glasgow, G1 1XW (United Kingdom)
  3. National Nuclear Laboratory Limited, Chadwick House, Warrington Road, Birchwood Park, Warrington, WA3 6AE (United Kingdom)
Publication Date:
OSTI Identifier:
22391209
Resource Type:
Journal Article
Resource Relation:
Journal Name: AIP Conference Proceedings; Journal Volume: 1650; Journal Issue: 1; Conference: 41. Annual Review of Progress in Quantitative Nondestructive Evaluation, Boise, ID (United States), 20-25 Jul 2014; Other Information: (c) 2015 AIP Publishing LLC; Country of input: International Atomic Energy Agency (IAEA)
Country of Publication:
United States
Language:
English
Subject:
71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSICS; ALGORITHMS; COMPUTERIZED SIMULATION; CONTROL; CORROSION; INSPECTION; INTERMEDIATE-LEVEL RADIOACTIVE WASTES; MONITORED RETRIEVABLE STORAGE; OPERATION; PERIODICITY; SURFACES; THREE-DIMENSIONAL CALCULATIONS