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Unmanned high-rise fagade cleaning robot implemented on a gondola: field test on 63-building in Korea

Sungkeun Yoo, Inho Joo, Jooyoung Hong, Changmin Park, Jongwon Kim, Hwa Soo Kim, Taewon Seo
2019 IEEE Access  
A robust controller is used to operate the robot manipulator in order to control the force and position of the cleaning device to the wall.  ...  In this paper, we share our experiences involving the unmanned façade cleaning robot equipped on a gondola. The robot is composed of a two-degree of freedom robotic manipulator and a cleaning device.  ...  Owing to the slope of the building, wind, and disturbances on the gondola, solving the re-contamination problem is important in ensuring that the façade is cleaned well.  ... 
doi:10.1109/access.2019.2902386 fatcat:53crvyporbh4bg4n2m7ddhh7ae

Contaminated facade identification using convolutional neural network and image processing

Jiseok Lee, Jooyoung Hong, Garam Park, Hwa Soo Kim, Sungon Lee, TaeWon Seo
2020 IEEE Access  
Section 6 describes the system variable robust optimal design using the Taguchi method for the detection system.  ...  For application in semantic segmentation, it can segment many façade objects efficiently [16, 17] .  ...  APPENDIX [1] Color area detection box with flood-fill algorithm.  ... 
doi:10.1109/access.2020.3027839 fatcat:ahaze3rmzvhv3id6ujvdplhztm

VCNet: A Robust Approach to Blind Image Inpainting [article]

Yi Wang, Ying-Cong Chen, Xin Tao, Jiaya Jia
2020 arXiv   pre-print
And our VCN allows for a wide spectrum of applications.  ...  In this way, semantically convincing and visually compelling content is thus generated. Extensive experiments are conducted, showing our method is effective and robust in blind image inpainting.  ...  For model design, our framework consists of two stages as mask prediction and robust inpainting.  ... 
arXiv:2003.06816v1 fatcat:2755gwvvizfuhjtgkkkx4fijtu

STATISTICAL SURVEY ON INSPECTION, DIAGNOSIS AND REPAIR OF WALL RENDERINGS

Gonçalo Sá, João Sá, Jorge De Brito, Bárbara Amaro
2015 Journal of Civil Engineering and Management  
The results of this survey provide indications on the intervention actions at the design, execution and use/maintenance stages in order to decrease the magnitude of or eradicate anomalies in wall renderings  ...  The on-site work that led to this statistics collection involved standard inspections of 55 buildings, located in Lisbon, and a total of 150 wall renderings (100 external and 50 interior).  ...  Therefore, North orientated façades show higher presence of this anomaly, as shown in Figure 5 (which associates façade orientation with the occurrence of anomalies).  ... 
doi:10.3846/13923730.2014.890666 fatcat:roayibinareglcmbjmkjgfrn4m

Adaptive Floor Cleaning Strategy by Human Density Surveillance Mapping with a Reconfigurable Multi-Purpose Service Robot

Vinu Sivanantham, Anh Vu Le, Yuyao Shi, Mohan Rajesh Elara, Bing J Sheu
2021 Sensors  
We propose an adaptive multi-robot cleaning strategy based on zig-zag-based coverage path planning that works in synergy with the human interaction heat map generated by safe social distance monitoring  ...  Professional cleaning and safe social distance monitoring are often considered as demanding, time-consuming, repetitive, and labor-intensive tasks with the risk of getting exposed to the virus.  ...  Informed Consent Statement: Not applicable. Data Availability Statement: Not applicable. Conflicts of Interest: The authors declare that there is no conflict of interest.  ... 
doi:10.3390/s21092965 pmid:33922638 fatcat:gu7bdrtfhnhchktee3zcec3ufm

Challenges to Structural Glass: What Have Been Already Done?

Tomas Serafinavičius, Audronis Kazimieras Kvedaras
2011 Statybinės konstrukcijos ir technologijos  
Th e summary of the review given at the end of the paper also reveals less investigated areas in the fi eld of structural glass application.  ...  Th e paper gives a literature review and systematic scheme of scientifi c articles in the fi eld of structural glass by applying testing methods and theoretical evaluations.  ...  Th e appli-cation of robust adhesives (insensitive to in application errors) could overcome many of the current hesitations, although the proper execution of adhesive bonds should obviously always be aimed  ... 
doi:10.3846/skt.2011.10 fatcat:unhzqjfjy5c45jskiyipzjo5va

Bots2ReC: introducing mobile robotic units on construction sites for asbestos rehabilitation

Tim Detert, Sami Charaf Eddine, Jean-Christophe Fauroux, Tobias Haschke, Francesco Becchi, Burkhard Corves, Roberto Guzman, Fabian Herb, Bruno Linéatte, Daniel Martin
2017 Construction Robotics  
Analysis of the use case and the situation of asbestos contamination in Europe follow.  ...  The "Robots to Re-Construction" Bots2ReC project was launched in 02/2016 to introduce mobile robotic units on construction sites for the automated removal of asbestos contamination.  ...  , and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.  ... 
doi:10.1007/s41693-017-0007-1 fatcat:7yebcrbi35ho3hucfuz72xcmfu

Critical Points Extraction from Building Façades by Analyzing Gradient Structure Tensor

Dong Chen, Jing Li, Shaoning Di, Jiju Peethambaran, Guiqiu Xiang, Lincheng Wan, Xianghong Li
2021 Remote Sensing  
This paper proposes a building façade contouring method from LiDAR (Light Detection and Ranging) scans and photogrammetric point clouds.  ...  The confidence property is utilized in the definition of the gradient for each point.  ...  Acknowledgments: The authors would like to thank Shaobo Xia for providing C++ code in [36] for comparison. Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/rs13163146 fatcat:rn6x4lmkdrgw5e7brwu4wssbei

MAPPING WITHOUT DYNAMIC: ROBUST LiDAR-SLAM FOR UGV MOBILE MAPPING IN DYNAMIC ENVIRONMENTS

Y. Cong, C. Chen, J. Li, W. Wu, S. Li, B. Yang
2020 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
Detection And Tracking of Moving Objects (DATMO) is essential and necessary for mobile mapping system to generate clean and accurate point clouds maps since dynamic targets in real-world scenarios will  ...  In this research, a robust LiDAR-SLAM system is presented incorporated with a real-time dynamic objects removal module to improve the accuracy of 6 DOF pose estimation and precision of maps.  ...  ACKNOWLEDGEMENTS The work presented in this article was substantially supported by National Natural Science  ... 
doi:10.5194/isprs-archives-xliii-b1-2020-515-2020 fatcat:jjhjrzv6pnbvpihocoydxn3xby

Automated technique for high-pressure water-based window cleaning and accompanying parametric study

Youngjoo Lee, Daesung Kwon, Changmin Park, Myoungjae Seo, TaeWon Seo, Hongbing Ding
2020 PLoS ONE  
Cleaning experiments were performed on window specimens that were contaminated artificially. The cleaning performance of the proposed method was evaluated using the image-evaluation method.  ...  However, the cleaning of the outer walls of buildings is performed in highly hazardous environments over long periods, and many accidents occur each year.  ...  In addition, it detects the variation from the designated injection pressure when the device is overcoming a low obstacle.  ... 
doi:10.1371/journal.pone.0242413 pmid:33270672 fatcat:bxhrfhb3pfcabde3cw7lnneomu

Designing Building Skins with Biomaterials [chapter]

Anna Sandak, Jakub Sandak, Marcin Brzezicki, Andreja Kutnar
2019 Bio-based Building Skin  
This chapter presents several successful examples of biomaterial façade design. It discusses façade function from aesthetical, functional, and safety perspectives.  ...  Recent trends in advanced material research have focused on the development of solutions optimized for specific applications that assure the expected properties and functionality over elongated service  ...  However, biomaterials used in façades in some cases are less robust than non-bio-based materials.  ... 
doi:10.1007/978-981-13-3747-5_3 fatcat:762ejyvczjh5jetvwk7tfhifvm

How using smart buildings technology can improve indoor environmental quality in educational buildings

Martinez Teresa, Duarte Miriam, Garcia-Luna Ana Cristina
2021 SHS Web of Conferences  
The following is a case study of an architectural project for an elementary and junior high school academic campus in the state of Nuevo León, Mexico that has to deal with the extreme climate conditions  ...  These buildings should integrate advanced technologies such as automated systems and the implementation of architectural skins, well and functional designed spaces and architectural features that act as  ...  The automated ventilation system detects when spaces need ventilation and can also be programmed to detect levels of contaminants, such as CO2.  ... 
doi:10.1051/shsconf/202110203003 doaj:7262a8de930041aea8efeff1a5fe441d fatcat:bskouxtmp5efnftgmcfem27xs4

Automatic Shadow Detection in Urban Very-High-Resolution Images Using Existing 3D Models for Free Training

Kaixuan Zhou, Roderik Lindenbergh, Ben Gorte
2019 Remote Sensing  
Supervised learning is considered to perform well in detecting shadows when training samples selected from these images are available. Unfortunately, manual labeling of images is expensive.  ...  Up-to-date 3D city models are needed for many applications.  ...  Conflicts of Interest: The authors declare no conflict of interest. Remote Sens. 2019, 11, 72  ... 
doi:10.3390/rs11010072 fatcat:i2hxfhkzm5dhrmlinxfootd37e

Impact-acoustics inspection of tile-wall bonding integrity via wavelet transform and hidden Markov models

B.L. Luk, K.P. Liu, F. Tong, K.F. Man
2010 Journal of Sound and Vibration  
With the help of the specially designed artificial sample slabs, experiments have been carried out with impact acoustic signals contaminated by real environmental noises acquired under practical inspection  ...  In order to solve this problem, the work described in this paper aims to develop a robust inspection method that applies model-based strategy, and utilizes the wavelet domain features with hidden Markov  ...  Acknowledgment The authors are grateful for the funding by a grant from City University of Hong Kong (Project no. 9610024-630: ITRG006-06 ) in support of the present research.  ... 
doi:10.1016/j.jsv.2009.11.038 fatcat:gq2jo2cypvfqjn2d4ovxhlnbrm

Architectural decomposition for 3D landmark building understanding

Nikolay Kobyshev, Hayko Riemenschneider, Andras Bodis-Szomoru, Luc Van Gool
2016 2016 IEEE Winter Conference on Applications of Computer Vision (WACV)  
We detect three types of structural cues, namely dominant mirror symmetries, rotational symmetries, and polylines capturing free-form shapes of the landmark not explained by symmetry.  ...  This allows our system to cope with noisy, incomplete, outlier-contaminated 3D point clouds.  ...  It is robust in the range of 1 to 5. Changing the value of γ 2 affects the number of detected labels yet is robust. Only very low values result in an over-segmentation.  ... 
doi:10.1109/wacv.2016.7477653 dblp:conf/wacv/KobyshevRBG16 fatcat:cnlqxlmubrcqvd77d2vuaqxcx4
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