Descriptor: "robotic total station" - Searchworks@Jio Institute Digital Library Search Results

Your search keyword '"robotic total station"' showing total 135 results

Start Over Descriptor "robotic total station"

135 results on '"robotic total station"'

51. Position Measurement Of Moving Objects Using A Robotic Total Station

Author: Horeličan, Tomáš and Horeličan, Tomáš
Abstract: This paper attempts to evaluate an emerging use case for Robotic Total Stations (RTSs)as a tracking and guidance system for small Unmanned Aerial Vehicles (UAVs), especially appliedto scenarios where conventional means of navigation (such as GNSS) are insufficient or completelyunavailable. The focus is on indoors environments, where a constantly tracking total station couldpotentially be used to provide the UAV with a reference coordinate frame together with its immediateposition within these coordinates. Preliminary experiments have been performed to evaluate the capabilitiesof two available RTSs, the Trimble S7 and S9 HP series, both controlled by a TSC7 controller.A Raspberry Pi mini-computer was used to timestamp specific events during the motion of a targettracked by the RTS. The Pi was synchronized with the RTS through Precision Time Protocol (PTP).This enabled direct timestamp comparison for time delay evaluation.
Published: 2021

52. Virtual Laser Target Board for Alignment Control and Machine Guidance in Tunnel-Boring Operations.

Author: Mao, S., Shen, X., and Lu, M.
Abstract: Construction engineering and management research takes advantage of proven technologies and turns them into cost-effective solutions in the construction field. This paper describes our efforts in the development of a new alignment control and machine guidance system for tunnel-boring operations. Steering a tunnel boring machine (TBM) in tunnel projects normally relies on a laser station which projects a laser beam onto a laser target board mounted on the TBM. However, current practice lacks accuracy and requires tedious, time-consuming calibrations, thus potentially leading to quality defects, schedule delay, and cost overrun in tunnel construction. This research has developed an automated system called 'virtual laser target board (VLTB)' in order to facilitate field construction. Through automation and technology integration, a commonly available survey tool -namely the robotic total station is transformed into a construction control robot, which is capable of precisely positioning and tracking the TBM in the underground space. By applying innovative computing algorithms, the exact coordinates of the cutter head center on the working TBM can be derived in millimeter-level accuracy. Thus, the invisible cutter head center can be visualized in a tablet interface in relation to the as-designed alignment. The VLTB system was field tested on a 1,000 m long sewage tunneling project in the city of Edmonton, Alberta, Canada. The tunnel test bed showcases the future of technology integration and automation in construction. [ABSTRACT FROM AUTHOR]
Published: 2015
Full Text: View/download PDF

53. Application of an integrated geotechnical and topographic monitoring system in the Lorano marble quarry (Apuan Alps, Italy).

Author: Salvini, Riccardo, Vanneschi, Claudio, Riccucci, Silvia, Francioni, Mirko, and Gullì, Domenico
Subjects: *GEOTECHNICAL engineering, *SLOPES (Physical geography), *INTERFEROMETERS, *EXCAVATION
Abstract: Accurate slope stability analysis is essential for human activity in high-risk geological contexts. This may, however, not be enough in the case of quarrying where the dynamic and evolving environment also requires effective monitoring. A well-designed monitoring system requires the acquisition of a huge dataset over time, improving knowledge of the study area and helping to refine prediction from stability analysis. This paper reports the implementation of an integrated monitoring system in a marble quarry in the Apuan Alps (Italy) and some of the results obtained. The equipment consists of a traditional geotechnical monitoring system (extensometers, crackmeters and clinometers) and two modern topographic monitoring systems (a terrestrial interferometer and a robotic total station). This work aims to provide in-depth knowledge of the large scale rock mass behaviour as a result of marble exploitation, thereby allowing continuous excavation. The results highlight the importance of integrating different monitoring systems. [ABSTRACT FROM AUTHOR]
Published: 2015
Full Text: View/download PDF

54. Determining tractor automatic steering performance under different operating conditions

Author: Kömekçi, Fırat, Gülsoylu, Ercan, and Ege Üniversitesi, Fen Bilimleri Enstitüsü, Tarım Makinaları ve Teknolojileri Mühendisliği Ana Bilim Dalı
Subjects: ISO 12188-2, Bağıl Geçiş İzi Hatası, Track Error, Sanal Rotadan Sapma, Optik Referans Sistemi, Relative Track Error, Robotic Total Station
Abstract: Bu çalışmanın amacı, gerçek zamanlı kinematik – sanal referans istasyonu düzeltme sinyali ile çalışan otomatik dümenleme sistemlerinin kullanıldığı bir traktörün, alt bağlantı kollarına gelen farklı büyüklükte ve asimetrik çeki kuvvetleriyle karşılaştığında otomatik dümenleme performansını belirlemektir. Bu amaçla, New Holland TM 175 model traktör ile 16 ton kapasiteli tandem dingilli tarım römorku, otomatik dümenleme sistem performansının değerlendirilmesinde kullanılan ISO 12188-2 standardının gerekliliklerini sağlamak için kilit taş zeminde kullanılmıştır. Alt bağlantı kollarına gelen çeki kuvvetlerini değiştirmek için tez kapsamında kuvvet ölçüm sisteminin bağlanabildiği bir çeki ölçüm düzeni kullanılmıştır. Direksiyon miline tahrik veren Trimble marka GFX 750 model otomatik dümenleme sistemi ile çalışmalar gerçekleştirilmiştir. Traktörün referans noktasındaki konumu belirlenmesi amacıyla Trimble S6 model optik referans sistemi kullanılmıştır. Çalışma sırasında, üç farklı ilerleme hızı (3,9 km/h, 5,7 km/h ve 8,2 km/h), üç farklı ön ek ağırlık (0 kg, 360 kg ve 630 kg), üç farklı çeki ekseni (traktör simetri ekseni üzerinde, eksenden 160 mm ve 320 mm sola kaçık) ve üç farklı tarım römorku ağırlığı (10167 kg, 14833 kg ve 19500 kg) ile üçer tekerrürlü 243 testin yanı sıra, traktörün yüksüz koşullardaki otomatik dümenleme performansını belirlemek amacıyla üç farklı ilerleme hızı ve üç farklı ön ek ağırlık ile 27 test olmak üzere toplam 270 test gerçekleştirilmiştir. Farklı çalışma koşullarında traktör otomatik dümenleme sisteminin performansını belirlemek amacıyla ISO 12188-2 standardındaki ölçütler olan sanal rotadan sapma, ardışık geçiş izi hatası, kısa süreli geçiş hatası ve uzun süreli rehberlik hatasının belirlenmesinin yanı sıra iki farklı değerlendirme ölçütü sunulmuştur. Tüm değerlendirme ölçütleri; tüm sapma verileri, geçiş başına maksimum sapmalar ve sapmaların tahmini hatalarının standart sapmaları olmak üzere üç farklı şekilde değerlendirilmiştir. Gerçekleştirilen bağımsız örneklem t-testi analizlerine göre, traktörün yüklü koşullarda çalıştırıldığı 81 denemenin neredeyse hepsinde yükün otomatik dümenleme performansına etki ettiği, ayrıca yükün tipi ve büyüklüğünün otomatik dümenleme performansını etkilediği belirlenmiştir. Tez kapsamında seçilen tüm bağımsız değişkenler sanal rotadan sapma üzerine etki etmiştir. Sanal rotadan en düşük sapma değerleri, en düşük ilerleme hızında (3,9 km/h), en yüksek ön ek ağırlıkta (630 kg), en yüksek tarım römorku ağırlığında (19500 kg) ve çeki noktasının traktör simetri ekseninde (0 mm) olduğu durumda elde edilmiştir. Yüksek çeki ihtiyacına sebep olan tarım römorkunun en yüksek ağırlığı (19500 kg) ve çeki noktasının farklılığı sanal rotadan sapma düzensizliğini önemli düzeyde etkilemiştir. Ardışık geçiş izi hatası ve kısa süreli geçiş izi hatası için en düşük sapma değerleri, en düşük ilerleme hızı (3,9 km/h), ek ağırlıksız, en yüksek tarım römorku ağırlığı (19500 kg) ve çeki noktasının traktör simetri ekseninden 160 mm kaçık olduğu durumda ortaya çıkmıştır. Uzun süreli rehberlik hatası için diğer bağıl geçiş izi hatalarına benzer sonuçlar ortaya çıkmasıyla birlikte, ön ek ağırlığın en yüksek olduğu (630 kg) koşullarda en düşük sapma değerleri elde edilmiştir. Varyans analiz sonuçlarına göre, bağımsız değişkenlerin değerlendirme ölçütlerinden elde edilen verilerin RMSE'leri, tüm veriler ve maksimum sapmalara kıyasla genel olarak daha yüksek açıklama katsayısına sahip oldukları belirlenmiştir. Sinyal kalitesinin önemli ölçütlerinden olan yatay hassasiyet kaybı, dikey hassasiyet kaybı ve tahmini yatay hata değerlerinin ise elde edilen bağımlı değişkenlerin üzerine etkisi dikkate alınmayacak kadar azdır. Gelecekte yapılacak araştırmalarda, konum ölçüm sistemi, kuvvet ölçüm sistemi ve sinyal kalitesini belirleyen tüm etmenlerin eş zamanlı olarak kaydedilmesi planlanmaktadır.
Published: 2021

55. Determination of Geometrical Track Position by Robotic Total Station.

Author: Izvoltova, Jana, Villim, Andrej, and Kozak, Peter
Subjects: TECHNOLOGICAL innovations, ROBOTICS, MECHANICAL loads, PERFORMANCE evaluation, RAILROAD tracks
Abstract: Robotic total stations belongs to the most innovative and advanced geodetic instruments used in engineering practice with the performance to maximize productivity and to accomplish requirements concerning to the high angle and distance precision. Robotic Total Station Trimble S8 was used for precise terrestrial measurements of railway track built on ballast-less track construction to diagnose the track behaviour under traffic loading. [ABSTRACT FROM AUTHOR]
Published: 2014
Full Text: View/download PDF

56. Monitoring of Strain and Temperature in an Open Pit Using Brillouin Distributed Optical Fiber Sensors

Author: Chiara Lanciano and Riccardo Salvini
Subjects: Optical fiber, Robotic total station, 02 engineering and technology, lcsh:Chemical technology, 01 natural sciences, Biochemistry, Marble quarry, Displacement (vector), Article, Analytical Chemistry, law.invention, Strain, Rockfall, Mining engineering, law, Distributed optical fiber sensors, 0202 electrical engineering, electronic engineering, information engineering, lcsh:TP1-1185, Electrical and Electronic Engineering, Rock mass classification, Instrumentation, geography, geography.geographical_feature_category, Test site, 010401 analytical chemistry, Total station, Brillouin shift frequency, Temperature, Geotechnical monitoring system, Unmanned aerial vehicle, 020206 networking & telecommunications, Landslide, Atomic and Molecular Physics, and Optics, 0104 chemical sciences, Geology, Extensometer
Abstract: Marble quarries are quite dangerous environments in which rock falls may occur. As many workers operate in these sites, it is necessary to deal with the matter of safety at work, checking and monitoring the stability conditions of the rock mass. In this paper, some results of an innovative analysis method are shown. It is based on the combination of Distributed Optical Fiber Sensors (DOFS), digital photogrammetry through Unmanned Aerial Vehicle (UAV), topographic, and geotechnical monitoring systems. Although DOFS are currently widely used for studying infrastructures, buildings and landslides, their use in rock marble quarries represents an element of peculiarity. The complex morphologies and the intense temperature range that characterize this environment make this application original. The selected test site is the Lorano open pit which is located in the Apuan Alps (Italy), here, a monitoring system consisting of extensometers, crackmeters, clinometers and a Robotic Total Station has been operating since 2012. From DOFS measurements, strain and temperature values were obtained and validated with displacement data from topographic and geotechnical instruments. These results may provide useful fundamental indications about the rock mass stability for the safety at work and the long-term planning of mining activities.
Published: 2020
Full Text: View/download PDF

57. Integration of robotic total station and digital image correlation to assess the three-dimensional surface kinematics of a landslide.

Author: Dematteis, Niccolò, Wrzesniak, Aleksandra, Allasia, Paolo, Bertolo, Davide, and Giordan, Daniele
Subjects: *DIGITAL image correlation, *LANDSLIDES, *ROBOTICS, *DIGITAL images, *KINEMATICS, *DIGITAL elevation models, *MULTISENSOR data fusion
Abstract: In the field of landslide monitoring, the assessment of the spatially-distributed three-dimensional surface displacement is crucial to understand the underlying mechanisms. Nevertheless, available technologies and techniques that provide such a datum are few and often suffer spatio-temporal resolution, logistic and/or financial limitations. In this framework, we developed a methodology that merges the three-dimensional measurements at specific points, acquired by a robotic total station (RTS), and the spatially-distributed data obtained with digital image correlation (DIC) of time-lapse camera photographs, to achieve the spatially-distributed three-dimensional surface displacement. The integration method follows this procedure: i) the DIC results are orthorectified on an existing digital elevation model; ii) the RTS data are rototranslated into the camera coordinate system; iii) the ratio α between displacement vertical component and module measured by the RTS is calculated and interpolated across the region of interest; iv) the orthorectified DIC results are rescaled according to α , obtaining the three surface displacement components; v) the displacement vector is rototranslated into the geographical coordinate system. The sensitivity analysis respect to α revealed that the integration method can be successfully applied even with a limited number of RTS measurement points. The developed methodology has been applied to the Mont de La Saxe rockslide case study, during a phase of strong acceleration. In this period, the displacement magnitudes varied between 0.1 m and 10 m, thus providing a stress-test input for methodology development and validation. The results have been compared with independent ground-based interferometric radar measurements, obtaining 0.99 linear correlation coefficient and median absolute deviation of 0.086 m, which is comparable with the DIC measurement uncertainty. The proposed method is based on the use of low-cost portable and commonly used field equipment, thus it can be easily implemented in existing monitoring networks without additional financial costs. • We developed a data fusion algorithm to merge digital image correlation and robotic total station. • We obtained spatially distributed 3D surface displacement of a landslide. • Our method can be easily applied in operative monitoring without additional financial costs. • We tested our method on the Mont de La Saxe rockslide (Italy), during an emergency period. • We validated our results with GB-InSAR obtaining high agreement. [ABSTRACT FROM AUTHOR]
Published: 2022
Full Text: View/download PDF

58. Performance evaluation of ultra wideband technology for construction resource location tracking in harsh environments

Author: Cheng, T., Venugopal, M., Teizer, J., and Vela, P.A.
Subjects: *BROADBAND communication systems, *AUTOMATIC tracking, *PERFORMANCE evaluation, *ERROR analysis in mathematics, *COMPUTER vision, *RADIO frequency identification systems, *SCANNING systems, *REMOTE sensing
Abstract: Abstract: Emerging wireless remote sensing technologies offer significant potential to advance the management of construction processes by providing real-time access to the locations of workers, materials, and equipment. Unfortunately, little is known regarding the accuracy, reliability, and practical benefits of an emerging technology, effectively impeding widespread adoption. This paper evaluates a commercially-available Ultra Wideband (UWB) system for real-time, mobile resource location tracking in harsh construction environments. A focus of this paper is to measure the performance of the UWB technology for tracking mobile resources in real-world construction settings. To assess tracking accuracy, location error rates for select UWB track signals are obtained by automatically tracking a single entity using a Robotic Total Station (RTS) for ground truth. Furthermore, to demonstrate the benefits of UWB technology, the paper provides case studies of resource tracking for analysis of worksite operations. The work demonstrates the applicability of UWB for the design of construction management support tools. [Copyright &y& Elsevier]
Published: 2011
Full Text: View/download PDF

59. A performance evaluation of vision and radio frequency tracking methods for interacting workforce

Author: Yang, J., Cheng, T., Teizer, J., Vela, P.A., and Shi, Z.K.
Subjects: *CONSTRUCTION workers, *RADIO frequency identification systems, *PERFORMANCE evaluation, *AUTOMATION, *DETECTORS, *ULTRA-wideband devices, *ALGORITHMS
Abstract: Abstract: Analysis and understanding of worksite operations requires the collection of trajectory information regarding active onsite entities. The trajectories provide essential information for assessment of site operations and management strategies. Unfortunately, many such tracking and assessment methods are based on manually generated trajectories, thereby excluding long term and complex scenarios. Automated trajectory extraction is a potential solution, however the automated method must provide reliable trajectory information. This paper evaluates the capability of two sensor technologies to provide accurate trajectory data. The primary system investigated is a vision-based strategy while the secondary system investigated is an Ultra Wideband System (UWB). A robotic total station (RTS) provides the ground truth of a single worker for evaluation of both sensor technologies. For comparison, the visual tracking signal is mapped to three-dimensional world coordinates. The UWB and RTS signals are filtered to remove outliers, and are synchronized with the visual tracking signal. Given the single target tracked by the RTS, both UWB and vision are shown to be feasible when the expected accuracy is 1m. A second investigation seeks to demonstrate the accuracy of the proposed visual tracking system for tracking multiple interacting workforce, which relies on machine learning to generate target descriptions. The UWB signals for the personnel provide ground truth to evaluate the reliability and accuracy of the vision-based tracking algorithm. The proposed visual tracking system is reliable and accurate enough to permit automated extraction of trajectory information for analysis purposes, such as would be required for work sampling and productivity assessments. [Copyright &y& Elsevier]
Published: 2011
Full Text: View/download PDF

60. Evaluation of the optimal design “cosinor model” for enhancing the potential of robotic theodolite kinematic observations

Author: Zarikas, V., Gikas, V., and Kitsos, C.P.
Subjects: *OPTIMAL designs (Statistics), *THEODOLITES, *KINEMATICS, *GEODESY, *INFORMATION storage & retrieval systems, *VARIANCES, *EQUATIONS of motion, *EXPERIMENTAL design
Abstract: Abstract: The aim of the present work is to assess and to demonstrate the benefits of adopting optimal experimental design theory and techniques in order to enhance the potential of field data recorded using conventional geodetic instruments. More specifically, this research focuses on Robotic Total Stations (RTS) and in kinematic applications of geodetic positioning that exhibit a cyclic/periodic pattern of motion. The computational approach adopted follows from the principles of c- and D-optimal design criteria. Data processing involves computing the amplitude of motion in two ways; (a) using a sample of consecutively ordered data recordings and (b) using a sample respecting the optimal design criteria. Analysis, confirms the utility of the method resulting an improvement (i.e. a reduction) of the oscillation amplitude variance. This conclusion applies particularly at higher frequencies of oscillations (>1Hz). This is important as at higher frequencies the performance of RTS deteriorates, and hence large variances occur. [ABSTRACT FROM AUTHOR]
Published: 2010
Full Text: View/download PDF

61. Comparative Evaluation of Excavation Volume by TLS and Total Topographic Station Based Methods.

Author: Yakar, M., Yilmaz, H. M., and Mutluoglu, O.
Subjects: *ENGINEERING education, *GEODESY, *GEOLOGY, *HERMITE polynomials, *NUMERICAL solutions to differential equations
Abstract: Nowadays volume values are used in many engineering studies, such as road projects, mining enterprises, geological works and building applications. A volume can be computed by geodetic, trapezoidal and improved methods such as Simpson-based, cubic spline, and cubic Hermite formula. These improved methods model the object surface as nonlinear profiles. As the associated technology has developed then so have the opportunities for the development of new techniques in surface modelling. Now, the generation of a three-dimensional (3D) model is generally achieved by non-contact systems based on light waves and can be completed on a computer. This is particularly useful in situations where there are risks attached to reaching the location to be modelled - the calculations can be performed from a photograph or from scanned images of the object. In this study the performance of a laser scanning method, robotic total station instrument and geodetic method of volume computation were investigated. The volume computation was carried out using these methods in an excavation area and the methods were compared in terms of accuracy, time and cost. It was concluded that all the methods can satisfactorily be used for volume computing; however, the choice of method should be made according to the location and size of area, required accuracy, budget and time frame. [ABSTRACT FROM AUTHOR]
Published: 2010

62. Highly Accurate Pose Estimation as a Reference for Autonomous Vehicles in Near-Range Scenarios.

Author: Kälin, Ursula, Staffa, Louis, Grimm, David Eugen, and Wendt, Axel
Subjects: *MOTION capture (Human mechanics), *OBJECT recognition (Computer vision), *DEGREES of freedom, *POINT cloud, *AUTONOMOUS vehicles, *ROBOTICS
Abstract: To validate the accuracy and reliability of onboard sensors for object detection and localization for driver assistance, as well as autonomous driving applications under realistic conditions (indoors and outdoors), a novel tracking system is presented. This tracking system is developed to determine the position and orientation of a slow-moving vehicle during test maneuvers within a reference environment (e.g., car during parking maneuvers), independent of the onboard sensors. One requirement is a 6 degree of freedom (DoF) pose with position uncertainty below 5 mm (3σ), orientation uncertainty below 0.3° (3σ), at a frequency higher than 20 Hz, and with a latency smaller than 500 ms. To compare the results from the reference system with the vehicle's onboard system, synchronization via a Precision Time Protocol (PTP) and system interoperability to a robot operating system (ROS) are achieved. The developed system combines motion capture cameras mounted in a 360° panorama view setup on the vehicle, measuring retroreflective markers distributed over the test site with known coordinates, while robotic total stations measure a prism on the vehicle. A point cloud of the test site serves as a digital twin of the environment, in which the movement of the vehicle is visualized. The results have shown that the fused measurements of these sensors complement each other, so that the accuracy requirements for the 6 DoF pose can be met while allowing a flexible installation in different environments. [ABSTRACT FROM AUTHOR]
Published: 2022
Full Text: View/download PDF

63. UAV/RTS system based on MMCPF theory for fast and precise determination of position and orientation.

Author: Zhang, Di, Fang, Tianye, Ai, Jiahao, Wang, Yapeng, Zhou, Lv, Guo, Jiming, Mei, Wensheng, and Zhao, Yehao
Subjects: *CIVIL engineering, *ALGORITHMS, *BRIDGES, *TALL buildings, *CIVIL engineers, *DRONE aircraft
Abstract: • Use moving control point to determine the position and orientation. • Design a collaborative measurement system of Robotic Total Station and UAV. • Develop an algorithm to get optimation estimation of undetermined parameters. • Accuracy of coordinate and azimuth can reach mm and seconds within minutes. • The method can be applied in many situations with poor observation conditions. We have developed a system to determine the position and orientation fast and precisely, by the collaboration measurement of an Unmanned Aerial Vehicle (UAV) and two Robotic Total Stations (RTSs). One RTS is set on the control point, and another is set on the undetermined point. All devices are connected to the control terminal through a wireless network, so that the two RTSs can perform synchronous tracking measurements towards the same 360° prism mounted on the UAV. With an algorithm developed based on the theory of Massive Moving Control Points for Free-stationing (MMCPF), high-accuracy position and orientation can be determined in a one-stop mode within several minutes. Results of the simulation experiment and the field experiment validated the feasibility of our system, showing a positioning accuracy of millimetre level and orientation accuracy of angular-second level. The newly proposed methodology can be applied for limited direct sight conditions and poor GNSS observation environments, especially for under-construction civil engineerings, such as high-rise buildings, dams, railways, and bridges. [ABSTRACT FROM AUTHOR]
Published: 2022
Full Text: View/download PDF

64. 3D float tracking: in situ floodplain roughness estimation.

Author: Straatsma, Menno
Subjects: THREE-dimensional display systems, FLOODPLAIN plants, SOUND retrieval, NOISE measurement, WATER levels, SPEED, ROBOTICS, FLOODPLAINS, HYDRAULICS
Abstract: The article focuses on three-dimensional (3D) float tracking in quantifying in situ hydrodynamic roughness of submerged floodplain vegetation. A custom-built floating tripod was released on the floodplain and tracked by a robotic total station, while an acoustic Doppler current profiler (ADCP) collected flow velocity profiles and water depth. It was found that median value of the roughness, derived through the equation for one-dimensional free surface flow in a moving window, was independent of the noise in water levels, bottom surface slope and topographic undulations. It is concluded that 3D float tracking is a flexible and detailed method for determining roughness or floodplain vegetation without waves.
Published: 2009
Full Text: View/download PDF

65. Measurement of deflections and of oscillation frequencies of engineering structures using Robotic Theodolites (RTS)

Author: Psimoulis, Panos A. and Stiros, Stathis C.
Subjects: *FLUCTUATIONS (Physics), *ROTATIONAL motion (Rigid dynamics), *NUMERICAL analysis, *FIELDWORK (Educational method)
Abstract: Abstract: The Robotic Theodolite or Robotic Total Station (RTS) is a new generation geodetic instrument that can automatically record the changing coordinates of a moving target (reflector). RTS was so far used for monitoring of static and very slow displacements. This limitation was imposed by some characteristics of these instruments (real sampling rate <2 Hz and non-constant, noisy results in high frequency sampling, etc.). A study of a new generation of RTS based on: (1) systematic experiments using an apparatus producing oscillations of known, computer-determined characteristics (frequency and amplitude of oscillation) which were compared with those recorded by the RTS; (2) upgrading of the instrument’s built-in software to display measurements with a 0.01 s resolution; and (3) spectral analysis of the obtained non-equidistant data with a least-squares based software without prior interpolations, permitted us to show that the range of application of RTS may be safely extended to higher frequency oscillations. In particular, it was shown that: (1) the maximum real sampling rate of RTS is 6–7 Hz, but since sampling rate is variable, aliasing-free results can be obtained above the Nyquist frequency. (2) The potential to record oscillations depends on the maximum angular velocity of the instrument and on the maximum velocity of the moving target; for velocities up to about 10 cm/s in field studies, results are very precise. On the contrary, for targets moving with maximum velocities > 15 cm/s, some displacements cycles are not well-defined or are lost, and hence, the accuracy of the oscillation amplitude and frequency are lower. (3) RTS can be used to measure small (on the order of a few mm) amplitudes of oscillation, and to some degree of frequencies of oscillation of various relatively stiff engineering structures (modal frequencies > 1 Hz, up to 3–4 Hz). This potential is demonstrated on the basis of several field examples, including the monitoring of two bridges with dominant modal frequencies > 1.5 Hz. Obviously, these limits reflect the most unfavorable cases of application of RTS, and higher period/larger amplitude oscillations or other deflections can be successfully measured if the main requirement for this type of instrument is satisfied: an unobstructed view of a reflector at a maximum distance of a few hundred meters from an RTS set on stable ground. [Copyright &y& Elsevier]
Published: 2007
Full Text: View/download PDF

66. Application of Geodetic Measuring Methods for Reliable Evaluation of Static Load Test Results of Foundation Piles.

Author: Muszyński, Zbigniew and Rybak, Jarosław
Subjects: *DEAD loads (Mechanics), *GEODETIC techniques, *FINITE element method, *EVALUATION methodology, *OPTICAL scanners
Abstract: Geodetic measuring methods are widely used in the course of various geotechnical works. The main purpose is usually related to the location in space, geometrical dimensions, settlements, deflections, and other forms of displacements and their consequences. This study focuses on the application of selected surveying methods in static load tests (SLTs) of foundation piles. Basic aspects of the SLT are presented in the introductory section, together with the explanation of the authors' motivation behind the novel (but already sufficiently tested) application of remote methods introduced to confirm, through inverse analysis, the load applied to the pile head under testing at every stage of its loading. Materials and methods are described in the second section in order to provide basic information on the test site and principles of the SLT method applied. The case study shows the methodology of displacement control in the particular test, which is described in light of a presented review of geodetic techniques for displacement control, especially terrestrial laser scanning and robotic tacheometry. The geotechnical testing procedure, which is of secondary importance for the current study, is also introduced in order to emphasize the versatility of the proposed method. Special attention is paid to inverse analysis (controlling of the pile loading force on the basis of measured deflections, and static calculations by means of standard structural analysis and the finite element method (FEM)) as a tool to raise the credibility of the obtained SLT results. The present case study from just one SLT, instrumented with various geodetic instrumentation, shows the results of a real-world dimensions test. The obtained variability of the loading force within a range of 15% (depending on real beam stiffness) proves good prospects for the application of the proposed idea in practice. The results are discussed mainly in light of the previous authors' experience with the application of remote techniques for reliable displacement control. As only a few references could be found (mainly by private communication), both the prospects for new developments using faster and more accurate instruments as well as the need for the validation of these findings on a larger number of SLTs (with a very precise definition of beam stiffness) are underlined in the final remarks. [ABSTRACT FROM AUTHOR]
Published: 2021
Full Text: View/download PDF

67. Pushing the sensitivity limits of RTS-based continuous deformation monitoring of an alpine valley

Author: Robert Presl, Mariusz Frukacz, Andreas Wieser, and Daniele Favot
Subjects: 010504 meteorology & atmospheric sciences, Geography, Planning and Development, Robotic total station, 0211 other engineering and technologies, Satellite system, 02 engineering and technology, Environmental Science (miscellaneous), 01 natural sciences, Deformation monitoring, Orientation, Earth and Planetary Sciences (miscellaneous), Sensitivity (control systems), Engineering (miscellaneous), 021101 geological & geomatics engineering, 0105 earth and related environmental sciences, Remote sensing, Geodetic monitoring, Systematic effects, Refraction, Total station, Ranging, Geodesy, Geography, GNSS applications, Snowmelt, Inclinometer
Abstract: Monitoring applications may require operating robotic total stations (RTS) at the limit of their sensitivity with respect to target displacements. Thorough understanding and mitigation of systematic effects are required in order to reach or push this limit. We investigate some of these effects, in particular effects external to the total station, using data and experience gained from a continuously operating monitoring system installed at the terminus of the Great Aletsch Glacier in Switzerland. The system consists of two robotic total stations, about 60 prisms, four global navigation satellite system (GNSS) receivers, thermocouples, inclinometers, and meteo-sensors. The purpose of the monitoring is to study reversible deformations of the adjacent slopes, likely driven by snowmelt and mountain water level changes. The deformations reach the millimeter- to centimeter-level and shall be studied on time scales ranging from annual to sub-annual, and ideally even down to daily or sub-daily resolution. Our investigation focuses on four aspects: protective housing, pillar stability, refraction, and stability of orientation, all of which were found to affect the measurements on the milligon-level with lines-of-sight of up to 2 km. The results highlight signatures of apparent point displacements, and the discussion comprises approaches to bounding or mitigating these effects which may also be expected in similar monitoring situations at other locations., Applied Geomatics, 9 (2), ISSN:1866-9298, ISSN:1866-928X
Published: 2017

68. Determination of Geometrical Track Position by Robotic Total Station

Author: Peter Kozak, Jana Izvoltova, and Andrej Villim
Subjects: Engineering, business.industry, Real-time computing, robotic total station, geometrical track position, terrestrial measurements, Total station, Geodetic datum, General Medicine, Track (rail transport), ballast-less track, Position (vector), High angle, business, Simulation, Engineering(all)
Abstract: Robotic total stations belongs to the most innovative and advanced geodetic instruments used in engineering practice with the performance to maximize productivity and to accomplish requirements concerning to the high angle and distance precision. Robotic Total Station Trimble S8 was used for precise terrestrial measurements of railway track built on ballast-less track construction to diagnose the track behaviour under traffic loading.
Published: 2014
Full Text: View/download PDF

69. Towards a Model Based Sensor Measurement Variance Input for Extended Kalman Filter State Estimation

Author: Frederic Bezombes, Christian Matthews, Benjamin J. McLoughlin, and Harry A. G. Pointon
Subjects: unmanned ground vehicle, 0209 industrial biotechnology, Unmanned ground vehicle, Computer science, lcsh:Motor vehicles. Aeronautics. Astronautics, extended Kalman filter, robotic total station, Aerospace Engineering, Ultra-wideband, 02 engineering and technology, Synthetic data, Extended Kalman filter, 020901 industrial engineering & automation, Artificial Intelligence, 0202 electrical engineering, electronic engineering, information engineering, state estimation, Representation (mathematics), T1, Function (mathematics), Variance (accounting), Computer Science Applications, TA, Control and Systems Engineering, Measuring instrument, ultra wide band, 020201 artificial intelligence & image processing, lcsh:TL1-4050, Algorithm, Information Systems
Abstract: In this paper, we present an alternate method for the generation and implementation of the sensor measurement variance used in an Extended Kalman Filter (EKF). Furthermore, it demonstrates the limitations of a conventional EKF implementation and postulates an alternate form for representing the sensor measurement variance by extending and improving the characterisation methodology presented in the previous work. As presented in earlier work, the use of surveying grade optical measurement instruments allows for a more effective characterisation of Ultra-Wide Band (UWB) localisation sensors, however, in cluttered environments, the sensor measurement variance will change, making this method not robust. To compensate for the noisier readings, an EKF using a model based sensor measurement variance was developed. This approach allows for a more accurate representation of the sensor measurement variance and leads to a more robust state estimation system. Simulations were run using synthetic data in order to test the effectiveness of the EKF against the originally developed EKF, next, the new EKF was compared to the original EKF using real world data. The new EKF was shown to function much more stably and consistently in less ideal environments for UWB deployment than the previous version.
Published: 2019
Full Text: View/download PDF

70. Monitoring of Strain and Temperature in an Open Pit Using Brillouin Distributed Optical Fiber Sensors.

Author: Lanciano, Chiara and Salvini, Riccardo
Subjects: *OPTICAL fiber detectors, *DIGITAL photogrammetry, *STRAIN gages, *OPTICAL fibers, *QUARRIES & quarrying, *ROCKFALL, *DRONE aircraft, *TEMPERATURE
Abstract: Marble quarries are quite dangerous environments in which rock falls may occur. As many workers operate in these sites, it is necessary to deal with the matter of safety at work, checking and monitoring the stability conditions of the rock mass. In this paper, some results of an innovative analysis method are shown. It is based on the combination of Distributed Optical Fiber Sensors (DOFS), digital photogrammetry through Unmanned Aerial Vehicle (UAV), topographic, and geotechnical monitoring systems. Although DOFS are currently widely used for studying infrastructures, buildings and landslides, their use in rock marble quarries represents an element of peculiarity. The complex morphologies and the intense temperature range that characterize this environment make this application original. The selected test site is the Lorano open pit which is located in the Apuan Alps (Italy); here, a monitoring system consisting of extensometers, crackmeters, clinometers and a Robotic Total Station has been operating since 2012. From DOFS measurements, strain and temperature values were obtained and validated with displacement data from topographic and geotechnical instruments. These results may provide useful fundamental indications about the rock mass stability for the safety at work and the long-term planning of mining activities. [ABSTRACT FROM AUTHOR]
Published: 2020
Full Text: View/download PDF

71. Automatic subway tunnel displacement monitoring using robotic total station.

Author: Zhou, Jianguo, Xiao, Henglin, Jiang, Weiwei, Bai, Wenfeng, and Liu, Guanlan
Subjects: *TUNNELS, *SUBWAYS, *ROBOTICS, *DATA acquisition systems, *DIGITAL image correlation
Abstract: • Robotic total stations (RTSs) are applied to subway tunnel displacement monitoring. • An automatic subway tunnel displacement monitoring system is developed. • The mathematical models for both short and long monitoring zone are derived and tested. Real-time displacement monitoring is important for ensuring the safety of subway tunnel structures when construction activities are carried out near them. Owing to the special environmental characteristics of tunnels, many displacement monitoring techniques are either inapplicable to subway tunnel structures or have limitations in terms of the accuracy and automation of monitoring. Therefore, this article focuses on the automatic monitoring of subway tunnel displacement using robotic total stations. Using prisms as reflectors, the robotic total stations can perform highly accurate displacement monitoring by measuring angles and distances in a non-contact manner. A mathematical model for displacement monitoring with one total station in a short monitoring zone is developed, and a model for monitoring a long tunnel zone with multiple total stations is derived to guarantee the accuracy of monitoring. An automatic displacement monitoring system with robotic total stations is built, where the data acquisition and data management of the system are detailed through its hardware composition and software functions, respectively. An experiment on a tunnel showed the available monitoring range of a single robotic total station, and the accuracy of monitoring the long zone with multiple robotic total stations was verified. The application of the monitoring system to the Guangzhou Metro Line 2 confirmed its robustness. [ABSTRACT FROM AUTHOR]
Published: 2020
Full Text: View/download PDF

72. Monitoring of oscillations and frequency analysis of the railway bridge 'Sava' using robotic total station

Author: Marendić, Ante : Paar, Rinaldo : Grgac, Igor : Damjanović, Domagoj and FIG - International Federation of Surveyors, IAG - International Association of Geodesy
Subjects: Robotic total station, dynamic displacements, vibrations, natural frequencies of the bridge
Abstract: Bridges as a civil engineering objects are critical components of infrastructural system of every country. In order to verify design prediction and capability of taking over the design load, bridges are subjected to load testing, during which intentionally provoked displacements are measured. This paper presents implementation of surveying methods in dynamic testing of the railway bridge "Sava" after reconstruction. Bridge "Sava” is a double-track railway bridge over the river Sava in Zagreb. The bridge is a steel structure with total length of 306 m and width of 9.6 m. It consists of 4 spans, 135.54 m long main arch span and three girder spans 57.50 m, 57.96 m and 55.00 m. During the testing bridge was excited by two trains passing at speeds from 20 to 75 km/h. Vibration of the bridge was measured by accelerometers at 42 measuring points and by two models of robotic total station with measuring frequency 10 Hz and 20 Hz at measuring point placed in quarter of main span. This paper is focusing on the ability of total stations to measure the vibrations to the order of a few millimeters, as well as determining the natural frequencies of the bridge. Measurement results are compared to theoretical results, obtained from numerical model of the bridge and to result of Operational Modal Analysis based on acceleration measurements.
Published: 2016

73. Testing the Precision of Robotic Total Stations on the Test Area

Author: Barkovic, Duro, Mladen Zrinjski, Predovic, Nikola, and International Multidisciplinary Scientific GeoConference SGEM
Subjects: horizontal and vertical angel, precision, robotic total station, test area
Abstract: The measuring precision of horizontal and vertical angles has been tested by means of three geodetic total stations in the test area. The measurements have been done with the robotic total station Trimble S6, the robotic total station Trimble VX and autolock total station Trimble S6. The test area was arranged in the quarry Plaškarica near the town Ogulin in Croatia. It consists of a station point, three orientation points and nine sighting points. The sighting points were arranged at three levels under various elevation angles and at various distances from the station point. The sightings were performed at nine prisms, at each level on three various types of prisms. The measurements were repeated several times and in various weather conditions. The testing results indicate that the obtained measuring precisions of horizontal and vertical angles with three total stations are within the scope of values defined by the manufacturer of the instruments.
Published: 2016

74. Combining photogrammetry and robotic total stations to obtain dimensional measurements of temporary facilities in construction field

Author: Siu, Ming-Fung Francis, Lu, Ming, and AbouRizk, Simaan
Published: 2013
Full Text: View/download PDF

75. Uncertainty Characterisation of Mobile Robot Localisation Techniques using Optical Surveying Grade Instruments

Author: John P. McLoughlin, Benjamin J. McLoughlin, Harry A. G. Pointon, Frederic Bezombes, and Andy Shaw
Subjects: 0209 industrial biotechnology, Computer science, Real-time computing, robotic total station, extended Kalman filter, 02 engineering and technology, lcsh:Chemical technology, RTS, 01 natural sciences, Biochemistry, Article, Analytical Chemistry, Extended Kalman filter, 020901 industrial engineering & automation, Odometry, lcsh:TP1-1185, Electrical and Electronic Engineering, Instrumentation, Ground truth, T1, 010401 analytical chemistry, ultra wide-band, Mobile robot, Atomic and Molecular Physics, and Optics, 0104 chemical sciences, localisation, Trajectory, Robot
Abstract: Recent developments in localisation systems for autonomous robotic technology have been a driving factor in the deployment of robots in a wide variety of environments. Estimating sensor measurement noise is an essential factor when producing uncertainty models for state-of-the-art robotic positioning systems. In this paper, a surveying grade optical instrument in the form of a Trimble S7 Robotic Total Station is utilised to dynamically characterise the error of positioning sensors of a ground based unmanned robot. The error characteristics are used as inputs into the construction of a Localisation Extended Kalman Filter which fuses Pozyx Ultra-wideband range measurements with odometry to obtain an optimal position estimation, all whilst using the path generated from the remote tracking feature of the Robotic Total Station as a ground truth metric. Experiments show that the proposed method yields an improved positional estimation compared to the Pozyx systems’ native firmware algorithm as well as producing a smoother trajectory.
Published: 2018
Full Text: View/download PDF

76. Application of an integrated geotechnical and topographic monitoring system in the Lorano marble quarry (Apuan Alps, Italy)

Author: Silvia Riccucci, Domenico Gullì, Mirko Francioni, Claudio Vanneschi, and Riccardo Salvini
Subjects: Marble quarry Slope stability Rock buttress Monitoring system Robotic total station Displacement analysis, Plucking, Displacement analysis, Slope stability, Robotic total station, Total station, Monitoring system, Excavation, Marble quarry, Mining engineering, Geotechnical engineering, Rock buttress, Rock mass classification, Scale (map), Slope stability analysis, Geology, Earth-Surface Processes
Abstract: Accurate slope stability analysis is essential for human activity in high-risk geological contexts. This may, however, not be enough in the case of quarrying where the dynamic and evolving environment also requires effective monitoring. A well-designed monitoring system requires the acquisition of a huge dataset over time, improving knowledge of the study area and helping to refine prediction from stability analysis. This paper reports the implementation of an integrated monitoring system in a marble quarry in the Apuan Alps (Italy) and some of the results obtained. The equipment consists of a traditional geotechnical monitoring system (extensometers, crackmeters and clinometers) and two modern topographic monitoring systems (a terrestrial interferometer and a robotic total station). This work aims to provide in-depth knowledge of the large scale rock mass behaviour as a result of marble exploitation, thereby allowing continuous excavation. The results highlight the importance of integrating different monitoring systems.
Published: 2015

77. Determination of dynamic displacements of the roof of sports hall Arena Zagreb

Author: Marendić, Ante, Paar, Rinaldo, Duvnjak, Ivan, Buterin, Antonija, Kopačik, Alojz, and Kyrinovič, Peter, Štroner, Martin
Subjects: Robotic total station, GPS, dynamic displacements of the structures
Abstract: Determination of construction displacements and deformations are an important parameter in assessing the condition and safety of the construction in its exploitation. Also, we get confirmation whether a structure is consistent with project solutions. Constant development of surveying instruments enables to deal with more complex and demanding tasks that are facing engineering geodesy. Surveying instruments can measure, not only static and very slow displacements of the constructions, but also and faster (dynamic) displacements. In this paper, the possibilities of geodetic measuring instruments to determine the dynamic response of structures in exploitation, is presented. The instruments (GPS and Robotic total station) were used to measure dynamic response of main cable at the roof of the sports hall "Arena Zagreb" during an artificially induced excitation. Frequencies of main cable determined by GPS and robotic total station were compared to the frequencies determined by the accelerometer. The analysis and the results of comparison are presented in this paper.
Published: 2014

78. Uncertainty Characterisation of Mobile Robot Localisation Techniques using Optical Surveying Grade Instruments.

Author: McLoughlin, Benjamin J., Pointon, Harry A. G., McLoughlin, John P., Shaw, Andy, and Bezombes, Frederic A.
Subjects: *MOBILE robots, *AUTONOMOUS robots, *DETECTORS, *UNCERTAINTY, *KALMAN filtering, *ALGORITHMS, *ESTIMATION theory
Abstract: Recent developments in localisation systems for autonomous robotic technology have been a driving factor in the deployment of robots in a wide variety of environments. Estimating sensor measurement noise is an essential factor when producing uncertainty models for state-of-the-art robotic positioning systems. In this paper, a surveying grade optical instrument in the form of a Trimble S7 Robotic Total Station is utilised to dynamically characterise the error of positioning sensors of a ground based unmanned robot. The error characteristics are used as inputs into the construction of a Localisation Extended Kalman Filter which fuses Pozyx Ultra-wideband range measurements with odometry to obtain an optimal position estimation, all whilst using the path generated from the remote tracking feature of the Robotic Total Station as a ground truth metric. Experiments show that the proposed method yields an improved positional estimation compared to the Pozyx systems’ native firmware algorithm as well as producing a smoother trajectory. [ABSTRACT FROM AUTHOR]
Published: 2018
Full Text: View/download PDF

79. Mogućnosti geodetskih instrumenata u određivanju dinamičkih pomaka građevina

Author: Ante Marendić, Zdravko Kapović, and Rinaldo Paar
Subjects: robotizirana mjerna stanica, GPS, dinamički pomaci građevina, robotic total station, dynamic displacements of the structures
Abstract: Određivanjem pomaka i deformacija građevina tijekom eksploatacije dobiva se saznanje ponaša li se građevina u skladu s projektnim rješenjima, a dobiveni podaci predstavljaju važan parametar u procjeni stanja i sigurnosti građevine. Stalnim razvojem geodetskih instrumenata omogućeno je rješavanje sve složenijih i zahtjevnijih zadataka koji se postavljaju pred inženjersku geodeziju. Geodetskim instrumentima, osim određivanja statičkih i veoma sporih pomaka, moguće je odrediti i brže (dinamičke) pomake građevina. U svrhu određivanja preciznosti, ograničenja i mogućnosti geodetskih instrumenata provedena su istraživanja u kojima su instrumenti određivali simulirane dinamičke pomake građevina frekvencija do 7,5 Hz, pri izvođenju do 20 mjerenja u sekundi. Ostvareni rezultati pri određivanju simuliranih dinamičkih pomaka kao i rezultati pri mjerenju na krovnoj konstrukciji sportske dvorane "Arena Zagreb" prikazani su u radu., Determination of construction displacements and deformations are an important parameter in assessing the condition and safety of the construction in its exploitation. Also, we get confirmation whether a structure is consistent with project solutions. Constant development of surveying instruments enables us to deal with more complex and demanding tasks that are facing engineering geodesy. Surveying instruments can measure, not only static and very slow displacements of the constructions, but also and faster (dynamic) displacements. In order to determine the accuracy, limitation and possibilities of surveying instruments, dynamic displacements of the constructions were simulated at the testing field. Surveying instruments were measuring simulated dynamic displacements with predefined frequency (up to 7.5 Hz) and amplitude of oscillation. Achieved results from the testing field, as well as results of the measurements from the roof construction of sports hall "Arena Zagreb" are presented in the paper.
Published: 2013

80. Experimental Testing of the Sports Hall Roof Structure 'Arena Zagreb'

Author: Marendić, Ante, Paar, Rinaldo, Kapović, Zdravko, Novaković, Gorana, Babić, Krešimir, Kopáčik, Alojz, Kyrinovič, Peter, and Roić, Miodrag
Subjects: roof structure, experimental testing, deformation, robotic total station
Abstract: "Arena Zagreb" sports hall which was built for the maintenance of 21st Handball World Championships held in Zagreb in 2009 is the object of special importance. The roof structure of the hall is nearly rectangular shaped ground plan dimensions of 143.0 x 103.6 m. It consists of curved main steel girders suspended steel tie rods to the tops of the facade of concrete beams in the east-west direction and secondary steel beams in a north-south direction. Since this is a sports hall, where during sports events there is a large number of people and considering it's particularly complex shape and design construction, the applicable Croatian legislation for steel structures (HRN U. M1. 047 – OG 139/09) require an experimental testing. With this testing, before obtaining a use permit, it is checked whether the construction is technically correct and suitable to take the project anticipated loads. In this paper a static load test of the roof main beams of "Arena Zagreb" with the application of geodetic surveying methods will be presented. The most interesting test results obtained by classical geodetic surveying methods, using modern robotic total stations, will be presented.
Published: 2011

81. Comparative Evaluation Of Excavation Volume By Tls And Total Topographic Station Based Methods

Author: Murat Yakar, Yilmaz, H. M., Mutluoglu, O., and Mühendislik Fakültesi
Subjects: Laser Scanning, Geodetic Method, Surface Modelling, Volume Computing, Digital terrain model (DTM), Terrestrial Laser Scanner (TLS), Robotic Total Station
Abstract: Nowadays volume values are used in many engineering studies, such as road projects, mining enterprises, geological works and building applications. A volume can be computed by geodetic, trapezoidal and improved methods such as Simpson-based, cubic spline, and cubic Hermite formula. These improved methods model the object surface as nonlinear profiles. As the associated technology has developed then so have the opportunities for the development of new techniques in surface modelling. Now, the generation of a three-dimensional (3D) model is generally achieved by non-contact systems based on light waves and can be completed on a computer. This is particularly useful in situations where there are risks attached to reaching the location to be modelled - the calculations can be performed from a photograph or from scanned images of the object. In this study the performance of a laser scanning method, robotic total station instrument and geodetic method of volume computation were investigated. The volume computation was carried out using these methods in an excavation area and the methods were compared in terms of accuracy, time and cost. It was concluded that all the methods can satisfactorily be used for volume computing; however, the choice of method should be made according to the location and size of area, required accuracy, budget and time frame. © 2010 Old City Publishing, Inc.
Published: 2010

82. 3D float tracking : in situ floodplain roughness estimation

Author: Menno Straatsma, Faculty of Geo-Information Science and Earth Observation, and Department of Earth Systems Analysis
Subjects: Shore, Hydrology, instrumentation, geography, geography.geographical_feature_category, Floodplain, Aardwetenschappen, Chézy formula, ADLIB-ART-2815, submerged vegetation, robotic total station, ADCP, Surface finish, in situ measurements, hydrodynamic friction, ESA, Acoustic Doppler current profiler, Roughness length, Flow velocity, Potential flow, Geomorphology, Geology, Water Science and Technology
Abstract: This paper presents a novel technique to quantify in situ hydrodynamic roughness of submerged floodplain vegetation: 3D float tracking. This method uses a custom-built floating tripod that is released on the inundated floodplain and tracked from shore by a robotic total station. Simultaneously, an acoustic Doppler current profiler (ADCP) collects flow velocity profiles and water depth data. Roughness values are derived from two methods based on (1) run-averaged values of water depth, slope and flow velocity to compute the roughness based on the Chezy equation, assuming uniform flow, (2) the equation for one-dimensional free surface flow in a moving window. A sensitivity analysis using synthetic data proved that the median value of the roughness, derived using method 2, is independent of (1) the noise in water levels, up to 9 mm, (2) bottom surface slope, and (3) topographic undulations. The window size should be at least 40 m for a typical lowland river setup. Field measurements were carried out on two floodplain sections with an average vegetation height of 0·030 (Arnhem) and 0·043 m (Dreumel). Method 1 resulted in a Nikuradse roughness length of 0·08 m for both locations. Method 2 gave 0·12 m for Arnhem and 0·19 m for Dreumel. In Arnhem, a spatial pattern of roughness values was present, which might be related to fractional vegetation cover or vegetation density during the flood peak. 3D float tracking proved a flexible and detailed method for roughness determination in the absence of waves, and provided an unrestricted view from shore. Copyright © 2008 John Wiley & Sons, Ltd.
Published: 2009

83. Design and Optimization of Tunnel Guidance Systems for Tunneling subject to Constrained Space and Limited Visibility

Author: Mao, Sheng
Subjects: Robotic total station, Error Analysis, Machine control and guidance, Tunnel construction, Tunnel boring machine
Abstract: Abstract: Modern construction, which is part of the whole industrialization process, evolves to be more both cost-efficient and time-efficient, meanwhile still preserving high quality. The core of the process is to extract and migrate precious body of knowledge and practical experience of the craftsmen (engineers, workers, etc.) to well-defined systems. Comparing to the scarceness of skillful craftsmen, the established systems will be able to replicate and distribute the knowledge and skills more quickly to new situations where related expertise is hard to obtain and scientific decision support is much desired in coping with real world challenges. The rapid expansion of cities worldwide demands fast construction of municipal infrastructures. The service tunnels, e.g. drainage tunnels and sanitary tunnels are very crucial to the life quality of the residents. However, the traditional tunnel construction is not efficient in either cost or time terms. Sufficient tunnels cannot serve these problems cause residents in reasonable time. The underground construction undertakings are never easy: from engineering aspect, besides the unpredictable changes of geotechnical conditions during the construction, the modern survey technologies like GPS cannot be applied to underground construction; the difficulties in underground construction are very high. From management aspect, the tunnels have less concurrency of different tasks due to the space constraints, and these results in less contingency for the management: even a small event may invalidate a thorough plan. Thanks to the modern construction techniques, for example, the guidance system of tunnel-boring machine, the tunnel construction has become much easier. The guidance system embeds survey as part of the construction, and feeds the construction with real-time guidance and checks. The technology results in productivity improvement and lower cost, and fast-feedback and without the help of the survey-based guidance system, the cost and difficulty of TBM construction are unimaginable. The guidance systems, especially those equipped with robotic survey tools, not only change the process of tunnel construction, but also can change the process of designing for construction implementation, which are currently solely comprehended by engineers and their experienced colleagues in the field relying on “gut” feeling. The research focuses on designing temporary facilities for tunnel construction. The engineering design of the tunnels concerns about functionality and geotechnical conditions, and in comparison, the design of temporary facilities cares more about practical implementation of the construction process. This research proposes a new framework to help with designing and optimizing temporary facilities by eliminating expensive and efficiency-killing full survey while preserving high quality. The survey-error based design framework utilizes the state-of-the-art guidance system as part of core design: the automation of the guidance system is the key to simplify the traditional construction, and make the new design possible. Therefore, the research will be illustrated in three steps: first the thesis introduces a state-of-the-art automation TBM guidance system and the mechanism of the latest guidance method; then the thesis discusses how to adapt the automatic guidance system into extreme cases of tunnel construction; and eventually, the thesis reveals why and how the automatic system becomes part of a design framework to facilitate tunneling under practical field constraints.
Published: 2016

84. Testování robotických totálních stanic Leica TCRP 1205+ a Topcon GPT 9001A

Author: Machotka, Radovan, Volařík, Tomáš, Gašparík, Michal, Machotka, Radovan, Volařík, Tomáš, and Gašparík, Michal
Abstract: Bakalárska práca Testování robotických totálních stanic Leica TCRP 1205+ a Topcon GPT 9001A sa zaoberá overením automatizovaných funkcií robotických totálnych staníc. Teoreticky a prakticky rozoberá technológiu automatického cielenia a sledovania hranola. Praktická časť testovania bola uskutočnená najskôr v ideálnych laboratórnych podmienkach, potom boli pokusy zopakované v reálnom prostredí, v teréne. Pri testovaní automatického sledovania hranola sa pozoroval najmä vplyv prekážok a okolia. Testovanie automatického cielenia bolo porovnávané s cielením manuálnym. Záver práce konfrontuje dosiahnuté výsledky s firemnými údajmi., Bachelor's thesis Testování robotických totálních stanic Leica TCRP 1205+ a Topcon GPT 9001A deals with the verification of automated features of robotic total stations. It discusses the technology of automatic targeting and tracking the prism theoretically and practically. The practical part of the test was performed first in ideal laboratory conditions, and then experiments were repeated in a real environment, in the field. Mainly the influence of barriers and environment was observed during the testing of automatic tracking the prism. The testing of automatic targeting was compared with the manual targeting. The conclusion of the thesis confronts achieved results with the corporate specifications.

85. Testování robotických totálních stanic Leica TCRP 1205+ a Topcon GPT 9001A

Author: Machotka, Radovan, Volařík, Tomáš, Gašparík, Michal, Machotka, Radovan, Volařík, Tomáš, and Gašparík, Michal
Abstract: Bakalárska práca Testování robotických totálních stanic Leica TCRP 1205+ a Topcon GPT 9001A sa zaoberá overením automatizovaných funkcií robotických totálnych staníc. Teoreticky a prakticky rozoberá technológiu automatického cielenia a sledovania hranola. Praktická časť testovania bola uskutočnená najskôr v ideálnych laboratórnych podmienkach, potom boli pokusy zopakované v reálnom prostredí, v teréne. Pri testovaní automatického sledovania hranola sa pozoroval najmä vplyv prekážok a okolia. Testovanie automatického cielenia bolo porovnávané s cielením manuálnym. Záver práce konfrontuje dosiahnuté výsledky s firemnými údajmi., Bachelor's thesis Testování robotických totálních stanic Leica TCRP 1205+ a Topcon GPT 9001A deals with the verification of automated features of robotic total stations. It discusses the technology of automatic targeting and tracking the prism theoretically and practically. The practical part of the test was performed first in ideal laboratory conditions, and then experiments were repeated in a real environment, in the field. Mainly the influence of barriers and environment was observed during the testing of automatic tracking the prism. The testing of automatic targeting was compared with the manual targeting. The conclusion of the thesis confronts achieved results with the corporate specifications.

86. Měření posunů a přetvoření mostu Gagarin

Author: Bureš, Jiří, Vitula, Alexej, Czíria, Kornél, Bureš, Jiří, Vitula, Alexej, and Czíria, Kornél
Abstract: Práca sa zaoberá komplexnou analýzou posunov a deformácií jedného mostného poľa nosnej konštrukcie železničného mostu "Gagarin". Mostná konštrukcia je od roku 2009 každoročne sledovaná etapovým meraním. Okrem dlhodobého sledovania mostu bol v roku 2015 realizovaný 24 hodinový automatizovaný monitoring pomocou robotickej totálnej stanice. Výsledky monitoringu umožňujú analýzu posunov a deformácií, analýzu presnosti merania a tiež vplyvu vonkajšieho prostredia na nosnú konštrukciu – určenie teplotných závislostí deformácií nosnej konštrukcie. Súčasťou práce je tiež vyhodnotenie dlhodobej stability výškovej vzťažnej sústavy, ktorá bola použitá pre sledovanie spodnej stavby mostu. Výsledkom práce sú hodnoty zistených posunov a deformácií, ich grafické znázornenie, geometrická interpretácia a príslušné charakteristiky presnosti., The work deals with a complex analysis of displacements and deformations of one bridge span of the railway bridge "Gagarin". The bridge structure was since 2009 annually measured. In addition to long-term monitoring of the bridge a 24-hour automatized monitoring was conducted in 2015 using robotic total station. The results of monitoring enables the analysis of displacements and deformations, analysis of measurement accuracy and also environmental influences on the structure - determination of the temperature dependence of deformations. Another part of the work is evaluating the long-term stability of the height reference frame that was used for geodetic epoch measuring of the bridge columns. The results of the work are the values of detected displacements and deformations, their graphical illustration, geometric interpretation and relevant characteristics of accuracy.

87. Měření pozice pohybujících se objektů pomocí robotické totální stanice

Author: Jílek, Tomáš, Žalud, Luděk, Horeličan, Tomáš, Jílek, Tomáš, Žalud, Luděk, and Horeličan, Tomáš
Abstract: Práca sa zaoberá objavujúcim sa nekonvenčným využitím moderných teodolitov, tiež známych ako Robotické Totálne Stanice (RTS), ako sledovací a navádzací systém, určením presnej pozície dynamicky sa pohybujúceho objektu. To sa týka najmä situácií, kde nie je možné využiť konvenčné polohovacie systémy akým je napríklad GNSS. Kinematicky určená poloha objektu kontinuálne sledujúcou RTS môže byť následne v reálnom čase využitá pre autonómnu navigáciu malých bezpilotných leteckých prostriedkov (UAV) poskytnutím referenčného súradnicového systému a okamžitej polohy v ňom. Podstatná časť práce je venovaná návrhu a realizácii vhodných experimentov, ktoré overia spoľahlivosť určovania presnej polohy objektu v presnom časovom okamžiku. Boli preverené stanice série S7 a S9 od spoločnosti Trimble a stanica S9 HP, ktorá disponuje frekvenciou kontinuálneho merania až do 10 Hz bola napokon využitá pre experimenty. Lokálny čas ovládacieho panelu TSC7, ktorý zabezpečuje komunikáciu so stanicou bol pomocou protokolu PTP synchronizovaný s lokálnym časom mini-počítača Raspberry Pi, ktorý následne poskytoval referenčné meranie skutočnej polohy objektu v čase. V závere sú zhrnuté výsledky experimentov., This thesis deals with an emerging unconventional use case for modern theodolites, also known as Robotic Total Stations (RTSs), as a tracking and guidance system, by measuring the precise position of a dynamically moving object. This applies especially to situations where conventional positioning systems such as GNSS are insufficient or completely unavailable. A kinematically acquired position from a constantly tracking RTS could be used for real-time autonomous navigation of small Unmanned Aerial Vehicles (UAVs), essentially providing them with a reference coordinate frame and an immediate position within it. A significant part of this thesis is dedicated to the design and realization of suitable experiments, which would estimate the reliability of this precise position measurement in a precise moment in time. The S7 and S9 series stations from the Trimble company were evaluated and an S9 HP RTS, which provides a continuous measuring frequency of up to 10 Hz was then predominantly used for experiments. The local time of a TSC7 controller, interfacing with the RTS, was being synchronized through Precision Time Protocol (PTP) with the local time of a Raspberry Pi mini-computer, which then provided a reference measurement of an object's true position in time. The conclusion summarizes all obtained results.

88. Měření posunů a přetvoření mostu Gagarin

Author: Bureš, Jiří, Vitula, Alexej, Czíria, Kornél, Bureš, Jiří, Vitula, Alexej, and Czíria, Kornél
Abstract: Práca sa zaoberá komplexnou analýzou posunov a deformácií jedného mostného poľa nosnej konštrukcie železničného mostu "Gagarin". Mostná konštrukcia je od roku 2009 každoročne sledovaná etapovým meraním. Okrem dlhodobého sledovania mostu bol v roku 2015 realizovaný 24 hodinový automatizovaný monitoring pomocou robotickej totálnej stanice. Výsledky monitoringu umožňujú analýzu posunov a deformácií, analýzu presnosti merania a tiež vplyvu vonkajšieho prostredia na nosnú konštrukciu – určenie teplotných závislostí deformácií nosnej konštrukcie. Súčasťou práce je tiež vyhodnotenie dlhodobej stability výškovej vzťažnej sústavy, ktorá bola použitá pre sledovanie spodnej stavby mostu. Výsledkom práce sú hodnoty zistených posunov a deformácií, ich grafické znázornenie, geometrická interpretácia a príslušné charakteristiky presnosti., The work deals with a complex analysis of displacements and deformations of one bridge span of the railway bridge "Gagarin". The bridge structure was since 2009 annually measured. In addition to long-term monitoring of the bridge a 24-hour automatized monitoring was conducted in 2015 using robotic total station. The results of monitoring enables the analysis of displacements and deformations, analysis of measurement accuracy and also environmental influences on the structure - determination of the temperature dependence of deformations. Another part of the work is evaluating the long-term stability of the height reference frame that was used for geodetic epoch measuring of the bridge columns. The results of the work are the values of detected displacements and deformations, their graphical illustration, geometric interpretation and relevant characteristics of accuracy.

89. Testování robotických totálních stanic Leica TCRP 1205+ a Topcon GPT 9001A

Author: Machotka, Radovan, Volařík, Tomáš, Gašparík, Michal, Machotka, Radovan, Volařík, Tomáš, and Gašparík, Michal
Abstract: Bakalárska práca Testování robotických totálních stanic Leica TCRP 1205+ a Topcon GPT 9001A sa zaoberá overením automatizovaných funkcií robotických totálnych staníc. Teoreticky a prakticky rozoberá technológiu automatického cielenia a sledovania hranola. Praktická časť testovania bola uskutočnená najskôr v ideálnych laboratórnych podmienkach, potom boli pokusy zopakované v reálnom prostredí, v teréne. Pri testovaní automatického sledovania hranola sa pozoroval najmä vplyv prekážok a okolia. Testovanie automatického cielenia bolo porovnávané s cielením manuálnym. Záver práce konfrontuje dosiahnuté výsledky s firemnými údajmi., Bachelor's thesis Testování robotických totálních stanic Leica TCRP 1205+ a Topcon GPT 9001A deals with the verification of automated features of robotic total stations. It discusses the technology of automatic targeting and tracking the prism theoretically and practically. The practical part of the test was performed first in ideal laboratory conditions, and then experiments were repeated in a real environment, in the field. Mainly the influence of barriers and environment was observed during the testing of automatic tracking the prism. The testing of automatic targeting was compared with the manual targeting. The conclusion of the thesis confronts achieved results with the corporate specifications.

90. Testování robotických totálních stanic Leica TCRP 1205+ a Topcon GPT 9001A

Author: Machotka, Radovan, Volařík, Tomáš, Machotka, Radovan, and Volařík, Tomáš
Abstract: Bakalárska práca Testování robotických totálních stanic Leica TCRP 1205+ a Topcon GPT 9001A sa zaoberá overením automatizovaných funkcií robotických totálnych staníc. Teoreticky a prakticky rozoberá technológiu automatického cielenia a sledovania hranola. Praktická časť testovania bola uskutočnená najskôr v ideálnych laboratórnych podmienkach, potom boli pokusy zopakované v reálnom prostredí, v teréne. Pri testovaní automatického sledovania hranola sa pozoroval najmä vplyv prekážok a okolia. Testovanie automatického cielenia bolo porovnávané s cielením manuálnym. Záver práce konfrontuje dosiahnuté výsledky s firemnými údajmi., Bachelor's thesis Testování robotických totálních stanic Leica TCRP 1205+ a Topcon GPT 9001A deals with the verification of automated features of robotic total stations. It discusses the technology of automatic targeting and tracking the prism theoretically and practically. The practical part of the test was performed first in ideal laboratory conditions, and then experiments were repeated in a real environment, in the field. Mainly the influence of barriers and environment was observed during the testing of automatic tracking the prism. The testing of automatic targeting was compared with the manual targeting. The conclusion of the thesis confronts achieved results with the corporate specifications.

91. Testování robotických totálních stanic Leica TCRP 1205+ a Topcon GPT 9001A

Author: Machotka, Radovan, Volařík, Tomáš, Machotka, Radovan, and Volařík, Tomáš
Abstract: Bakalárska práca Testování robotických totálních stanic Leica TCRP 1205+ a Topcon GPT 9001A sa zaoberá overením automatizovaných funkcií robotických totálnych staníc. Teoreticky a prakticky rozoberá technológiu automatického cielenia a sledovania hranola. Praktická časť testovania bola uskutočnená najskôr v ideálnych laboratórnych podmienkach, potom boli pokusy zopakované v reálnom prostredí, v teréne. Pri testovaní automatického sledovania hranola sa pozoroval najmä vplyv prekážok a okolia. Testovanie automatického cielenia bolo porovnávané s cielením manuálnym. Záver práce konfrontuje dosiahnuté výsledky s firemnými údajmi., Bachelor's thesis Testování robotických totálních stanic Leica TCRP 1205+ a Topcon GPT 9001A deals with the verification of automated features of robotic total stations. It discusses the technology of automatic targeting and tracking the prism theoretically and practically. The practical part of the test was performed first in ideal laboratory conditions, and then experiments were repeated in a real environment, in the field. Mainly the influence of barriers and environment was observed during the testing of automatic tracking the prism. The testing of automatic targeting was compared with the manual targeting. The conclusion of the thesis confronts achieved results with the corporate specifications.

92. Měření posunů a přetvoření mostu Gagarin

Author: Bureš, Jiří, Vitula, Alexej, Bureš, Jiří, and Vitula, Alexej
Abstract: Práca sa zaoberá komplexnou analýzou posunov a deformácií jedného mostného poľa nosnej konštrukcie železničného mostu "Gagarin". Mostná konštrukcia je od roku 2009 každoročne sledovaná etapovým meraním. Okrem dlhodobého sledovania mostu bol v roku 2015 realizovaný 24 hodinový automatizovaný monitoring pomocou robotickej totálnej stanice. Výsledky monitoringu umožňujú analýzu posunov a deformácií, analýzu presnosti merania a tiež vplyvu vonkajšieho prostredia na nosnú konštrukciu – určenie teplotných závislostí deformácií nosnej konštrukcie. Súčasťou práce je tiež vyhodnotenie dlhodobej stability výškovej vzťažnej sústavy, ktorá bola použitá pre sledovanie spodnej stavby mostu. Výsledkom práce sú hodnoty zistených posunov a deformácií, ich grafické znázornenie, geometrická interpretácia a príslušné charakteristiky presnosti., The work deals with a complex analysis of displacements and deformations of one bridge span of the railway bridge "Gagarin". The bridge structure was since 2009 annually measured. In addition to long-term monitoring of the bridge a 24-hour automatized monitoring was conducted in 2015 using robotic total station. The results of monitoring enables the analysis of displacements and deformations, analysis of measurement accuracy and also environmental influences on the structure - determination of the temperature dependence of deformations. Another part of the work is evaluating the long-term stability of the height reference frame that was used for geodetic epoch measuring of the bridge columns. The results of the work are the values of detected displacements and deformations, their graphical illustration, geometric interpretation and relevant characteristics of accuracy.

93. Testování robotických totálních stanic Leica TCRP 1205+ a Topcon GPT 9001A

Author: Machotka, Radovan, Volařík, Tomáš, Machotka, Radovan, and Volařík, Tomáš
Abstract: Bakalárska práca Testování robotických totálních stanic Leica TCRP 1205+ a Topcon GPT 9001A sa zaoberá overením automatizovaných funkcií robotických totálnych staníc. Teoreticky a prakticky rozoberá technológiu automatického cielenia a sledovania hranola. Praktická časť testovania bola uskutočnená najskôr v ideálnych laboratórnych podmienkach, potom boli pokusy zopakované v reálnom prostredí, v teréne. Pri testovaní automatického sledovania hranola sa pozoroval najmä vplyv prekážok a okolia. Testovanie automatického cielenia bolo porovnávané s cielením manuálnym. Záver práce konfrontuje dosiahnuté výsledky s firemnými údajmi., Bachelor's thesis Testování robotických totálních stanic Leica TCRP 1205+ a Topcon GPT 9001A deals with the verification of automated features of robotic total stations. It discusses the technology of automatic targeting and tracking the prism theoretically and practically. The practical part of the test was performed first in ideal laboratory conditions, and then experiments were repeated in a real environment, in the field. Mainly the influence of barriers and environment was observed during the testing of automatic tracking the prism. The testing of automatic targeting was compared with the manual targeting. The conclusion of the thesis confronts achieved results with the corporate specifications.

94. Měření pozice pohybujících se objektů pomocí robotické totální stanice

Author: Jílek, Tomáš, Žalud, Luděk, Jílek, Tomáš, and Žalud, Luděk
Abstract: Práca sa zaoberá objavujúcim sa nekonvenčným využitím moderných teodolitov, tiež známych ako Robotické Totálne Stanice (RTS), ako sledovací a navádzací systém, určením presnej pozície dynamicky sa pohybujúceho objektu. To sa týka najmä situácií, kde nie je možné využiť konvenčné polohovacie systémy akým je napríklad GNSS. Kinematicky určená poloha objektu kontinuálne sledujúcou RTS môže byť následne v reálnom čase využitá pre autonómnu navigáciu malých bezpilotných leteckých prostriedkov (UAV) poskytnutím referenčného súradnicového systému a okamžitej polohy v ňom. Podstatná časť práce je venovaná návrhu a realizácii vhodných experimentov, ktoré overia spoľahlivosť určovania presnej polohy objektu v presnom časovom okamžiku. Boli preverené stanice série S7 a S9 od spoločnosti Trimble a stanica S9 HP, ktorá disponuje frekvenciou kontinuálneho merania až do 10 Hz bola napokon využitá pre experimenty. Lokálny čas ovládacieho panelu TSC7, ktorý zabezpečuje komunikáciu so stanicou bol pomocou protokolu PTP synchronizovaný s lokálnym časom mini-počítača Raspberry Pi, ktorý následne poskytoval referenčné meranie skutočnej polohy objektu v čase. V závere sú zhrnuté výsledky experimentov., This thesis deals with an emerging unconventional use case for modern theodolites, also known as Robotic Total Stations (RTSs), as a tracking and guidance system, by measuring the precise position of a dynamically moving object. This applies especially to situations where conventional positioning systems such as GNSS are insufficient or completely unavailable. A kinematically acquired position from a constantly tracking RTS could be used for real-time autonomous navigation of small Unmanned Aerial Vehicles (UAVs), essentially providing them with a reference coordinate frame and an immediate position within it. A significant part of this thesis is dedicated to the design and realization of suitable experiments, which would estimate the reliability of this precise position measurement in a precise moment in time. The S7 and S9 series stations from the Trimble company were evaluated and an S9 HP RTS, which provides a continuous measuring frequency of up to 10 Hz was then predominantly used for experiments. The local time of a TSC7 controller, interfacing with the RTS, was being synchronized through Precision Time Protocol (PTP) with the local time of a Raspberry Pi mini-computer, which then provided a reference measurement of an object's true position in time. The conclusion summarizes all obtained results.

95. Měření pozice pohybujících se objektů pomocí robotické totální stanice

Author: Jílek, Tomáš, Žalud, Luděk, Jílek, Tomáš, and Žalud, Luděk
Abstract: Práca sa zaoberá objavujúcim sa nekonvenčným využitím moderných teodolitov, tiež známych ako Robotické Totálne Stanice (RTS), ako sledovací a navádzací systém, určením presnej pozície dynamicky sa pohybujúceho objektu. To sa týka najmä situácií, kde nie je možné využiť konvenčné polohovacie systémy akým je napríklad GNSS. Kinematicky určená poloha objektu kontinuálne sledujúcou RTS môže byť následne v reálnom čase využitá pre autonómnu navigáciu malých bezpilotných leteckých prostriedkov (UAV) poskytnutím referenčného súradnicového systému a okamžitej polohy v ňom. Podstatná časť práce je venovaná návrhu a realizácii vhodných experimentov, ktoré overia spoľahlivosť určovania presnej polohy objektu v presnom časovom okamžiku. Boli preverené stanice série S7 a S9 od spoločnosti Trimble a stanica S9 HP, ktorá disponuje frekvenciou kontinuálneho merania až do 10 Hz bola napokon využitá pre experimenty. Lokálny čas ovládacieho panelu TSC7, ktorý zabezpečuje komunikáciu so stanicou bol pomocou protokolu PTP synchronizovaný s lokálnym časom mini-počítača Raspberry Pi, ktorý následne poskytoval referenčné meranie skutočnej polohy objektu v čase. V závere sú zhrnuté výsledky experimentov., This thesis deals with an emerging unconventional use case for modern theodolites, also known as Robotic Total Stations (RTSs), as a tracking and guidance system, by measuring the precise position of a dynamically moving object. This applies especially to situations where conventional positioning systems such as GNSS are insufficient or completely unavailable. A kinematically acquired position from a constantly tracking RTS could be used for real-time autonomous navigation of small Unmanned Aerial Vehicles (UAVs), essentially providing them with a reference coordinate frame and an immediate position within it. A significant part of this thesis is dedicated to the design and realization of suitable experiments, which would estimate the reliability of this precise position measurement in a precise moment in time. The S7 and S9 series stations from the Trimble company were evaluated and an S9 HP RTS, which provides a continuous measuring frequency of up to 10 Hz was then predominantly used for experiments. The local time of a TSC7 controller, interfacing with the RTS, was being synchronized through Precision Time Protocol (PTP) with the local time of a Raspberry Pi mini-computer, which then provided a reference measurement of an object's true position in time. The conclusion summarizes all obtained results.

96. Měření pozice pohybujících se objektů pomocí robotické totální stanice

Author: Jílek, Tomáš, Žalud, Luděk, Jílek, Tomáš, and Žalud, Luděk
Abstract: Práca sa zaoberá objavujúcim sa nekonvenčným využitím moderných teodolitov, tiež známych ako Robotické Totálne Stanice (RTS), ako sledovací a navádzací systém, určením presnej pozície dynamicky sa pohybujúceho objektu. To sa týka najmä situácií, kde nie je možné využiť konvenčné polohovacie systémy akým je napríklad GNSS. Kinematicky určená poloha objektu kontinuálne sledujúcou RTS môže byť následne v reálnom čase využitá pre autonómnu navigáciu malých bezpilotných leteckých prostriedkov (UAV) poskytnutím referenčného súradnicového systému a okamžitej polohy v ňom. Podstatná časť práce je venovaná návrhu a realizácii vhodných experimentov, ktoré overia spoľahlivosť určovania presnej polohy objektu v presnom časovom okamžiku. Boli preverené stanice série S7 a S9 od spoločnosti Trimble a stanica S9 HP, ktorá disponuje frekvenciou kontinuálneho merania až do 10 Hz bola napokon využitá pre experimenty. Lokálny čas ovládacieho panelu TSC7, ktorý zabezpečuje komunikáciu so stanicou bol pomocou protokolu PTP synchronizovaný s lokálnym časom mini-počítača Raspberry Pi, ktorý následne poskytoval referenčné meranie skutočnej polohy objektu v čase. V závere sú zhrnuté výsledky experimentov., This thesis deals with an emerging unconventional use case for modern theodolites, also known as Robotic Total Stations (RTSs), as a tracking and guidance system, by measuring the precise position of a dynamically moving object. This applies especially to situations where conventional positioning systems such as GNSS are insufficient or completely unavailable. A kinematically acquired position from a constantly tracking RTS could be used for real-time autonomous navigation of small Unmanned Aerial Vehicles (UAVs), essentially providing them with a reference coordinate frame and an immediate position within it. A significant part of this thesis is dedicated to the design and realization of suitable experiments, which would estimate the reliability of this precise position measurement in a precise moment in time. The S7 and S9 series stations from the Trimble company were evaluated and an S9 HP RTS, which provides a continuous measuring frequency of up to 10 Hz was then predominantly used for experiments. The local time of a TSC7 controller, interfacing with the RTS, was being synchronized through Precision Time Protocol (PTP) with the local time of a Raspberry Pi mini-computer, which then provided a reference measurement of an object's true position in time. The conclusion summarizes all obtained results.

97. Měření posunů a přetvoření mostu Gagarin

Author: Bureš, Jiří, Vitula, Alexej, Bureš, Jiří, and Vitula, Alexej
Abstract: Práca sa zaoberá komplexnou analýzou posunov a deformácií jedného mostného poľa nosnej konštrukcie železničného mostu "Gagarin". Mostná konštrukcia je od roku 2009 každoročne sledovaná etapovým meraním. Okrem dlhodobého sledovania mostu bol v roku 2015 realizovaný 24 hodinový automatizovaný monitoring pomocou robotickej totálnej stanice. Výsledky monitoringu umožňujú analýzu posunov a deformácií, analýzu presnosti merania a tiež vplyvu vonkajšieho prostredia na nosnú konštrukciu – určenie teplotných závislostí deformácií nosnej konštrukcie. Súčasťou práce je tiež vyhodnotenie dlhodobej stability výškovej vzťažnej sústavy, ktorá bola použitá pre sledovanie spodnej stavby mostu. Výsledkom práce sú hodnoty zistených posunov a deformácií, ich grafické znázornenie, geometrická interpretácia a príslušné charakteristiky presnosti., The work deals with a complex analysis of displacements and deformations of one bridge span of the railway bridge "Gagarin". The bridge structure was since 2009 annually measured. In addition to long-term monitoring of the bridge a 24-hour automatized monitoring was conducted in 2015 using robotic total station. The results of monitoring enables the analysis of displacements and deformations, analysis of measurement accuracy and also environmental influences on the structure - determination of the temperature dependence of deformations. Another part of the work is evaluating the long-term stability of the height reference frame that was used for geodetic epoch measuring of the bridge columns. The results of the work are the values of detected displacements and deformations, their graphical illustration, geometric interpretation and relevant characteristics of accuracy.

98. Měření posunů a přetvoření mostu Gagarin

Author: Bureš, Jiří, Vitula, Alexej, Bureš, Jiří, and Vitula, Alexej
Abstract: Práca sa zaoberá komplexnou analýzou posunov a deformácií jedného mostného poľa nosnej konštrukcie železničného mostu "Gagarin". Mostná konštrukcia je od roku 2009 každoročne sledovaná etapovým meraním. Okrem dlhodobého sledovania mostu bol v roku 2015 realizovaný 24 hodinový automatizovaný monitoring pomocou robotickej totálnej stanice. Výsledky monitoringu umožňujú analýzu posunov a deformácií, analýzu presnosti merania a tiež vplyvu vonkajšieho prostredia na nosnú konštrukciu – určenie teplotných závislostí deformácií nosnej konštrukcie. Súčasťou práce je tiež vyhodnotenie dlhodobej stability výškovej vzťažnej sústavy, ktorá bola použitá pre sledovanie spodnej stavby mostu. Výsledkom práce sú hodnoty zistených posunov a deformácií, ich grafické znázornenie, geometrická interpretácia a príslušné charakteristiky presnosti., The work deals with a complex analysis of displacements and deformations of one bridge span of the railway bridge "Gagarin". The bridge structure was since 2009 annually measured. In addition to long-term monitoring of the bridge a 24-hour automatized monitoring was conducted in 2015 using robotic total station. The results of monitoring enables the analysis of displacements and deformations, analysis of measurement accuracy and also environmental influences on the structure - determination of the temperature dependence of deformations. Another part of the work is evaluating the long-term stability of the height reference frame that was used for geodetic epoch measuring of the bridge columns. The results of the work are the values of detected displacements and deformations, their graphical illustration, geometric interpretation and relevant characteristics of accuracy.

99. Měření posunů a přetvoření mostu Gagarin

Author: Bureš, Jiří, Vitula, Alexej, Bureš, Jiří, and Vitula, Alexej
Abstract: Práca sa zaoberá komplexnou analýzou posunov a deformácií jedného mostného poľa nosnej konštrukcie železničného mostu "Gagarin". Mostná konštrukcia je od roku 2009 každoročne sledovaná etapovým meraním. Okrem dlhodobého sledovania mostu bol v roku 2015 realizovaný 24 hodinový automatizovaný monitoring pomocou robotickej totálnej stanice. Výsledky monitoringu umožňujú analýzu posunov a deformácií, analýzu presnosti merania a tiež vplyvu vonkajšieho prostredia na nosnú konštrukciu – určenie teplotných závislostí deformácií nosnej konštrukcie. Súčasťou práce je tiež vyhodnotenie dlhodobej stability výškovej vzťažnej sústavy, ktorá bola použitá pre sledovanie spodnej stavby mostu. Výsledkom práce sú hodnoty zistených posunov a deformácií, ich grafické znázornenie, geometrická interpretácia a príslušné charakteristiky presnosti., The work deals with a complex analysis of displacements and deformations of one bridge span of the railway bridge "Gagarin". The bridge structure was since 2009 annually measured. In addition to long-term monitoring of the bridge a 24-hour automatized monitoring was conducted in 2015 using robotic total station. The results of monitoring enables the analysis of displacements and deformations, analysis of measurement accuracy and also environmental influences on the structure - determination of the temperature dependence of deformations. Another part of the work is evaluating the long-term stability of the height reference frame that was used for geodetic epoch measuring of the bridge columns. The results of the work are the values of detected displacements and deformations, their graphical illustration, geometric interpretation and relevant characteristics of accuracy.

100. Měření pozice pohybujících se objektů pomocí robotické totální stanice

Author: Jílek, Tomáš, Žalud, Luděk, Horeličan, Tomáš, Jílek, Tomáš, Žalud, Luděk, and Horeličan, Tomáš
Abstract: Práca sa zaoberá objavujúcim sa nekonvenčným využitím moderných teodolitov, tiež známych ako Robotické Totálne Stanice (RTS), ako sledovací a navádzací systém, určením presnej pozície dynamicky sa pohybujúceho objektu. To sa týka najmä situácií, kde nie je možné využiť konvenčné polohovacie systémy akým je napríklad GNSS. Kinematicky určená poloha objektu kontinuálne sledujúcou RTS môže byť následne v reálnom čase využitá pre autonómnu navigáciu malých bezpilotných leteckých prostriedkov (UAV) poskytnutím referenčného súradnicového systému a okamžitej polohy v ňom. Podstatná časť práce je venovaná návrhu a realizácii vhodných experimentov, ktoré overia spoľahlivosť určovania presnej polohy objektu v presnom časovom okamžiku. Boli preverené stanice série S7 a S9 od spoločnosti Trimble a stanica S9 HP, ktorá disponuje frekvenciou kontinuálneho merania až do 10 Hz bola napokon využitá pre experimenty. Lokálny čas ovládacieho panelu TSC7, ktorý zabezpečuje komunikáciu so stanicou bol pomocou protokolu PTP synchronizovaný s lokálnym časom mini-počítača Raspberry Pi, ktorý následne poskytoval referenčné meranie skutočnej polohy objektu v čase. V závere sú zhrnuté výsledky experimentov., This thesis deals with an emerging unconventional use case for modern theodolites, also known as Robotic Total Stations (RTSs), as a tracking and guidance system, by measuring the precise position of a dynamically moving object. This applies especially to situations where conventional positioning systems such as GNSS are insufficient or completely unavailable. A kinematically acquired position from a constantly tracking RTS could be used for real-time autonomous navigation of small Unmanned Aerial Vehicles (UAVs), essentially providing them with a reference coordinate frame and an immediate position within it. A significant part of this thesis is dedicated to the design and realization of suitable experiments, which would estimate the reliability of this precise position measurement in a precise moment in time. The S7 and S9 series stations from the Trimble company were evaluated and an S9 HP RTS, which provides a continuous measuring frequency of up to 10 Hz was then predominantly used for experiments. The local time of a TSC7 controller, interfacing with the RTS, was being synchronized through Precision Time Protocol (PTP) with the local time of a Raspberry Pi mini-computer, which then provided a reference measurement of an object's true position in time. The conclusion summarizes all obtained results.

Catalog

Books, media, physical & digital resources

See catalog results

Searchworks

Select search scope, currently: Articles Catalog books, media & more in Jio Institute collections Articles journal articles & other e-resources

Search

Search Constraints

Refine your results

Search Limiters

Topic

Publication Year Range

Language

Publication Type

Journal

Region

Database

Publisher

135 results on '"robotic total station"'

Search Results

Catalog

Select search scope, currently: Articles

Catalog

books, media & more in Jio Institute collections

Articles

journal articles & other e-resources