Table Of ContentIntelligent Systems, Control and Automation:
Science and Engineering
Erika Ottaviano
Assunta Pelliccio
Vincenzo Gattulli Editors
Mechatronics
for Cultural
Heritage and
Civil Engineering
Intelligent Systems, Control and Automation:
Science and Engineering
Volume 92
Series editor
Professor S. G. Tzafestas, National Technical University of Athens, Greece
Editorial Advisory Board
Professor P. Antsaklis, University of Notre Dame, IN, USA
Professor P. Borne, Ecole Centrale de Lille, France
Professor R. Carelli, Universidad Nacional de San Juan, Argentina
Professor T. Fukuda, Nagoya University, Japan
Professor N. R. Gans, The University of Texas at Dallas, Richardson, TX, USA
Professor F. Harashima, University of Tokyo, Japan
Professor P. Martinet, Ecole Centrale de Nantes, France
Professor S. Monaco, University La Sapienza, Rome, Italy
Professor R. R. Negenborn, Delft University of Technology, The Netherlands
Professor A. M. Pascoal, Institute for Systems and Robotics, Lisbon, Portugal
Professor G. Schmidt, Technical University of Munich, Germany
Professor T. M. Sobh, University of Bridgeport, CT, USA
Professor C. Tzafestas, National Technical University of Athens, Greece
Professor K. Valavanis, University of Denver, Colorado, USA
More information about this series at http://www.springer.com/series/6259
⋅
Erika Ottaviano Assunta Pelliccio
Vincenzo Gattulli
Editors
Mechatronics for Cultural
Heritage and Civil
Engineering
123
Editors
ErikaOttaviano Vincenzo Gattulli
Department ofCivil andMechanical Department ofStructural andGeotechnical
Engineering Engineering
University of Cassino andSouthern Lazio Sapienza University of Rome
Cassino, Frosinone Rome
Italy Italy
AssuntaPelliccio
Department ofCivil andMechanical
Engineering
University of Cassino andSouthern Lazio
Cassino, Frosinone
Italy
ISSN 2213-8986 ISSN 2213-8994 (electronic)
Intelligent Systems, Control andAutomation: Science andEngineering
ISBN978-3-319-68645-5 ISBN978-3-319-68646-2 (eBook)
https://doi.org/10.1007/978-3-319-68646-2
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Preface
This book presents recent advances in mechatronic and integrated monitoring and
management systems with application to architecture, archaeological survey, con-
structionmanagement and civil engineering.It comprises16 chapters,authoredby
recognized experts in a variety of fields, including dynamics, signal processing,
inverse modeling, robotics and automation, applied here to the design and con-
struction of civil structures and architectural surveys, and the monitoring and
maintenance of cultural heritage assets, structures and infrastructure.
Topics include image processing for automated visual inspection, fiber-optical
sensor technology, embedded systems for cables and wireless sensor monitoring,
bridge inspection and monitoring of tunnel infrastructures, design tools for con-
struction engineering, and smart cities. Direct and inverse modeling of multibody
systems and robots contributes to the development of applications for civil engi-
neering and smart cities, for infrastructure inspection and condition assessment,
unmanned aerial vehicle (UAV) systems and direct data processing. Digital tech-
nology and mechatronic systems change the way of looking at restoration of his-
torical and archeological sites, analysis, inspection, visualization, management
systems and sensor networks for human–machineinterfaces (HMI).Thecombined
use of geographic information systems (GIS), laser scanning, remote sensing,
digital thermography and drones as integrated systems is also discussed.
The book serves as a valuable reference volume for scientists, architects, engi-
neers,researchersandpractitionersinengineeringandarchitecture,astheintegrated
development of new technologies for the design and management of existing and
newinfrastructuremaygiverisetoanewmarketforservicesandproductsdesigned
to provide safe and economically optimized infrastructure management.
Through the dissemination of advanced research concepts in mechatronics and
integrated management systems, our objective is to promote the exchange of ideas
and collaboration among researchers of different disciplines, and to contribute to
further advancements in the rapidly growing field at the intersection of robotics,
automation and information technology, for the integrated management of struc-
tures and infrastructure.
v
vi Preface
The organization of the book into three main parts—“Robotics and Automa-
tion”, “Digital Technologies for Cultural Heritage” and “Civil Structural Health
Monitoring”—evidences the different backgrounds of the editors, unified by a
common interest. This perspective, which is expressed in the first chapter, reveals
theauthors’viewsregardingtheintegrationofthesethreekeyaspects.Asummary
of the main contributions of each part follows.
Robotics and automation are undergoing wide dissemination and effective use
throughouttheindustrialenvironment,withadvances inrelated disciplinessuchas
mechatronics, informatics and mechanics, whichare rapidly expanding inscope in
application for assisting, entertaining and interacting with humans.
Veryrecentapplicationscanbeseenintheuseofrobotsandautomatedsystems
inconstruction.IntheMECH-Section,twochaptersreportnewtrendsintheuseof
cable-driven parallel robots in the field of civil engineering ICT and construction.
Theserobotshaveamovingplatformsuspendedandoperatedbycablesconnected
tothebaseandrelyingontheforceofgravity.Usedinabroadrangeofapplications
of manipulative tasks, they enable operation in an uncluttered working environ-
ment. In addition, the large workspace and ability to work in a 3D environment
make them suitable for a wide range of applications. In this context, a joint col-
laboration in the fields of mechanical and civil engineering has produced a con-
tributiondiscussingupcomingtransformationsinshellproductionbycomparingthe
conventional construction process with that of the future, influenced by
cable-driven parallel robots, including a discussion of conceptual design and eco-
nomic feasibility analysis.
The second contribution deals with the analysis and design of reconfigurable
cablerobotsforuseinconstruction.Thereconfigurationoftherobotsallowsbetter
positioningcapabilityandworkspacefortheproposedcasestudy,whichdealswith
sandblasting and painting of a 3D tubular structure.
The algebraic and numerical techniques used extensively in robotics and com-
putationalkinematicscanbesuccessfullyappliedtootherdisciplines.Inthisregard,
a contribution links distance geometry, traditionally used for position and motion
analysis of mechanisms, to novel applications dealing with tensegrity and
deployable structures. The design ofnovel structureswithvariablegeometry relies
onacompletecharacterizationoftheirvalidconfigurations,definedbyasystemof
equationsencodingtheassembly,taskorcontactconstraints.Differentformulations
encode the equations presented.
Recent trends, also demonstrated by the outgoing H2020 calls, show growing
interest in smart and sustainable cities to better integrate environmental, transport,
energy and digital networks in the EU’s urban environments. In this context, a
contributionproposesasystematicapproachforsimulatingacomplexurbantraffic
scenario. This can be extended and further implemented, being computationally
efficient, for the optimization of an existing traffic-road system or the design of a
new one.
Home automation is the residential extension of building automation, and
involvestheinteroperabilityofsmartsensorsandsecurity.Itrepresentsapromising
market in the context of both technology and engineering techniques that exploit
Preface vii
the integration of mechatronics and information and communications technology
(ICT) for the development of smart buildings. The contribution presents a
methodology for obtaining and analyzing requirements associated with residential
automation systems design.
In recent decades, the use of ICT for the interpretation, conservation and
preservation of world heritage has grown exponentially. In light of the many tools
and methodological approaches used by researchers for the analysis of natural and
cultural heritage and for communicating the results, UNESCO in 2003 was com-
pelled to define the significance of “digital heritage” and to establish its value and
the need for its protection.
For the analysis of the territory, geographic information systems (GIS) are
particularly powerful and effective tools, as they allow for modeling ranging from
large- to small-scale representations, with which a large amount of data is associ-
ated and can be processed and correlated with the digital model.
Indeed, in the Arch-Section, the first contribution discusses the use of GIS to
explore the effects of subsidence in the city of Bologna, as the valuable historic
buildingheritageandchurchesandmonumentsofthecityareexposedtothatrisk.
Based on geostatistical methods, the system is able to analyze the spatial and
temporal evolution of subsidence phenomena and to reveal the roles of different
factors and their eventual mutual correlation.
In the architectural heritage field, numerous digital technologies and tools, each
different from the other, are available for surveying, visualizing and modeling. In
fact, the second contribution relates the use of thermal diagnostics as a
non-destructive testing method for the analysis of historical buildings. Using
analysis based on infrared thermography (of external walls), it is possible to cor-
relate the thermal properties with defects in the walls of historic buildings, and to
thenapplyanumericalcalculationbasedonthefiniteelementmethodontheresults
obtained.Thismethodisparticularlywellsuitedfortheanalysisofaspecialtypeof
historicalbuilding,knownas“workers’housingestates”,inUpperSilesia(Poland),
due to the typology, the material used and the location of those buildings.
In the specific branch of metric survey, laser scanning technology is the most
commonly used. The third contribution reports a detailed analysis of the current
technologies; specifically,theuseoflaserscannersisespeciallysuitablefor metric
survey of the structures and analysis of the materials of each individual element,
using the property of reflectance. Recent survey tools include 3D image modeling
usedtoobtainorthophotosformetricanalysis,andtheuseofamulticopterwithan
onboardNikoncameratorepresentthearchitecturalobjectasacloudofmillionsof
points.Theintegrationofallofthesetechnologiesishelpfulforunderstandingvery
complexarchitecturalphenomenabothinItalyandworldwide.Alwaysmoreoften,
monitoring to evaluate the structural plastic deformation of elements of historic
buildings is increasingly important in restoration. For this purpose, the integration
of various technologies is a key element. The fourth contribution shows how an
integrated system of 3D modeling, photo-modeling and laser scanning technology
isabletoproduce3Dcomputationalmodelingtosimulatethestaticperformanceof
vaulted roofs and constructive elements of historic architectures. In the area of
viii Preface
parametric modeling as applied to survey, the building information modeling
(BIM) concept is used in various approaches for cultural heritage. In the fifth
contribution, “H-BOM” is defined as BIM applied to a single object which makes
up the cultural heritage. The system is capable of detailed and accurate measure-
ment for semantic analysis of the building components based on 3D model with
different levels of architectural detail.
Research themes and interest in the integration of automation and information
technologies for inspection, maintenance, rehabilitation and management of exist-
ing structures and infrastructures has garnered increasing attention in recent years.
In addition, in the construction of new facilities, the embedding of technologically
advancedsystemsandmethodologiescanimproveservicelifeandreducelife-cycle
cost. In the CIV-Section, the first contribution presents a general methodology for
achieving so-called smart heritage, which can be obtained through properly
designed SHM systems, and when connected to an automated diagnostic system
can even self-evaluate retrofitting needs. After the general concept is illustrated,
threesubsequentcontributionswithspecificthemesrelatedtothisconcept.Thefirst
provides insights into the potentiality of statistical learning algorithms, both
supervised and unsupervised, in SHM for real-time condition assessment of civil
infrastructure systems. This approach allows for the construction of a surrogate
modelfromtheacquireddataasasubstituteforahigh-fidelitymodelinthecontext
ofdata-drivenmodels.Themethodologyispromisinginviewoflargedeployment
of distributed sensing for example in seismic urban areas. A second, similar con-
tribution deals with automated vibration-based structural health monitoring as a
useful alternative or complement to visual inspection or local non-destructive
testing performed manually.
The key challenge addressed here is in providing a robust damage diagnosis
from the recorded vibration measurements, for which statistical signal processing
methods are required. In this chapter, a damage detection method is examined
through comparison of vibration measurements from the current system to a ref-
erence state in a hypothesis test, where data-related uncertainties are taken into
account. The chapter presents an updated version of the current methodologies in
the specific field.
The interconnection between strengthening and sensing in the retrofitting of
ancient and modern construction provides an interesting contribution.
The chapter identifies a full-coverage reinforcement in the form of a polymeric
multi-axial textile methodology based on mesoscopic and multiscale representa-
tions within the context of characterization, identification and performance
assessment.Finally,themonitoringandmaintenanceofnon-conventionalstructures
is investigated, including water tanks and the steel frames inside them, by con-
sidering the underground structures in service at the Gran Sasso National
Laboratory (LNGS).
Cassino, Italy Erika Ottaviano
Cassino, Italy Assunta Pelliccio
Rome, Italy Vincenzo Gattulli
Contents
Mechatronics in the Process of Cultural Heritage and Civil
Infrastructure Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Vincenzo Gattulli, Erika Ottaviano and Assunta Pelliccio
Part I Robotics and Automation
TimedCellularAutomata-BasedToolfortheAnalysisofUrbanRoad
Traffic Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Camelia Avram, Adina Astilean and Eduardo Valente
Process Analysis of Cable-Driven Parallel Robots for Automated
Construction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Tobias Bruckmann, Arnim J. Spengler, Christian K. Karl,
Christopher Reichert and Markus König
Design of Reconfigurable Cable-Driven Parallel Robots. . . . . . . . . . . . . 85
Lorenzo Gagliardini, Marc Gouttefarde and Stéphane Caro
Distance Geometry in Active Structures. . . . . . . . . . . . . . . . . . . . . . . . . 115
Josep M. Porta, Nicolás Rojas and Federico Thomas
New Trends in Residential Automation . . . . . . . . . . . . . . . . . . . . . . . . . 137
JoséReinaldoSilva,JavierMartinezSilva,CelinaPereira,CameliaAvram
and Sergiu Dan-Stan
Part II Digital Technologies for Cultural Heritage
DigitalTechnologyandMechatronicSystemsfortheArchitectural3D
Metric Survey. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Marco Giorgio Bevilacqua, Gabriella Caroti, Andrea Piemonte
and Alessandro Ariel Terranova
ix
