PSI - Issue 17

Available online at www.sciencedirect.com Structural Int grity Procedia 00 (2019) 000 – 000 Available online at www.sciencedirect.com ScienceDirect Structural Integrity Procedia 00 (2019) 000 – 000 Available online at www.sciencedirect.com ScienceDirect

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Procedia Structural Integrity 17 (2019) 712–717

ICSI 2019, the 3rd International Conference on Structural Integrity Geometry Acquisition and 3D Modelling of a Wind Tower using a 3D Laser Scanning Technology Behzad V. Farahani a,b, *, Francisco Barros b , Mihai A. Popescu a , Pedro J. Sousa a,b , Paulo J. Tavares b and Pedro Moreira b ICSI 2019, the 3rd International Conference on Structural Integrity Geometry Acquisition and 3D Modelling of a Wind Tower using a 3D Laser Scanning Technology Behzad V. Farahani a,b, *, Francisco Barros b , Mihai A. Popescu a , Pedro J. Sousa a,b , Paulo J. Tavares b and Pedro Moreira b a FEUP, Faculty of engineering, University of Porto, R. Dr. Roberto Frias, 4200-465 Porto, Portugal, b INEGI, Institute of Science and Innovation in Mechanical and Industrial Engineering, R. Dr. Roberto Frias, 400, 4200-465 Porto, Portugal. a FEUP, Faculty f engineering, U versity of Porto, R. Dr. Roberto Frias, 4200-465 Porto, Portugal, b INEGI, Institute of Science and Innovation in Mechanical and Industrial Engineering, R. Dr. Roberto Frias, 400, 4200-465 Porto, Portugal. This work aims at acquiring the interior shape of wind towers by means of a 3D laser scanning system (LSS). Typically, wind towers are made of structural steel sheets and their fabrication consists of rolling and welding of abutted rolled sheets. This task is typically carried out by welding robots moving through the tower structure. In this study, the developed setup consists of a camera and a circular laser module mounted on the welding robot’s arm traveling through the tower with a constant velocity. The deployed system assists in examining the tower’s interior surface, making it possible to obtain its 3D profile. It will therefore be b eneficial for monitoring the geometric changes which occur during the welding process. Encouraging results have been achieved in the characterization of the tower’s geometry, contributing to the assessment of the robustness and accuracy of the deployed 3D LSS. This work aims at acquiring th interior shape of wind towers by means f a 3D laser scanning system (LSS). Typically, wind towers are made f structural steel sheets and their fabrication consists of rolling and welding of abutted rolled sheets. This task is typically carried out by w lding robots moving through the tower structure. In this study, the developed setup consists of a camera and a circular laser module mounted on the welding robot’s arm traveling through the tower with a constant velocity. The deployed system assists in examining the tower’s interior surface, making it possible to obtai its 3D profile. It will ther fore b b eneficial for monitoring the geometric chang s which occur during the welding process. Encouraging results have been achieved in the characterization of the tower’s geometry, contributing to the assessment of the robustness and accuracy of the deployed 3D LSS. Abstract Abstract

© 2019 The Authors. Published by Elsevier B.V. Peer-review under responsibility of the ICSI 2019 organizers. © 2019 The Authors. Published by Elsevier B.V. Peer-review under responsibility of the ICSI 2019 organizers. © 2019 The Authors. Published by Elsevier B.V. Peer-review under responsibility of the ICSI 2019 organizers. Keywords: Wind towers; 3D laser scanning; Image processing; Inspection. Keywords: Wind towers; 3D laser scanning; Image processing; Inspection.

1. Introduction 1. Introduction

Wind energy as a well-established and advanced technology is progressively growing to be the most promising alternative among other renewable sources (Frondel et al. 2010). Wind energy as a well-established and advanced technology is progressively growing to be the most promising alternative among other renewable sources (Frondel et al. 2010).

* Corresponding author. Tel.: +351 938096044. E-mail address: behzad.farahani@fe.up.pt * Correspon ing aut or. Tel.: +351 938096044. E-mail address: behzad.farahani@fe.up.pt

2452-3216 © 2019 The Authors. Published by Elsevier B.V. Peer-review under responsibility of the ICSI 2019 organizers. 2452-3216 © 2019 The Authors. Published by Elsevier B.V. Peer-review under responsibility of the ICSI 2019 organizers.

2452-3216  2019 The Authors. Published by Elsevier B.V. Peer-review under responsibility of the ICSI 2019 organizers. 10.1016/j.prostr.2019.08.095