Perpustakaan Digital ITB

The development of drone technology in recent years has seen widespread adoption in both commercial and governmental sectors, supporting operations in firefighting, agriculture, climate monitoring, and infrastructure surveillance. This growth has driven advancements in onboard sensors, positioning drones as valuable tools for building inspection, especially through Non- Destructive Testing (NDT) methods such as General Visual Inspection (GVI). However, traditional GVI often faces challenges in confined or elevated environments, where cranes or scaffolding increase cost and risk. Drones offer a safer and more efficient alternative, yet most current systems are designed for outdoor use and perform poorly in confined spaces due to exposed propellers, GNSS reliance, and bulkiness. This research focuses on the deisgn and prototyping of Zeke03, a novel wheeled quadrotor drone engineered specifically for confined-space indoor inspection in GPS-denied environments. A comprehensive Concept of Operations (ConOps) and Design Requirements and Objectives (DRO) were established to support flight and crawling inspection tasks. Zeke03 features a sub-2 kg frame, HD camera on gimbal, passive wheels, and at least 5 minutes of untethered flight time. The quadrotor was bench marked towards the Flyability Elios 3. The prototype was fabricated using 3D printing, CNC milling, and laser cutting, followed by detailed surface finishing. Laboratory tests confirmed proper system integration and provided moment of inertia data for both wheeled and wheel-less modes, enabling precise PID tuning. Zeke03 achieved stable flight in proofof- concept tests conducted in three relevant environments and successfully met the 5-minute flight endurance target. Crawling functionality significantly extended operational duration, particularly during horizontal inspection. However, vertical crawling proved more power-intensive and reduced endurance, suggesting the need for a higher thrust-to-weight ratio and larger propellers. The onboard camera captured usable inspection data and supported 2D/3D photogrammetry, although motion blur from continuous video recording indicated the need for still-image capture functionality. Tests also revealed vulnerability to gusts and backdrafts near walls, underlining the potential benefit of SLAM-based localization to support stability and precise hovering. This research confirms the feasibility of a wheeled quadrotor for confined-space inspection and highlights pathways for optimization in thrust efficiency, autonomy, and environmental robustness.