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    Automating Data Collection for Robotic Bridge Inspections

    Source: Journal of Bridge Engineering:;2019:;Volume ( 024 ):;issue: 008
    Author:
    Stephen Phillips
    ,
    Sriram Narasimhan
    DOI: 10.1061/(ASCE)BE.1943-5592.0001442
    Publisher: American Society of Civil Engineers
    Abstract: Regular bridge inspections are key to maintaining healthy infrastructure and to preventing unanticipated structural failures. In recent years, mobile inspection robots have been proposed as a tool to aid bridge inspections. Their key advantages include the ability to access areas of a bridge that are otherwise difficult to inspect and the ability to automate the process of collecting and processing data to increase repeatability and reliability of inspections. Although software algorithms have successfully demonstrated the ability to automate defect detection, many data collection platforms, such as drones and ground vehicles, still require an operator to control the robot via teleoperation, and they do not adequately address the challenges associated with automating data collection for bridge inspection, which is central to achieve repeatability of inspections over time. In this study, the challenges associated with automating data collection for visual inspection of bridges are addressed using a ground-based robot, and an autonomy framework, which can meet the requirements for management and execution of inspection plans, is presented. Key tasks considered in this study are managing inspection plan execution on a ground-based robot, robot localization and mapping, and autonomous navigation in a bridge environment. This automated data collection framework is demonstrated on a concrete bridge by automatically building an accurate point cloud reconstruction of the bridge. Automating data collection can enable more systematic and repeatable inspections, which is a critical upstream task to constructing deterioration models in structural components using inspection data collected over the lifetime of a bridge.
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      Automating Data Collection for Robotic Bridge Inspections

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    contributor authorStephen Phillips
    contributor authorSriram Narasimhan
    date accessioned2019-09-18T10:37:16Z
    date available2019-09-18T10:37:16Z
    date issued2019
    identifier other%28ASCE%29BE.1943-5592.0001442.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4259478
    description abstractRegular bridge inspections are key to maintaining healthy infrastructure and to preventing unanticipated structural failures. In recent years, mobile inspection robots have been proposed as a tool to aid bridge inspections. Their key advantages include the ability to access areas of a bridge that are otherwise difficult to inspect and the ability to automate the process of collecting and processing data to increase repeatability and reliability of inspections. Although software algorithms have successfully demonstrated the ability to automate defect detection, many data collection platforms, such as drones and ground vehicles, still require an operator to control the robot via teleoperation, and they do not adequately address the challenges associated with automating data collection for bridge inspection, which is central to achieve repeatability of inspections over time. In this study, the challenges associated with automating data collection for visual inspection of bridges are addressed using a ground-based robot, and an autonomy framework, which can meet the requirements for management and execution of inspection plans, is presented. Key tasks considered in this study are managing inspection plan execution on a ground-based robot, robot localization and mapping, and autonomous navigation in a bridge environment. This automated data collection framework is demonstrated on a concrete bridge by automatically building an accurate point cloud reconstruction of the bridge. Automating data collection can enable more systematic and repeatable inspections, which is a critical upstream task to constructing deterioration models in structural components using inspection data collected over the lifetime of a bridge.
    publisherAmerican Society of Civil Engineers
    titleAutomating Data Collection for Robotic Bridge Inspections
    typeJournal Paper
    journal volume24
    journal issue8
    journal titleJournal of Bridge Engineering
    identifier doi10.1061/(ASCE)BE.1943-5592.0001442
    page04019075
    treeJournal of Bridge Engineering:;2019:;Volume ( 024 ):;issue: 008
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
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