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contributor authorSungwoo Moon
contributor authorLeonhard E. Bernold
date accessioned2017-05-08T21:12:39Z
date available2017-05-08T21:12:39Z
date copyrightApril 1997
date issued1997
identifier other%28asce%290887-3801%281997%2911%3A2%28113%29.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/42895
description abstractSince the 1970s, the toxic lead content in old paints has become a significant health concern. The common approach used in removing corroded paint for bridge paint maintenance relies on manual operation of blast nozzles by workers within a large containment enclosure installed around the blast area. The robotic bridge paint removal (RBPR) system was developed as a safe alternative method in the Construction Automation and Robotics Laboratory (CARL) at North Carolina State University. The goal of this project was to build and field test a prototype system that can increase the safety of workers and the public as well as protect the natural environment against toxic pollution. This paper presents a vision-based interactive control technology that was developed to support the telerobotic operation of bridge paint removal. The control method allows the operator to visually inspect the steel beam surface via a video camera and to interactively define the corroded area using a cursor. Subsequently, a motion path is automatically generated for a robot arm holding a blast nozzle to spot-clean the paint. The robot arm in turn moves the nozzle to the required position within the blast area and executes abrasive blasting. Field experiments demonstrated that the vision-based graphic interface provides an effective human-machine interface with sufficient flexibility for the robotic bridge paint removal in construction.
publisherAmerican Society of Civil Engineers
titleVision-Based Interactive Path Planning for Robotic Bridge Paint Removal
typeJournal Paper
journal volume11
journal issue2
journal titleJournal of Computing in Civil Engineering
identifier doi10.1061/(ASCE)0887-3801(1997)11:2(113)
treeJournal of Computing in Civil Engineering:;1997:;Volume ( 011 ):;issue: 002
contenttypeFulltext


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