Related papers: Robotic Inspection and Characterization of Subsurf…
Impact sounding signal has been shown to contain information about structural integrity flaws and subsurface objects from previous research. As non-destructive testing (NDT) method, one of the biggest challenges in impact sounding based…
This pilot study presents a novel, automated, and scalable methodology for detecting and evaluating subsurface defect-prone regions in concrete slabs using Impact Echo (IE) signal analysis. The approach integrates advanced signal…
Subsurface defects such as delamination, voids, and honeycombing critically affect the durability of concrete bridge decks but are difficult to detect reliably using visual inspection or manual sounding. This paper presents a machine…
Ground Penetrating Radar (GPR) is a very useful non-destructive evaluation (NDE) device for locating and mapping underground assets prior to digging and trenching efforts in construction. This paper presents a novel robotic system to…
Intra-cardiac Echocardiography (ICE) is a powerful imaging modality for guiding electrophysiology and structural heart interventions. ICE provides real-time observation of anatomy, catheters, and emergent complications. However, this…
The inspection-planning problem calls for computing motions for a robot that allow it to inspect a set of points of interest (POIs) while considering plan quality (e.g., plan length). This problem has applications across many domains where…
We propose an Isogeometric approach for smoothing on surfaces, namely estimating a function starting from noisy and discrete measurements. More precisely, we aim at estimating functions lying on a surface represented by NURBS, which are…
With the upcoming multitude of commercial and public applications envisioned in the mobile 6G radio landscape using unmanned aerial vehicles (UAVs), integrated sensing and communication (ISAC) plays a key role to enable the detection and…
This work presents a novel technique that performs both orientation and distance localization of a sound source in a three-dimensional (3D) space using only the interaural time difference (ITD) cue, generated by a newly-developed…
Inspection planning, the task of planning motions that allow a robot to inspect a set of points of interest, has applications in domains such as industrial, field, and medical robotics. Inspection planning can be computationally…
To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…
Intra-cardiac Echocardiography (ICE) plays a crucial role in Electrophysiology (EP) and Structural Heart Disease (SHD) interventions by providing high-resolution, real-time imaging of cardiac structures. However, existing navigation methods…
Ground Penetrating Radar (GPR) is one of the most important non-destructive evaluation (NDE) devices to detect the subsurface objects (i.e. rebars, utility pipes) and reveal the underground scene. One of the biggest challenges in GPR based…
The construction industry faces significant challenges in optimizing equipment utilization, as underused machinery leads to increased operational costs and project delays. Accurate and timely monitoring of equipment activity is therefore…
In manufacturing processes, surface inspection is a key requirement for quality assessment and damage localization. Due to this, automated surface anomaly detection has become a promising area of research in various industrial inspection…
A simultaneously transmitting and reflecting reconfigurable intelligent surface (STAR-RIS) aided integrated sensing, computing, and communication (ISCC) Internet of Robotic Things (IoRT) framework is proposed. Specifically, the full-duplex…
Seismic imaging is the numerical process of creating a volumetric representation of the subsurface geological structures from elastic waves recorded at the surface of the Earth. As such, it is widely utilized in the energy and construction…
Intelligent reflecting surface (IRS) is a promising technology for enhancing wireless communication systems. It adaptively configures massive passive reflecting elements to control wireless channel in a desirable way. Due to hardware…
Robust robotic autonomy remains challenging in complex environments, where loss of stability on uneven or slippery terrain can induce extreme accelerations and angular velocities. Such motions corrupt sensor measurements and degrade state…
The threat to safety of aging bridges has been recognized as a critical concern to the general public due to the poor condition of many bridges in the U.S. Currently, the bridge inspection is conducted manually, and it is not efficient to…