相关论文: Control Framework for a Hybrid-steel Bridge Inspec…
Autonomous navigation of steel bridge inspection robots is essential for proper maintenance. The majority of existing robotic solutions for steel bridge inspection requires human intervention to assist in the control and navigation. In this…
Autonomous navigation is essential for steel bridge inspection robot to monitor and maintain the working condition of steel bridges. Majority of existing robotic solutions requires human support to navigate the robot doing the inspection.…
This paper presents visual and 3D structure inspection for steel structures and bridges using a developed climbing robot. The robot can move freely on a steel surface, carry sensors, collect data and then send to the ground station in real…
Motivated by a high demand for automated inspection of civil infrastructure, this work presents a new design and development of a tank-like robot for structural health monitoring. Unlike most existing magnetic wheeled mobile robot designs,…
This paper presents an innovative solution to the issue of infrastructure deterioration in the U.S., where a significant portion of facilities are in poor condition, and over 130,000 steel bridges have exceeded their lifespan. Aging steel…
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…
This paper presents a novel design of a multi-directional bicycle robot, which targets inspecting general ferromagnetic structures including complex-shaped structures. The locomotion concept is based on arranging two magnetic wheels in a…
The periodic inspection of vessels is a fundamental task to ensure their integrity and avoid maritime accidents. Currently, these inspections represent a high cost for the ship owner, in addition to the danger that this kind of hostile…
This paper presents a safety-critical control framework tailored for quadruped robots equipped with a roller arm, particularly when performing locomotive tasks such as autonomous robotic inspection in complex, multi-tiered environments. In…
Routine inspections for critical infrastructures such as bridges are required in most jurisdictions worldwide. Such routine inspections are largely visual in nature, which are qualitative, subjective, and not repeatable. Although robotic…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…
Ensuring the structural integrity of bridges is essential for maintaining infrastructure safety and promoting long-term sustainability. In this context, Indirect Structural Health Monitoring (ISHM) through drive-by bridge inspection emerges…
Building autonomous mobile robots (AMRs) with optimized efficiency and adaptive capabilities-able to respond to changing task demands and dynamic environments-is a strongly desired goal for advancing construction robotics. Such robots can…
Over 600,000 bridges in the U.S. must be inspected every two years to identify flaws, defects, or potential problems that may need follow-up maintenance. Bridge inspection has adopted unmanned aerial vehicles (or drones) for improving…
Conventional methods for visual assessment of civil infrastructures have certain limitations, such as subjectivity of the collected data, long inspection time, and high cost of labor. Although some new technologies i.e. robotic techniques…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments containing obstacles, with arbitrary non-convex shapes, which can be in close proximity with each other, as long as there exists at least…
Construction safety inspection remains mostly manual, and automated approaches still rely on task-specific datasets that are hard to maintain in fast-changing construction environments due to frequent retraining. Meanwhile, field inspection…
This work proposes a hybrid framework for car-like robots with obstacle avoidance, global convergence, and safety, where safety is interpreted as path invariance, namely, once the robot converges to the path, it never leaves the path. Given…
Long-horizon navigation in complex urban environments relies heavily on continuous human operation, which leads to fatigue, reduced efficiency, and safety concerns. Shared autonomy, where a Vision-Language AI agent and a human operator…
Bolting operations are critical in industrial assembly and in the maintenance of scientific facilities, requiring high precision and robustness to faults. Although robotic solutions have the potential to improve operational safety and…