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Agile robotic inspection of steel structures: A bicycle-like approach with multisensor integration

JOURNAL OF field robotics 2024年第2期41卷 396-419页

作者： Nguyen, Son Thanh La, Kien Thanh La, Hung Manh Univ Nevada Dept Comp Sci & Engn Adv Robot & Automation ARA Lab Reno NV USA Thai Nguyen Univ Technol Dept Elect Engn Adv Study Program Thai Nguyen City Thai Nguyen Vietnam Univ Nevada Dept Comp Sci & Engn Adv Robot & Automation ARA Lab Reno NV 89557 USA

This paper introduces an innovative and streamlined design of a robot, resembling a bicycle, created to effectively inspect a wide range of ferromagnetic structures, even those with intricate shapes. The key highlight of this robot lies in its mechanical simplicity coupled with remarkable agility. The locomotion strategy hinges on the arrangement of two magnetic wheels in a configuration akin to a bicycle, augmented by two independent steering actuators. This configuration grants the robot the exceptional ability to move in multiple directions. Moreover, the robot employs a reciprocating mechanism that allows it to alter its shape, thereby surmounting obstacles effortlessly. An inherent trait of the robot is its innate adaptability to uneven and intricate surfaces on steel structures, facilitated by a dynamic joint. To underscore its practicality, the robot's application is demonstrated through the utilization of an ultrasonic sensor for gauging steel thickness, coupled with a pragmatic deployment mechanism. By integrating a defect detection model based on deep learning, the robot showcases its proficiency in automatically identifying and pinpointing areas of rust on steel surfaces. The paper undertakes a thorough analysis, encompassing robot kinematics, adhesive force, potential sliding and turn-over scenarios, and motor power requirements. These analyses collectively validate the stability and robustness of the proposed design. Notably, the theoretical calculations established in this study serve as a valuable blueprint for developing future robots tailored for climbing steel structures. To enhance its inspection capabilities, the robot is equipped with a camera that employs deep learning algorithms to detect rust visually. The paper substantiates its claims with empirical evidence, sharing results from extensive experiments and real-world deployments on diverse steel bridges, situated in both Nevada and Georgia. These tests comprehensively affirm the robot's prof

关键词： climbing robots field robotics robotics wheeled robotics

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Nautilus: An autonomous surface vehicle with a multilayer software architecture for offshore inspection

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JOURNAL OF field robotics 2024年第4期41卷 966-990页

作者： Campos, Daniel F. Goncalves, Eduardo P. Campos, Hugo J. Pereira, Maria I. Pinto, Andry M. Univ Porto Fac Engn Dept Elect & Comp Engn Porto Portugal INESC TEC Porto Portugal

The increasing adoption of robotic solutions for inspection tasks in challenging environments is becoming increasingly prevalent, particularly in the offshore wind energy industry. This trend is driven by the critical need to safeguard the integrity and operational efficiency of offshore infrastructure. Consequently, the design of inspection vehicles must comply with rigorous requirements established by the offshore Operation and Maintenance (O&M) industry. This work presents the design of an autonomous surface vehicle (ASV), named Nautilus, specifically tailored to withstand the demanding conditions of offshore O&M scenarios. The design encompasses both hardware and software architectures, ensuring Nautilus's robustness and adaptability to the harsh maritime environment. It presents a compact hull capable of operating in moderate sea states (wave height up to 2.5 m), with a modular hardware and software architecture that is easily adapted to the mission requirements. It has a perception payload and communication system for edge and real-time computing, communicates with a Shore Control Center and allows beyond visual line-of-sight operations. The Nautilus software architecture aims to provide the necessary flexibility for different mission requirements to offer a unified software architecture for O&M operations. Nautilus's capabilities were validated through the professional testing process of the ATLANTIS Test Center, involving operations in both near-real and real-world environments. This validation process culminated in Nautilus's reaching a Technology Readiness Level 8 and became the first ASV to execute autonomous tasks at a floating offshore wind farm located in the Atlantic.

关键词： field robotics inspection robots robotics systems design

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An autonomous straddle carrier for movement of shipping containers

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IEEE robotics & AUTOMATION MAGAZINE 2007年第3期14卷 14-23页

作者： Durrant-Whyte, Hugh Pagac, Daniel Rogers, Ben Stevens, Michael Nelmes, Graeme Univ Sydney ACFR J04 Sydney NSW 2006 Australia

This article describes the development and implementation of an autonomous straddle carrier (AutoStrad) for the movement of shipping containers in a port environment. In this article, we describe the vehicle and the control, navigation, safety, and pilot functions, which enable autonomous operation. The description of the implementation of the complete system also addresses issues of operational safety, scheduling, and planning of operations, interfaces to quay-side cranes, and road-side hauler vehicles. The complete production system, consisting of 18 autonomous straddle carriers, has been in continuous operation for the past two years at the Port of Brisbane, Australia. This article concludes by distilling some of the key technical and commercial lessons learned in moving from a concept through prototype to fully operational system.

关键词： field robotics cargo handling navigation

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Into the ice: Exploration and data capturing in glacial moulins by a tethered robot

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JOURNAL OF field robotics 2024年第3期41卷 654-668页

作者： Polzin, Max Hughes, Josie Ecole Polytech Fed Lausanne CREATE Lab CH-1015 Lausanne Vaud Switzerland

Glacial moulins (cylindrical meltwater drainage shafts) provide valuable insights into glacier dynamics, but are inaccessible and hazardous environments for humans to study. Exploring them using passive sensor probes has revealed their complex geometry, which has limited further exploration with passive sensor probes. To overcome these challenges, we propose a tethered robot capable of autonomously exploring and capturing data in glacial moulins. Our novel robot is equipped with a tether to support its motion. Combined with novel estimation and control algorithms, the tethered robot is able to safely and efficiently maneuver in confined, chimney-like structures, such as moulins. Laboratory and field experiments confirm the feasibility of the proposed design, showing successful localization in environments with no access to positional measurements. field trials on the Mer de Glace glacier demonstrate the robot's capabilities, descending into the largest moulin to depths of 25 m, capturing valuable scientific data. Onboard sensors are used to capture data to reconstruct the moulin's three-dimensional geometry and two sampling mechanisms are presented and evaluated to extract samples from the icy surface of the moulin. Our results show promising potential for future exploration of moulins, demonstrating the effectiveness of our tethered robot for safely gathering data from these hazardous environments.

关键词： autonomous navigation field robotics glacier/polar robots model-based estimation tethered robots three-dimensional robotic mapping

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Augmented Perception for Agricultural Robots Navigation

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IEEE SENSORS JOURNAL 2021年第10期21卷 11712-11727页

作者： Rovira-Mas, Francisco Saiz-Rubio, Veronica Cuenca-Cuenca, Andres Univ Politecn Valencia Agr Robot Lab Valencia 46022 Spain

Producing food in a sustainable way is becoming very challenging today due to the lack of skilled labor, the unaffordable costs of labor when available, and the limited returns for growers as a result of low produce prices demanded by big supermarket chains in contrast to ever-increasing costs of inputs such as fuel, chemicals, seeds, or water. robotics emerges as a technological advance that can counterweight some of these challenges, mainly in industrialized countries. However, the deployment of autonomous machines in open environments exposed to uncertainty and harsh ambient conditions poses an important defiance to reliability and safety. Consequently, a deep parametrization of the working environment in real time is necessary to achieve autonomous navigation. This article proposes a navigation strategy for guiding a robot along vineyard rows for field monitoring. Given that global positioning cannot be granted permanently in any vineyard, the strategy is based on local perception, and results from fusing three complementary technologies: 3D vision, lidar, and ultrasonics. Several perception-based navigation algorithms were developed between 2015 and 2019. After their comparison in real environments and conditions, results showed that the augmented perception derived from combining these three technologies provides a consistent basis for outlining the intelligent behavior of agricultural robots operating within orchards.

关键词： Robot sensing systems Three-dimensional displays Agriculture Navigation Cameras 3D Vision field robotics autonomous navigation digital farming local perception sensor fusion

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Online Mapping and Motion Planning Under Uncertainty for Safe Navigation in Unknown Environments

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2022年第4期19卷 3356-3378页

作者： Pairet, Eric Hernandez, Juan David Carreras, Marc Petillot, Yvan Lahijanian, Morteza Univ Edinburgh Edinburgh Ctr Robot Edinburgh EH8 9BT Midlothian Scotland Heriot Watt Univ Edinburgh EH8 9BT Midlothian Scotland Technol Innovat Inst TII Abu Dhabi U Arab Emirates Cardiff Univ Ctr Artificial Intelligence Robot & Human Machine Cardiff CF24 3AA Wales Univ Girona Comp Vis & Robot Inst Girona 17004 Spain Univ Colorado Dept Aerosp Engn Sci Boulder CO 80309 USA

Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localization information but also their maneuverability is constrained by their dynamics and often suffers from uncertainty. In order to cope with these constraints, this article proposes an uncertainty-based framework for mapping and planning feasible motions online with probabilistic safety guarantees. The proposed approach deals with the motion, probabilistic safety, and online computation constraints by: 1) incrementally mapping the surroundings to build an uncertainty-aware representation of the environment and 2) iteratively (re)planning trajectories to goal that is kinodynamically feasible and probabilistically safe through a multilayered sampling-based planner in the belief space. In-depth empirical analyses illustrate some important properties of this approach, namely: 1) the multilayered planning strategy enables rapid exploration of the high-dimensional belief space while preserving asymptotic optimality and completeness guarantees and 2) the proposed routine for probabilistic collision checking results in tighter probability bounds in comparison to other uncertainty-aware planners in the literature. Furthermore, real-world in-water experimental evaluation on a nonholonomic torpedo-shaped

关键词： Robots Planning Uncertainty Probabilistic logic Safety Navigation Lattices field robotics online mapping online motion planning under uncertainty safe autonomous navigation in unknown environments sampling-based motion planning

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Self-learning classification of radar features for scene understanding

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robotics AND AUTONOMOUS SYSTEMS 2012年第11期60卷 1377-1388页

作者： Reina, Giulio Milella, Annalisa Underwood, James Univ Salento Dept Engn Innovat I-73100 Lecce Italy CNR Inst Intelligent Syst Automat I-70126 Bari Italy Univ Sydney Australian Ctr Field Robot Sydney NSW 2006 Australia

Autonomous driving is a challenging problem in mobile robotics, particularly when the domain is unstructured, as in an outdoor setting. In addition, field scenarios are often characterized by low visibility as well, due to changes in lighting conditions, weather phenomena including fog, rain, snow and hail, or the presence of dust clouds and smoke. Thus, advanced perception systems are primarily required for an off-road robot to sense and understand its environment recognizing artificial and natural structures, topology, vegetation and paths, while ensuring, at the same time, robustness under compromised visibility. In this paper the use of millimeter-wave radar is proposed as a possible solution for all-weather off-road perception. A self-learning approach is developed to train a classifier for radar image interpretation and autonomous navigation. The proposed classifier features two main stages: an adaptive training stage and a classification stage. During the training stage, the system automatically learns to associate the appearance of radar data with class labels. Then, it makes predictions based on past observations. The training set is continuously updated online using the latest radar readings, thus making it feasible to use the system for long range and long duration navigation, over changing environments. Experimental results, obtained with an unmanned ground vehicle operating in a rural environment, are presented to validate this approach. A quantitative comparison with laser data is also included showing good range accuracy and mapping ability as well. Finally, conclusions are drawn on the utility of millimeter-wave radar as a robotic sensor for persistent and accurate perception in natural scenarios. (C) 2012 Elsevier B.V. All rights reserved.

关键词： field robotics Radar-based perception Self-learning classifier

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Simultaneous surface scanning and stability analysis of wheeled mobile robots using a new spatial sensitive shield sensor

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robotics AND AUTONOMOUS SYSTEMS 2017年 98卷 1-14页

作者： Mardani, Arman Ebrahimi, Saeed Yazd Univ Dept Mech Engn Yazd Iran

To achieve a complete sense of a typical mobile robot moving on the rough and unknown surfaces, a new sensitive shield attached to the robotic wheel is developed with the principle of the total resistance of a circuit. Contact point detection using the new sensitive shield empowers the wheeled-robots to scan the surface, to find the spatial stability measure and to control itself in the absence of camera and laser. The resistive circuit, whereby the sensor is developed, includes a conductive wire, a resistive wire, an impulse voltage source and an additional resistor. All these elements are assembled as an exterior sensitive shield attached to the outside of the wheel. The main advantage of the resistive shield is to determine the exact locations of the spatial contact point on the thick wheel only by means of an input data. Using the data detected from the sensitive shield, the control process can produce the accurate rotational velocities of the wheels required for pursuing a desired path. Furthermore, the results of the new sensor enhance the accuracy of the spatial stability measure. The results of this research imply how the accurate contact point detection aided by the new sensor yields a reliable approach for surface scanning and stability measure calculation. (C) 2017 Elsevier B.V. All rights reserved.

关键词： field robotics Wheel-surface contact Resistive shield Tactile sensors

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Towards fluid force estimation of a water-jetting aerial robot with hybrid kinematics-force model

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JOURNAL OF field robotics 2022年第6期39卷 805-826页

作者： Lee, Shawndy M. Ng, Wei H. Tang, Emmanuel Foong, Shaohui Singapore Univ Technol & Design SUTD Engn Prod Dev Pillar EPD Singapore Singapore

In this paper, a three-dimensional hybrid kinematics-force (HKF) model for fluid force estimation coupled with position optimization of an aerial robot capable of high-pressure fluid ejection is presented. Motivated by the archerfish's unique (water-jetting) hunting mechanics, the HKF model comprises of two sub-models (hybrid kinematics and fluid force estimation) to maintain a specific fluid force at the point-of-contact (POC) during high altitude fluid jetting for high-risk maintenance (cleaning) scenarios. Industries with high-risk cleaning applications seek to employ robots to assist cleaners in routine operations on infrastructures or equipment at a height such as photovoltaic e-glasses, impact-sensitive objects, and many others. For a fluid jet, the stand-off distance represents the length of the fluid trajectory between the nozzle orifice and POC, and is also a vital variable in fluid force control. If the stand-off distance between the ejection source and the target is large, the fluid stream loses energy along the trajectory and the force at the POC is weakened thus losing some of the jet pressure at the target surface. The HKF model exploits this by estimating and maintaining a specific force at the POC through position optimization of the onboard nozzle coupled with the knowledge of the fluid parameters. To innovate high structure cleaning, the HKF model can be employed on an aerial robot with fluid ejection capabilities for accurate fluid force control at the POC. For high-pressure fluid ejection (on horizontal and vertical structures), the HKF model is able to predict the (high pressure) fluid force at the POC with less than 10% error. The proposed HKF model is tested and verified through simulations and the experimentation results are validated by flying the physical prototypes in actual deployment scenarios.

关键词： autonomous UAV field robotics robotics UAVs

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PyroShield - A HVAC fire curtain testing robot

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AUTOMATION IN CONSTRUCTION 2017年 81卷 234-239页

作者： Beckett, Alice Ross, Robert La Trobe Univ Dept Engn Melbourne Vic Australia

Fire curtains (or dampers), as found in HVAC ducts, are drop-down thermally triggered fire-resistant barriers designed to block the spread of fire and smoke. Regulations stipulate regular mechanical drop-down testing as a visual inspection may not identify rust or jamming which may prevent a curtain from falling. Currently it is difficult to test these curtains as many HVAC ducts are small (340 mm x 330 mm) and access hatches often don't allow direct external access to the thermal fuse. Hence complete testing may require the temporary (and expensive) removal of plaster walls, floors or ceilings. This paper describes a pair of tele-operated robots which are designed to mechanically test the operation and serviceability of the fire curtain. Significant experimentation has demonstrated that the testing procedure requires a skilled operator and can be performed typically within a 15 minute timeframe without the expense of renovation and remediation procedures.

关键词： robotics field robotics HVAC Building management Fire curtain Damper

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