John Wiley & Sons Infrastructure Robotics Cover Infrastructure Robotics Illuminating resource presenting commonly used robotic methodologies and te.. Product #: 978-1-394-16284-0 Regular price: $126.17 $126.17 Auf Lager

Infrastructure Robotics

Methodologies, Robotic Systems and Applications

Liu, Dikai / Balaguer, Carlos / Dissanayake, Gamini / Kovac, Mirko (Herausgeber)

IEEE Series on Systems Science and Engineering

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1. Auflage Dezember 2023
432 Seiten, Hardcover
Wiley & Sons Ltd

ISBN: 978-1-394-16284-0
John Wiley & Sons

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Infrastructure Robotics

Illuminating resource presenting commonly used robotic methodologies and technologies, with recent developments and clear application examples across different project types

Infrastructure Robotics presents state-of-the-art research in infrastructure robotics and key methodologies that enable the development of intelligent robots for operation in civil infrastructure environments, describing sensing, perception, localization, map building, environmental and operation awareness, motion and task planning, design methodologies, robot assistance paradigms, and physical human-robot collaboration. The text also presents many case studies of robotic systems developed for real-world applications in maintaining various civil infrastructures, including steel bridges, tunnels, underground water mains, underwater structures, and sewer pipes. In addition, later chapters discuss lessons learned in deployment of intelligent robots in practical applications overall.

Infrastructure Robotics provides a timely and thorough treatment of the subject pertaining to recent developments, such as computer vision and machine learning techniques that have been used in inspection and condition assessment of critical civil infrastructures, including bridges, tunnels, and more.

Written by highly qualified contributors with significant experience in both academia and industry, Infrastructure Robotics covers topics such as:
* Design methods for application of robots in civil infrastructure inspired by biological systems including ants, inchworms, and humans
* Fundamental aspects of research on intelligent robotic co-workers for human-robot collaborative operations
* The ROBO-SPECT European project and a robotized alternative to manual tunnel structural inspection and assessment
* Wider context for the use of additive manufacturing techniques on construction sites

Infrastructure Robotics is an essential resource for researchers, engineers, and graduate students in related fields. Professionals in civil engineering, asset management, and project management who wish to be on the cutting edge of the future of their industries will also benefit from the text.

About the Editors xv

Preface xix

Acronyms xxi

Part I Methodologies 1

1 Infrastructure Robotics: An Introduction 3
Dikai Liu and Gamini Dissanayake

1.1 Infrastructure Inspection and Maintenance 3

1.2 Infrastructure Robotics 6

1.2.1 Inspection and Maintenance of Steel Bridges 7

1.2.2 Climbing and Wheeled Robots for Inspection of Truss Structures 8

1.2.3 Robots for Underwater Infrastructure Maintenance 10

1.3 Considerations in Infrastructure Robotics Research 11

1.4 Opportunities and Challenges 13

1.5 Concluding Remarks 15

Bibliography 15

2 Design of Infrastructure Robotic Systems 19
Kenneth Waldron

2.1 Special Features of Infrastructure 19

2.2 The Design Process 20

2.3 Types of Robots and Their Design and Operation 21

2.4 Software System Design 23

2.5 An Example: Development of the CROC Design Concept 23

2.6 Some Other Examples 27

2.7 Actuator Systems 30

2.8 Concluding Remarks 31

Bibliography 31

3 Perception in Complex and Unstructured Infrastructure Environments 33
Shoudong Huang, Kai Pan, and Gamini Dissanayake

3.1 Introduction 33

3.2 Sensor Description 35

3.2.1 2D LiDAR 35

3.2.2 3D LiDAR 35

3.2.3 Sonar 36

3.2.4 Monocular Camera 36

3.2.5 Stereo Camera 36

3.2.6 GRB-D Camera 37

3.3 Problem Description 37

3.4 Theoretical Foundations 38

3.4.1 Extended Kalman Filter 39

3.4.2 Nonlinear Least Squares 40

3.4.3 Environment Representations 42

3.4.4 Mapping Techniques 44

3.4.5 Localization Techniques 47

3.4.6 SLAM Techniques 49

3.5 Implementation 53

3.5.1 Localization 54

3.5.2 Slam 54

3.6 Case Studies 55

3.6.1 Mapping in Confined Space 55

3.6.2 Localization in Confined Space 55

3.6.3 SLAM in Underwater Bridge Environment 56

3.7 Conclusion and Discussion 56

Bibliography 57

4 Machine Learning and Computer Vision Applications in Civil Infrastructure Inspection and Monitoring 59
Shuming Liang, Andy Guo, Bin Liang, Zhidong Li, Yu Ding, Yang Wang, and Fang Chen

4.1 Introduction 59

4.2 GNN-Based Pipe Failure Prediction 60

4.2.1 Background 60

4.2.2 Problem Formulation 61

4.2.3 Data Preprocessing 61

4.2.4 GNN Learning 62

4.2.5 Failure Pattern Learning 64

4.2.6 Failure Predictor 65

4.2.7 Experimental Study 65

4.3 Computer Vision-Based Signal Aspect Transition Detection 67

4.3.1 Background 67

4.3.2 Signal Detection Model 67

4.3.3 Track Detection Model 69

4.3.4 Optimization for Target Locating 72

4.4 Conclusion and Discussion 75

Bibliography 77

5 Coverage Planning and Motion Planning of Intelligent Robots for Civil Infrastructure Maintenance 81
Mahdi Hassan and Dikai Liu

5.1 Introduction to Coverage and Motion Planning 81

5.2 Coverage Planning Algorithms for a Single Robot 82

5.2.1 An Offline Coverage Planning Algorithm 82

5.2.2 A Real-Time Coverage Planning Algorithm 86

5.3 Coverage Planning Algorithms for Multiple Robots 90

5.3.1 Base Placement Optimization 90

5.3.2 Area Partitioning and Allocation 93

5.3.3 Adaptive Coverage Path Planning 97

5.4 Conclusion 101

Bibliography 102

6 Methodologies in Physical Human-Robot Collaboration for Infrastructure Maintenance 105
Marc G. Carmichael, Antony Tran, Stefano Aldini, and Dikai Liu

6.1 Introduction 105

6.2 Autonomy, Tele-Operation, and pHRC 106

6.2.1 Autonomous Robots 106

6.2.2 Teleoperated Robots 108

6.2.3 Physical Human-Robot Collaboration 109

6.3 Control Methods 110

6.3.1 Motion Control 110

6.3.2 Force Control 111

6.4 Adaptive Assistance Paradigms 113

6.4.1 Manually Adapted Assistance 114

6.4.2 Assistance-As-Needed Paradigms 115

6.4.3 Performance-Based Assistance 115

6.4.4 Physiology-Based Assistance 116

6.5 Safety Framework for pHRC 117

6.6 Performance-Based Role Change 119

6.7 Case Study 121

6.8 Discussion 122

Acknowledgements 123

Bibliography 123

Part II Robotic System Design and Applications 127

7 Steel Bridge Climbing Robot Design and Development 129
Hung M. La

7.1 Introduction 129

7.2 Recent Climbing Robot Platforms Developed by the ARA Lab 133

7.3 Overall Design 134

7.3.1 Mechanical Design and Analysis 136

7.4 Overall Control Architecture 140

7.4.1 Control System Framework 141

7.5 Experiment Results 148

7.5.1 Switching Control 149

7.5.2 Robot Navigation in Mobile and Worming Transformation 152

7.5.3 Robot Deployment 153

7.6 Conclusion and Future Work 155

Bibliography 156

8 Underwater Robots for Cleaning and Inspection of Underwater Structures 161
Andrew Wing Keung To, Khoa Le, and Dikai Liu

8.1 Introduction to Maintenance of Underwater Structures 161

8.2 Robot System Design 163

8.2.1 Hull Design and Maneuvering System 164

8.2.2 Robot Arms for Docking and Water-Jet Cleaning 164

8.3 Sensing and Perception in Underwater Environments 166

8.3.1 Underwater Simultaneous Localization and Mapping (SLAM) Around Bridge Piles 167

8.3.2 Marine Growth Identification 168

8.4 Software Architecture 170

8.5 Robot Navigation, Motion Planning and System Integration 170

8.5.1 Localization and Navigation in Open Water 170

8.5.2 System Integration 173

8.6 Testing in a Lab Setup and Trials in the Field 174

8.6.1 Operation Procedure 174

8.6.2 Autonomous Navigation in Narrow Environments 176

8.6.3 Vision-Based Marine Growth Removing Process 178

8.6.4 Inspection and Marine Growth Identification 179

8.7 Reflection and Lessons Learned 180

8.8 Conclusion and Future Work 181

Acknowledgments 182

Bibliography 182

9 Tunnel Structural Inspection and Assessment Using an Autonomous Robotic System 185
Juan G. Victores, E. Menendez, and C. Balaguer

9.1 Introduction 185

9.2 ROBO-SPECT Project 186

9.2.1 Robotic System 187

9.2.2 Intelligent Global Controller 191

9.2.3 Ground Control Station 192

9.2.4 Structural Assessment Tool 192

9.3 Inspection Procedure 192

9.4 Extended Kalman Filter for Mobile Vehicle Localization 195

9.5 Mobile Vehicle Navigation 197

9.6 Field Experimental Results 198

9.7 Conclusion 201

Bibliography 201

10 BADGER: Intelligent Robotic System for Underground Construction 205
Santiago Martínez, Marcos Marín, Elisabeth Menéndez, Panagiotis Vartholomeos, Dimitrios Giakoumis, Alessandro Simi, and Carlos Balaguer

10.1 Introduction 205

10.2 Boring Systems and Methods 207

10.2.1 Directional Drilling Methods 207

10.2.2 Drilling Robotic Systems 209

10.3 Main Drawbacks 210

10.4 BADGER System and Components 212

10.4.1 Main Systems Description 212

10.4.2 BADGER Operation 215

10.5 Future Trends 218

Bibliography 218

11 Robots for Underground Pipe Condition Assessment 221
Jaime Valls Miro

11.1 Introduction to Ferro-Magnetic Pipeline Maintenance 221

11.1.1 NDT Inspection Taxonomy 222

11.2 Inspection Robots 223

11.2.1 Robot Kinematics and Locomotion 224

11.3 PEC Sensing for Ferromagnetic Wall Thickness Mapping 228

11.3.1 Hardware and Software System Architecture 230

11.4 Gaussian Processes for Spatial Regression from Sampled Inspection Data 232

11.4.1 Gaussian Processes 234

11.5 Field Robotic CA Inspection Results 236

11.6 Concluding Remarks 240

Bibliography 240

12 Robotics and Sensing for Condition Assessment of Wastewater Pipes 243
Sarath Kodagoda, Vinoth Kumar Viswanathan, Karthick Thiyagarajan, Antony Tran, Sathira Wickramanayake, Steve Barclay, and Dammika Vitanage

12.1 Introduction 243

12.2 Nondestructive Sensing System for Condition Assessment of Sewer Walls 245

12.3 Robotic Tool for Field Deployment 252

12.4 Laboratory Evaluation 254

12.5 Field Deployment and Evaluation 255

12.6 Lessons Learned and Future Directions 258

12.7 Concluding Remarks 259

Bibliography 260

13 A Climbing Robot for Maintenance Operations in Confined Spaces 263
Gibson Hu, Dinh Dang Khoa Le, and Dikai Liu

13.1 Introduction 263

13.2 Robot Design 265

13.3 Methodologies 271

13.3.1 Perception 271

13.3.2 Control 274

13.3.3 Planning of Robot Body Motion 279

13.4 Experiments and Results 279

13.4.1 Experiment Setup 279

13.4.2 Lab Test Results 280

13.4.3 Field Trials in a Steel Bridge 282

13.5 Discussion 283

13.6 Conclusion 283

Bibliography 284

14 Multi-UAV Systems for Inspection of Industrial and Public Infrastructures 285
Alvaro Caballero, Julio L. Paneque, Jose R. Martinez-de-Dios, Ivan Maza, and Anibal Ollero

14.1 Introduction 285

14.2 Multi-UAV Inspection of Electrical Power Systems 287

14.2.1 Use Cases 287

14.2.2 Architecture 288

14.3 Inspection Planning 289

14.3.1 Vehicle Routing Problem 289

14.4 Onboard Online Semantic Mapping 296

14.4.1 GNSS-Endowed Mapping System 296

14.4.2 Reflectivity and Geometry-Based Semantic Classification 297

14.4.3 Validation 298

14.5 Conclusion 300

Bibliography 302

15 Robotic Platforms for Inspection of Oil Refineries 305
Mauricio Calva

15.1 Refining Oil for Fuels and Petrochemical Basics 305

15.2 The Inspection Process 307

15.3 Inspection and Mechanical Integrity of Oil Refinery Components 310

15.3.1 Liquid Storage Tank Inspection 310

15.3.2 Pressurized Vessels Inspection 312

15.3.3 Process Pipping 314

15.3.4 Heat Exchanger Bundles 315

15.4 Plant Operations, Surveillance, Maintenance Activities, and Others 316

15.4.1 Surveillance, Operations, and Maintenance of Oil and Gas Refineries 316

15.4.2 Safety and Security 318

15.4.3 Utilities and Support Activities 318

15.5 Robotic Systems for Inspection 319

15.5.1 Robotics for Storage Tanks 320

15.5.2 Robotics for Pressure Vessels 324

15.5.3 Robotics for Process Piping 328

15.5.4 Robotics Heat Exchanger Bundles 331

15.6 Robotics for Plant Operations, Surveillance, Maintenance, and Other Related Activities 332

15.6.1 Operations, Surveillance, and Maintenance of Oil and Gas Refineries with Robotic Systems 332

15.6.2 Safety and Security Robotics 334

15.6.3 Robotics for Utilities and Support Activities 335

15.7 Conclusion 335

16 Drone-Based Solar Cell Inspection With Autonomous Deep Learning 337
Zhounan Wang, Peter Zheng, Basaran Bahadir Kocer, and Mirko Kovac

16.1 Introduction 337

16.1.1 Motivation 337

16.1.2 Related Works 339

16.1.3 Scope 341

16.2 Aerial Robot and Detection Framework 341

16.2.1 Simulation Environment 343

16.2.2 Solar Panel Detection 343

16.2.3 Aerial Robot Trajectory 345

16.2.4 Sensory Instrumentation for Aerial Robot 346

16.3 Learning Framework 348

16.3.1 Dataset Preparation 349

16.3.2 CNN Architecture 351

16.3.3 Performance Evaluation Measures 352

16.4 Conclusion 357

Acknowledgments 358

Bibliography 358

17 Aerial Repair and Aerial Additive Manufacturing 367
Yusuf Furkan Kaya, Lachlan Orr, Basaran Bahadir Kocer, and Mirko Kovac

17.1 Review of State of the Art in Additive Manufacturing at Architectural Scales 367

17.2 Review of Demonstrations of Aerial Manufacturing and Repair 371

17.2.1 Demands and Challenges 374

17.2.2 Future Prospects 376

17.3 Initial Experimental Evaluations 378

17.4 Conclusion and Discussion 379

Bibliography 379

Index 385
DIKAI LIU, PHD, is a Distinguished Professor at the University of Technology Sydney.

CARLOS BALAGUER, PHD, is a Full Professor at University Carlos III of Madrid (UC3M).

GAMINI DISSANAYAKE, PHD, is an Emeritus Professor at the University of Technology Sydney.

MIRKO KOVAC, PHD, is Director of the Aerial Robotics Laboratory at Imperial College London and the Head of the Laboratory of Sustainability Robotics at the Swiss Federal Laboratories for Material Science and Technology (Empa).

D. Liu, University of Technology Sydney; C. Balaguer, University Carlos III of Madrid (UC3M); G. Dissanayake, University of Technology Sydney; M. Kovac, Imperial College London