Infrastructure Robotics: Methodologies, Robotic Systems and Applications (IEEE Press Series on Systems Science and Engineering)

✍ Scribed by Dikai Liu (editor), Carlos Balaguer (editor), Gamini Dissanayake (editor), Mirko Kovac (editor)

• Publisher: Wiley-IEEE Press
• Year: 2023
• Tongue: English
• Leaves: 414
• Edition: 1
• Category: Library

✦ Synopsis

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.

✦ Table of Contents

fmatter
Copyright
Contents
About the Editors
Preface
Acronyms
part1
ch1
1.1 Infrastructure Inspection and Maintenance
1.2 Infrastructure Robotics
1.2.1 Inspection and Maintenance of Steel Bridges
1.2.2 Climbing and Wheeled Robots for Inspection of Truss Structures
1.2.3 Robots for Underwater Infrastructure Maintenance
1.3 Considerations in Infrastructure Robotics Research
1.4 Opportunities and Challenges
1.5 Concluding Remarks
Bibliography
ch2
2.1 Special Features of Infrastructure
2.2 The Design Process
2.3 Types of Robots and Their Design and Operation
2.4 Software System Design
2.5 An Example: Development of the CROC Design Concept
2.6 Some Other Examples
2.7 Actuator Systems
2.8 Concluding Remarks
Bibliography
ch3
3.1 Introduction
3.2 Sensor Description
3.2.1 2D LiDAR
3.2.2 3D LiDAR
3.2.3 Sonar
3.2.4 Monocular Camera
3.2.5 Stereo Camera
3.2.6 GRB‐D Camera
3.3 Problem Description
3.4 Theoretical Foundations
3.4.1 Extended Kalman Filter
3.4.2 Nonlinear Least Squares
3.4.3 Environment Representations
3.4.4 Mapping Techniques
3.4.5 Localization Techniques
3.4.6 SLAM Techniques
3.5 Implementation
3.5.1 Localization
3.5.2 SLAM
3.6 Case Studies
3.6.1 Mapping in Confined Space
3.6.2 Localization in Confined Space
3.6.3 SLAM in Underwater Bridge Environment
3.7 Conclusion and Discussion
Bibliography
ch4
4.1 Introduction
4.2 GNN‐Based Pipe Failure Prediction
4.2.1 Background
4.2.2 Problem Formulation
4.2.3 Data Preprocessing
4.2.4 GNN Learning
4.2.5 Failure Pattern Learning
4.2.6 Failure Predictor
4.2.7 Experimental Study
4.3 Computer Vision‐Based Signal Aspect Transition Detection
4.3.1 Background
4.3.2 Signal Detection Model
4.3.3 Track Detection Model
4.3.4 Optimization for Target Locating
4.4 Conclusion and Discussion
Bibliography
ch5
5.1 Introduction to Coverage and Motion Planning
5.2 Coverage Planning Algorithms for a Single Robot
5.2.1 An Offline Coverage Planning Algorithm
5.2.2 A Real‐Time Coverage Planning Algorithm
5.3 Coverage Planning Algorithms for Multiple Robots
5.3.1 Base Placement Optimization
5.3.2 Area Partitioning and Allocation
5.3.3 Adaptive Coverage Path Planning
5.4 Conclusion
Bibliography
ch6
6.1 Introduction
6.2 Autonomy, Tele‐Operation, and pHRC
6.2.1 Autonomous Robots
6.2.2 Teleoperated Robots
6.2.3 Physical Human–Robot Collaboration
6.3 Control Methods
6.3.1 Motion Control
6.3.2 Force Control
6.4 Adaptive Assistance Paradigms
6.4.1 Manually Adapted Assistance
6.4.2 Assistance‐As‐Needed Paradigms
6.4.3 Performance‐Based Assistance
6.4.4 Physiology‐Based Assistance
6.5 Safety Framework for pHRC
6.6 Performance‐Based Role Change
6.7 Case Study
6.8 Discussion
Acknowledgements
Bibliography
part2
ch7
7.1 Introduction
7.2 Recent Climbing Robot Platforms Developed by the ARA Lab
7.3 Overall Design
7.3.1 Mechanical Design and Analysis
7.4 Overall Control Architecture
7.4.1 Control System Framework
7.5 Experiment Results
7.5.1 Switching Control
7.5.2 Robot Navigation in Mobile and Worming Transformation
7.5.3 Robot Deployment
7.6 Conclusion and Future Work
Bibliography
ch8
8.1 Introduction to Maintenance of Underwater Structures
8.2 Robot System Design
8.2.1 Hull Design and Maneuvering System
8.2.2 Robot Arms for Docking and Water‐Jet Cleaning
8.3 Sensing and Perception in Underwater Environments
8.3.1 Underwater Simultaneous Localization and Mapping (SLAM) Around Bridge Piles
8.3.2 Marine Growth Identification
8.4 Software Architecture
8.5 Robot Navigation, Motion Planning and System Integration
8.5.1 Localization and Navigation in Open Water
8.5.2 System Integration
8.6 Testing in a Lab Setup and Trials in the Field
8.6.1 Operation Procedure
8.6.2 Autonomous Navigation in Narrow Environments
8.6.3 Vision‐Based Marine Growth Removing Process
8.6.4 Inspection and Marine Growth Identification
8.7 Reflection and Lessons Learned
8.8 Conclusion and Future Work
Acknowledgments
Bibliography
ch9
9.1 Introduction
9.2 ROBO‐SPECT Project
9.2.1 Robotic System
9.2.2 Intelligent Global Controller
9.2.3 Ground Control Station
9.2.4 Structural Assessment Tool
9.3 Inspection Procedure
9.4 Extended Kalman Filter for Mobile Vehicle Localization
9.5 Mobile Vehicle Navigation
9.6 Field Experimental Results
9.7 Conclusion
Bibliography
ch10
10.1 Introduction
10.2 Boring Systems and Methods
10.2.1 Directional Drilling Methods
10.2.2 Drilling Robotic Systems
10.3 Main Drawbacks
10.4 BADGER System and Components
10.4.1 Main Systems Description
10.4.2 BADGER Operation
10.5 Future Trends
Bibliography
ch11
11.1 Introduction to Ferro‐Magnetic Pipeline Maintenance
11.1.1 NDT Inspection Taxonomy
11.2 Inspection Robots
11.2.1 Robot Kinematics and Locomotion
11.3 PEC Sensing for Ferromagnetic Wall Thickness Mapping
11.3.1 Hardware and Software System Architecture
11.4 Gaussian Processes for Spatial Regression from Sampled Inspection Data
11.4.1 Gaussian Processes
11.5 Field Robotic CA Inspection Results
11.6 Concluding Remarks
Bibliography
ch12
12.1 Introduction
12.2 Nondestructive Sensing System for Condition Assessment of Sewer Walls
12.3 Robotic Tool for Field Deployment
12.4 Laboratory Evaluation
12.5 Field Deployment and Evaluation
12.6 Lessons Learned and Future Directions
12.7 Concluding Remarks
Bibliography
ch13
13.1 Introduction
13.2 Robot Design
13.3 Methodologies
13.3.1 Perception
13.3.2 Control
13.3.3 Planning of Robot Body Motion
13.4 Experiments and Results
13.4.1 Experiment Setup
13.4.2 Lab Test Results
13.4.3 Field Trials in a Steel Bridge
13.5 Discussion
13.6 Conclusion
Bibliography
ch14
14.1 Introduction
14.2 Multi‐UAV Inspection of Electrical Power Systems
14.2.1 Use Cases
14.2.2 Architecture
14.3 Inspection Planning
14.3.1 Vehicle Routing Problem
14.4 Onboard Online Semantic Mapping
14.4.1 GNSS‐Endowed Mapping System
14.4.2 Reflectivity and Geometry‐Based Semantic Classification
14.4.3 Validation
14.5 Conclusion
Bibliography
ch15
15.1 Refining Oil for Fuels and Petrochemical Basics
15.2 The Inspection Process
15.3 Inspection and Mechanical Integrity of Oil Refinery Components
15.3.1 Liquid Storage Tank Inspection
15.3.2 Pressurized Vessels Inspection
15.3.3 Process Pipping
15.3.4 Heat Exchanger Bundles
15.4 Plant Operations, Surveillance, Maintenance Activities, and Others
15.4.1 Surveillance, Operations, and Maintenance of Oil and Gas Refineries
15.4.2 Safety and Security
15.4.3 Utilities and Support Activities
15.5 Robotic Systems for Inspection
15.5.1 Robotics for Storage Tanks
15.5.2 Robotics for Pressure Vessels
15.5.3 Robotics for Process Piping
15.5.4 Robotics Heat Exchanger Bundles
15.6 Robotics for Plant Operations, Surveillance, Maintenance, and Other Related Activities
15.6.1 Operations, Surveillance, and Maintenance of Oil and Gas Refineries with Robotic Systems
15.6.2 Safety and Security Robotics
15.6.3 Robotics for Utilities and Support Activities
15.7 Conclusion
ch16
16.1 Introduction
16.1.1 Motivation
16.1.2 Related Works
16.1.3 Scope
16.2 Aerial Robot and Detection Framework
16.2.1 Simulation Environment
16.2.2 Solar Panel Detection
16.2.3 Aerial Robot Trajectory
16.2.4 Sensory Instrumentation for Aerial Robot
16.3 Learning Framework
16.3.1 Dataset Preparation
16.3.2 CNN Architecture
16.3.3 Performance Evaluation Measures
16.4 Conclusion
Acknowledgments
Bibliography
ch17
17.1 Review of State of the Art in Additive Manufacturing at Architectural Scales
17.2 Review of Demonstrations of Aerial Manufacturing and Repair
17.2.1 Demands and Challenges
17.2.2 Future Prospects
17.3 Initial Experimental Evaluations
17.4 Conclusion and Discussion
Bibliography
index
Series