United States Department of Transportation
i
Multi-Robot Teaming for Inspection of Hydraulic Structures: Final Report
-
2024-06-14
-
[PDF-2.52 MB]
Details:
-
Creators:
-
Corporate Creators:
-
Corporate Contributors:United States. Department of Transportation. University Transportation Centers (UTC) Program ; United States. Department of Transportation. Office of the Assistant Secretary for Research and Technology ; Center for Integrated Asset Management for Multimodal Transportation Infrastructure Systems (CIAMTIS) (UTC)
-
Subject/TRT Terms:
-
Publication/ Report Number:
-
Resource Type:
-
Geographical Coverage:
-
Edition:Draft Final Report 07/01/2022 – 12/31/2023
-
Corporate Publisher:
-
Abstract:Inspecting hydraulic structures, including capturing deformations in the deck and detecting defects in the piers, presents numerous challenges. These structures require evaluation both above and below the water surface, and existing approaches do not support quantitative and integrated asset management practices. This study develops a multimodal computer vision framework that utilizes a combination of Digital Image Correlation (DIC), robotic imaging, and photogrammetric analysis to improve the inspection of hydraulic structures. The framework was experimentally evaluated under laboratory and field conditions. The team used the laboratory experiments to understand key environmental variables that impact computational imaging in a marine scenario. The field experiments were performed on the Route 1 bridge spanning the Occoquan River in Woodbridge, Virginia. The team used the field tests to better understand the impacts of logistical constraints, to evaluated how laboratory scale processes scaled to full scale infrastructure, and to demonstrate potential for integration with conventional assessment methods. A robot-human teaming approach is utilized to gather visual imagery for both above and below-water surfaces. To overcome the difficulties of underwater imaging, artificial lighting is employed, as well as image enhancement methods designed specifically for marine environments.
-
Format:
-
Funding:
-
Collection(s):
-
Main Document Checksum:
-
Download URL:
-
File Type:
