Development of a robotic bridge maintenance system pdf

In order to apply an autonomous robotic system for bridge maintenance operations in an initially unknown complex 3d environment, many research challenges and development challenges need to be addressed liu et al. Description of the robotic platform the robotic system for condition assessment of bridge decks, with its main components marked, is shown in figure 4. Development of bridge inspection robot system supported by st. Development of an autonomous bridge deck inspection. The system consists of a 4dof robot, designed and built at ncsu, mounted on the end of a truckmounted peeper crane. Dec 28, 20 robotic systems can move along bridge cable systems, such as bridge cables, pipes, steel wires, and circular poles for repair and maintenance as well as inspection. Development of a steel bridge climbing robot arxiv. Automation tools for flexible aircraft maintenance william drotning, david kozlowski, clifford loucks, william prentice, and peter watterberg prepared by sandia national laboratories albuquerque, new mexico 87185 and livermore, california 94550 sandia is a multiprogram laboratory operated by sandia corporation. Agencies that own bridges in excess of 20 spans must have. The planner, built based on bridge feature scheme, is the key component for the robotic bridge painting system that integrates the painting process planning, robot path planning, cost optimization, and quality control functions. In this paper, we report a new development of the autonomous mobile robotic system for bridge deck inspection and evaluation. The robot system design, the key research challenges and enabling technologies and system development. This paper presents visual and 3d structure inspection for steel structures and bridges using a developed climbing robot. The design of the robot system and performance of the ndt techniques associated with the cable inspection robot are discussed.

Automated systems were initially developed to reduce labor requirements, shorten construction time, reduce costs, and improve quality. Maintenance system introduction robotic systems for construction applications have advanced dramatically over the past few years. Development of such technology is justified by the potential improvements in safety, quality, and productivity. Autonomous robotic system for highefficiency nondestructive. Looking for automation for your manufacturing process.

Additionally, a containment system is mounted in front of the robot to contain the toxic. Bridge deck inspection is essential task to monitor the health of the bridges. The wealth of scientific quality data collected from a large number of our nations highway bridges by the robotic system for condition assessment of concrete bridge decksand the subsequent data analysis along with the analysis of the bridge legacy datawill lead to. The system consists of a 4degree of freedom robot designed and built at ncsu mounted on the end of a truck mounted peeper crane. Pdf this paper presents the research on and development of a robotic system for stripping paint and rust from steel bridges, with the ultimate. Development of an autonomous bridge deck inspection robotic. Acra a robotic system for steel bridge maintenance v5. System 30 computeraided limit states analysis of bridge 31 walkway, or a small car bridge over the river. This report describes the development of a robotic bridge maintenance system rbms jointly developed by the north carolina department of transportation. This paper describes the development of a cable climbing robotic system. A number of nondestructive evaluation nde technologies are currently used in bridge deck inspection and evaluation, including impactecho ie, ground. The robot can move freely on a steel surface, carry sensors, collect data and then send to the ground station in realtime for monitoring as well as further processing. Productivitys success stories showcases robotic automation systems for machine tending solutions.

By controlling the 4 wires the camera system is moved under the bridge surfacecd 4. The robotic platform is a seekur robot from adept mobile robot inc. With a robotic bridge maintenance system rbms, human operators can be removed from the dangerous work environment location under the bridge deck to a safe place on top of the deck. A mobile image system was developed 14 for bridge crack inspection that was. Bridge management systems bridge owners today must make decisions pertaining to maintenance and improvements that take into account both funding constraints and the overall needs of the highway system. The manual serves as a refresher andor a reference for those currently working in bridge maintenance. Map creation for localisation in a laboratory and real bridge bearing environment. This paper will expand on the robotic bridge maintenance system rbms developed by the construction automation and robotics laboratory carl at north carolina state university ncsu. The performance of the robotic system enables fast data collection and highlyaccurate bridge deck inspection and evaluation as well as the cost and time reduction.

Bridge project development manual txdot 032018 chapter 1 organizational overview section 1 this manual the manual is not a substitute for engineering experience, knowledge, or judgment. Pictures of bottom of bridge deck can be captured easily by using robot. Advanced pdf html development in netsuite in this article, well discuss the challenges and insights learned from doing advanced development in netsuite to implement it as smartbridges new accounting and professional services management system. The basic goals of the system were to eliminate the need for a human to be involved directly in the removal process and to contain the leadbased paint. In this paper, we propose a wheelbased cable climbing robotic system. Automated robotic monitoring and inspection of steel. Bridge maintenance ssystem rbms developed by the construction automation and robotics. This paper will expand on the robotic bridge maintenance system rbms developed by the construction automation and robotics laboratory carl at north.

Automated robotic monitoring and inspection of steel structures. The robot design factors will be chosen based on the mechanical analysis from which the robot will be manufactured respectively. The robotic bridge maintenance system lorenc, handlon, et al. Two types of the cable inspection robots were developed for cablesuspension bridges and cablestayed bridge. Mobile robotic systems, localization, navigation, bridge deck inspection, crack detection, ndeanalysis. Draper robotics and process systems division, oak ridge national laboratory 1. This paper presents the research on and development of a robotic system for stripping paint and rust from steel bridges, with the ultimate objective of preventing human exposure to hazardous and dangerous debris containing rust, paint particles, lead andor asbestos, relieving human workers from labor intensive tasks and reducing costs associated with bridge maintenance. Developing a crack inspection robot for bridge maintenance. Parker center for engineering systems advanced research, oak ridge national laboratory john v. Several prototype systems have been developed and fieldtested including a robotic bridge maintenance system lorenc et al. The threat to safety of aging bridges has been recognized as a growing problem of national. Development of a robotic bridge maintenance system. Chapter 1 introduction to bridge maintenance development. The system consists of a 4degreeoffreedom robot designed and built at ncsu mounted on the end of a truck mounted peeper crane.

System for ships tharr, 2000, crawling robots for tall buildings or tanks ross, mares, et al. Advanced pdfhtml development in netsuite smartbridge. The center is focused on the development of advanced technologies to aid in bridge inspection and maintenance. This paper presents the bridge cable inspection robot developed in korea. Localisation of a mobile robot for bridge bearing inspection. The whole system is recovered by following the inverse procedures a b c main items of development new robotic system to allow new detailed the following images show the operation. Condition monitoring and timely implementation of maintenance and rehabilitation procedures are needed to reduce future costs associated with bridge management. Read development of a robotic bridge maintenance system, automation in construction on deepdyve, the largest online rental service for scholarly research. A robotic system for steel bridge maintenance citeseerx. For individuals with sensory disabilities, this document is available in alternate formats. First, adhesion mechanism using pantograph, self locking mechanism, safe landing mechanismwasproposed. Intelligent painting process planner for robotic bridge painting.

Development of robotic bridge maintenance system rbms is justified by the potential improvements in safety, quality, and productivity. Currently, the bridge inspection is conducted manually, and it is not efficient to identify bridge condition deterioration in order to facilitate implementation of appropriate maintenance or rehabilitation procedures. Development of a robotic bridge maintenance system the. This manual provides fundamental information pertaining to bridge maintenance for those new to and for those advancing in their roles and responsibility within bridge maintenance. December 8, 2008 introduction most local jurisdictions with authority and responsibility for road maintenance have some form of bridge maintenance program.

In addition, the robot operating system ros is used to facilitate data collection. The original prototype of the system was developed and successfully tested as a robotic bridge paint removal system in august of 1994. Robotic system for condition assessment of concrete bridge decks. This system can stitch each image and detect cracks of bottom of bridge deck. Development of remote control system for bridge inspection. In their system an illuminator is used to distinguish the crack and noncrack areas. Also, it can extract an investigation drawing from the picture. Development of a robotic bridge maintenance system request pdf. To view a video of the application, click on the video icon or to view a pdf, click on the pdf icon. Introduction and background maintenance is the process that preserves or restores a desired state of a system or. Data analysis and visualization for the bridge deck. Development of a robotic bridge maintenance system, automation in. This section introduces several robotic systems that can be used for the inspection of bridge cable systems. Special situations may call for variation from these policy requirements.