Non-man-entry sewer renovation robot characteristics.

The reported work lies in the area of automation in the construction industry, and involves multi-disciplinary engineering studies. In particular, sewer renovation methods, computer vision (CV) and robotics are all included. More specifically, the key objective of the research programme was to investigate the characteristics of retrofit components suited to mounting on an industrial / proprietary sewer tractor. The overall aim was the provision of a non-man-entry (NME) sewer renovation robot to undertake reconnection of lateral junctions, following a cured-in-place (CIP) relining process. The programme primarily involved theoretical studies of the requisite sensory and kinematic components, incorporation of a novel computer vision sensing system and production of a chainage measurement system and robotic drill task arm. The theory was supported by laboratory testing using a modified proprietary tractor, with emphasis placed on promoting applications of information technology driven systems (i.e. CV) to construction-industry tasks within hazardous environments involving significant health issues. The use of such techniques in the construction industry is rare.Chapter 1 reviews the context and history of sewer maintenance/dereliction in the UK. NME sewers are the most common type and are, by definition, difficult to maintain. Renovation, typically employing CIP liners, is therefore a cost-effective alternative to replacement. Lateral connections are, inevitably, blocked off during the relining process; it is suggested that application of a robust robotic system to the task of reconnecting them is novel and offers clear potential within such a hazardous environment.Chapters 2 and 3 develop the underlying theoretical models of the CV and kinematic systems respectively. The novel CV work (provided by third party specialists employing the TINA CV research environment) was incorporated by the author to provide detection and classification of lateral junctions, crucially noting the particular properties of direct and reflected illumination. Classification aspects include estimation of lateral / NME intersection angle and closure-to-target distance from the robot. The author proposes a separate procedure for estimating lateral diameter. A chainage measurement system, using a rotary encoder and inclinometer, was developed to determine invert path distance travelled. This allows for the inevitable wander and thereby gives the system robustness. The novel application of GRASP (a robotic modelling and simulation design tool) to NME environments, provided the ability to model arm designs without the need for the production of more than one expensive physical prototype. A mathematical solution for determining the requisite arm kinematics is presented.Chapter 4 details the hardware requirements of the robotic system components, whilst Chapters 5 and 6 present the laboratory evaluation results for the kinematic and CV systems respectively. The abilities of the CV system qualitatively to detect laterals under reflected illumination, and to provide quantitative classification data, are demonstrated. The chainage measurement system is assessed under a variety of initialisation conditions to determine suitability to task, and the ability of the robotic arm to physically simulate lateral reconnection is investigated.Chapter 7 discusses the specification for an industrially-applicable prototype, based on the findings herein. Appropriate comparisons with the pre-prototype system are made, including cost. Finally, Chapter 8 draws conclusions and makes suggestions for further work. Supporting documentation is provided in Chapter 9 and the Appendices

Urban Informatics

This open access book is the first to systematically introduce the principles of urban informatics and its application to every aspect of the city that involves its functioning, control, management, and future planning. It introduces new models and tools being developed to understand and implement these technologies that enable cities to function more efficiently – to become ‘smart’ and ‘sustainable’. The smart city has quickly emerged as computers have become ever smaller to the point where they can be embedded into the very fabric of the city, as well as being central to new ways in which the population can communicate and act. When cities are wired in this way, they have the potential to become sentient and responsive, generating massive streams of ‘big’ data in real time as well as providing immense opportunities for extracting new forms of urban data through crowdsourcing. This book offers a comprehensive review of the methods that form the core of urban informatics from various kinds of urban remote sensing to new approaches to machine learning and statistical modelling. It provides a detailed technical introduction to the wide array of tools information scientists need to develop the key urban analytics that are fundamental to learning about the smart city, and it outlines ways in which these tools can be used to inform design and policy so that cities can become more efficient with a greater concern for environment and equity

Urban Informatics

This open access book is the first to systematically introduce the principles of urban informatics and its application to every aspect of the city that involves its functioning, control, management, and future planning. It introduces new models and tools being developed to understand and implement these technologies that enable cities to function more efficiently – to become ‘smart’ and ‘sustainable’. The smart city has quickly emerged as computers have become ever smaller to the point where they can be embedded into the very fabric of the city, as well as being central to new ways in which the population can communicate and act. When cities are wired in this way, they have the potential to become sentient and responsive, generating massive streams of ‘big’ data in real time as well as providing immense opportunities for extracting new forms of urban data through crowdsourcing. This book offers a comprehensive review of the methods that form the core of urban informatics from various kinds of urban remote sensing to new approaches to machine learning and statistical modelling. It provides a detailed technical introduction to the wide array of tools information scientists need to develop the key urban analytics that are fundamental to learning about the smart city, and it outlines ways in which these tools can be used to inform design and policy so that cities can become more efficient with a greater concern for environment and equity

Urban Informatics

This open access book is the first to systematically introduce the principles of urban informatics and its application to every aspect of the city that involves its functioning, control, management, and future planning. It introduces new models and tools being developed to understand and implement these technologies that enable cities to function more efficiently – to become ‘smart’ and ‘sustainable’. The smart city has quickly emerged as computers have become ever smaller to the point where they can be embedded into the very fabric of the city, as well as being central to new ways in which the population can communicate and act. When cities are wired in this way, they have the potential to become sentient and responsive, generating massive streams of ‘big’ data in real time as well as providing immense opportunities for extracting new forms of urban data through crowdsourcing. This book offers a comprehensive review of the methods that form the core of urban informatics from various kinds of urban remote sensing to new approaches to machine learning and statistical modelling. It provides a detailed technical introduction to the wide array of tools information scientists need to develop the key urban analytics that are fundamental to learning about the smart city, and it outlines ways in which these tools can be used to inform design and policy so that cities can become more efficient with a greater concern for environment and equity

Aerospace Medicine and Biology: A continuing bibliography with indexes

This bibliography lists 356 reports, articles and other documents introduced into the NASA scientific and technical information system in June 1982

Proceedings of the 2018 Canadian Society for Mechanical Engineering (CSME) International Congress

Published proceedings of the 2018 Canadian Society for Mechanical Engineering (CSME) International Congress, hosted by York University, 27-30 May 2018

EUROSENSORS XVII : book of abstracts

Fundação Calouste Gulbenkien (FCG).Fundação para a Ciência e a Tecnologia (FCT)