Contact force control in the robot end-point

AbstractThe end-point stiffness of a robot kinematic chain represents the crucial problem in force control. Within the period of the force generation, regardless of the drive type, due to inherent torque feedback the oscillations of the controlled force appear. For technologies with the constant contact force generation, the paper presents an effective linear control structure taking the physical limitation of the system’s inner variables into account. A numerical model of one degree of freedom verifies the proposed control algorithm

Bridge Inspection: Human Performance, Unmanned Aerial Systems and Automation

Unmanned aerial systems (UASs) have become of considerable private and commercial interest for a variety of jobs and entertainment in the past 10 years. This paper is a literature review of the state of practice for the United States bridge inspection programs and outlines how automated and unmanned bridge inspections can be made suitable for present and future needs. At its best, current technology limits UAS use to an assistive tool for the inspector to perform a bridge inspection faster, safer, and without traffic closure. The major challenges for UASs are satisfying restrictive Federal Aviation Administration regulations, control issues in a GPS-denied environment, pilot expenses and availability, time and cost allocated to tuning, maintenance, post-processing time, and acceptance of the collected data by bridge owners. Using UASs with self-navigation abilities and improving image-processing algorithms to provide results near real-time could revolutionize the bridge inspection industry by providing accurate, multi-use, autonomous three-dimensional models and damage identification

Proceedings of the 2017 Coal Operators\u27 Conference

Proceedings of the 2017 Coal Operators\u27 Conference. All papers in these proceedings are peer reviewed. ISBN: 978174128261

Investigation of Strategic Deployment Opportunities for Unmanned Aerial Systems (UAS) at INDOT

Unmanned aerial systems (UAS) are increasingly used for a variety of applications related to INDOT’s mission including bridge inspection, traffic management, incident response, construction and roadway mapping. UAS have the potential to reduce costs and increase capabilities. Other state DOTs and transportation agencies have deployed UAS for an increasing number of applications due to technology advances that provide increased capabilities and lower costs, resulting from regulatory changes that simplified operations for small UAS under 55 pounds (aka, sUAS). This document provides an overview of UAS applications that may be appropriate for INDOT, as well as a description of the regulations that affect UAS operation as described in 14 CFR Part 107. The potential applications were prioritized using Quality Function Deployment (QFD), a methodology used in the aerospace industry that clearly communicates qualitative and ambiguous information with a transparent framework for decision making. The factors considered included technical feasibility, ease of adoption and stakeholder acceptance, activities underway at INDOT, and contribution to INDOT mission and goals. Dozens of interviews with INDOT personnel and stakeholders were held to get an accurate and varied perspective of potential for UAVs at INDOT. The initial prioritization was completed in early 2019 and identified three key areas: UAS for bridge inspection safety as a part of regular operations, UAS for construction with deliverables provided via construction contracts, and UAS for emergency management. Descriptions of current practices and opportunities for INDOT are provided for each of these applications. An estimate of the benefits and costs is identified, based on findings from other agencies as well as projections for INDOT. A benefit cost analysis for the application of UAS for bridge inspection safety suggests a benefit cost over one for the analysis period

Non-Contact Evaluation Methods for Infrastructure Condition Assessment

The United States infrastructure, e.g. roads and bridges, are in a critical condition. Inspection, monitoring, and maintenance of these infrastructure in the traditional manner can be expensive, dangerous, time-consuming, and tied to human judgment (the inspector). Non-contact methods can help overcoming these challenges. In this dissertation two aspects of non-contact methods are explored: inspections using unmanned aerial systems (UASs), and conditions assessment using image processing and machine learning techniques. This presents a set of investigations to determine a guideline for remote autonomous bridge inspections

Standardization Roadmap for Unmanned Aircraft Systems, Version 1.0

This Standardization Roadmap for Unmanned Aircraft Systems, Version 1.0 (“roadmap”) represents the culmination of the UASSC’s work to identify existing standards and standards in development, assess gaps, and make recommendations for priority areas where there is a perceived need for additional standardization and/or pre-standardization R&D. The roadmap has examined 64 issue areas, identified a total of 60 gaps and corresponding recommendations across the topical areas of airworthiness; flight operations (both general concerns and application-specific ones including critical infrastructure inspections, commercial services, and public safety operations); and personnel training, qualifications, and certification. Of that total, 40 gaps/recommendations have been identified as high priority, 17 as medium priority, and 3 as low priority. A “gap” means no published standard or specification exists that covers the particular issue in question. In 36 cases, additional R&D is needed. The hope is that the roadmap will be broadly adopted by the standards community and that it will facilitate a more coherent and coordinated approach to the future development of standards for UAS. To that end, it is envisioned that the roadmap will be widely promoted and discussed over the course of the coming year, to assess progress on its implementation and to identify emerging issues that require further elaboration

Sustainable Construction

Construction is one of the main sectors that generates greenhouse gases. This industry consumes large amounts of raw materials, such as stone, timber, water, etc. Additionally, infrastructure should provide service over many years without safety problems. Therefore, their correct design, construction, maintenance, and dismantling are essential to reducing economic, environmental, and societal consequences. That is why promoting sustainable construction has recently become extremely important. To help address and resolve these types of questions, this book explores new ways of reducing the environmental impacts caused by the construction sector, as well promotes social progress and economic growth. The chapters collect the papers included in the “Sustainable Construction” Special Issue of the Sustainability journal. The papers cover a wide spectrum of issues related to the use of sustainable materials in construction, the optimization of designs based con sustainable indicators, the life-cycle assessment, the decision-making processes that integrate economic, social, and environmental aspects, and the promotion of durable materials that reduce future maintenance