Nguyen, Thanh Son

English

Missouri University of Science and Technology (Missouri S&T): Scholars' Mine

A HYBRID-CLIMBING ROBOT FOR STEEL BRIDGE INSPECTIONSon Nguyen, Anh Pham, Cadence Motley, Dzung Bui, Umme Billah, Chuong Le, Ali Tavakkoli, Hung La Advanced Robotics and Automation Lab, Department of Computer Science & EngineeringINTRODUCTIONThe proposed hybrid-climbing robot is designed ofmobile and worming function to traverse areas ofcomplex geometry on steel bridges. The robot utilizespermanent magnets to be able to well adhere on steelstructures while moving. A 3D camera collects bothvisual and point cloud data of environment forinspection and auto control purposesMETHODSCONCLUSIONSThe designed hybrid-climbing robot performs well forsteel bridge inspection. This research introduces themechanical design and control framework in the secondphase of our project. In the future, we intend to enhancethe robot’s functions by improving its stability, datacollection capabilities and autonomous capacity andefficiency.REFERENCES. T. Nguyen, A. Q. Pham, C. Motley and H. M. La. A Practical ClimbingRobot for Steel Bridge Inspection. In Proceedings of the 2020 IEEEInternational Conference on Robotics and Automation (ICRA), May 31-June 4, 2020, Paris, FranceH-D. Bui, S. T. Nguyen, U-H. Billah, C. Le, A. Tavakkoli, H. M. La. ControlFramework for a Hybrid-steel Bridge Inspection Robot. In Proceedings ofthe 2020 IEEE/RSJ International Conference on Intelligent Robots andSystems (IROS), Las Vegas, Nevada, USA, October 25 – 29, 2020Adaptive function of magnet array on different terrains Detail design of robot’s footRobot transformation process to move to a new surfaceRust area detection is managed by CNN architectureMobilemode Worming modeDepending on the environmental conditions, the robotcan transform its configuration and switch between itsmodes of travel. On continuous and smooth surfaces,the robot travels in mobile mode in which the magnetarray works in untouched manner. The robot changesits mode of travel to worming mode when a complexsteel surface is detected. In this mode, the robot’swheels are locked and will not rotate. Once a newsurface is searched for and found, the robot thenperforms an inch-worm-like jump to the new surface.The magnet arrays are designed with an adaptivefunction, to modulate the magnets vertical positioning.Mobile mode: Robot runs autonomously following pathplanning algorithms. Worming mode is switched towhen path planning returns no solutions. The robot looksfor a possible new surface by analysing point cloud dataof the environment.A surface with the desired criteria for area, and a feasiblerobot workspace is searched for and found.RESULTSExperimental results show that the robot can work well oncomplex steel structures (flat, curving, paint coasted,nuts). The autonomous control function and visual dataprocessing are tested in an indoor environment. Theyperform well in that condition.The robot is following a linear path and doing visual and3D data collection. In the meantime, real time defectdetection is processed parallelly.The robot is functioning an inch-worm-like maneuver totraverse to a new surface after identifying a suitable area.Acknowledgement: This work is supported by the U.S. Department of Transportation, Office of the Assistant Secretary for Research and Technology (USDOT/OST-R) under Grant No. 69A3551747126 through INSPIRE University Transportation Center. The views, opinions, findings and conclusions reflected in this publication are solely those of the authors and do not represent the official policy or position of the USDOT/OST-R.

A Hybrid-Climbing Robot for Steel Bridge Inspection

https://scholarsmine.mst.edu/cgi/viewcontent.cgi?article=1076&amp;context=inspire-meetings

A Hybrid-Climbing Robot for Steel Bridge Inspection

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Missouri University of Science and Technology (Missouri S&T): Scholars' Mine