Augmenting Bridge Inspection with Augmented Reality and Haptics-Based Aerial Manipulation
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Description
This Year 5 proposal serves to integrate the designs, analyses, and results of the past four years, for bridge deck hosing. Hosing remains an important task in bridge maintenance. The limbs and grippers developed in Year 1 demonstrated hose grasping in Year 2. Analysis yielded a mathematical model that showed that hose reaction forces can be overcome by scaling the drone’s footprint (i.e. moment of inertia).
The next logical step would be to integrate these concepts and outcomes to re-visit and thus implement the hosing task. Whipping and push-back are all part of hoseline management. These reaction forces can be dealt with by over-sizing the drone. However, such over-sizing raises costs to build and operate the vehicle. Control of both nozzle pose and hoseline shape can mitigate the need to over-size. Applying Year 3 haptics and Year 4 AR visualization would yield a suitable hosing-drone. The envisioned hosing-drone would cover the operational range needed for bridge deck cleaning.
Presentation Date
10 Aug 2021, 3:00 pm - 3:30 pm
Meeting Name
INSPIRE-UTC 2021 Annual Meeting
Department(s)
Civil, Architectural and Environmental Engineering
Document Type
Presentation
Document Version
Final Version
File Type
text
Language(s)
English
Augmenting Bridge Inspection with Augmented Reality and Haptics-Based Aerial Manipulation
This Year 5 proposal serves to integrate the designs, analyses, and results of the past four years, for bridge deck hosing. Hosing remains an important task in bridge maintenance. The limbs and grippers developed in Year 1 demonstrated hose grasping in Year 2. Analysis yielded a mathematical model that showed that hose reaction forces can be overcome by scaling the drone’s footprint (i.e. moment of inertia).
The next logical step would be to integrate these concepts and outcomes to re-visit and thus implement the hosing task. Whipping and push-back are all part of hoseline management. These reaction forces can be dealt with by over-sizing the drone. However, such over-sizing raises costs to build and operate the vehicle. Control of both nozzle pose and hoseline shape can mitigate the need to over-size. Applying Year 3 haptics and Year 4 AR visualization would yield a suitable hosing-drone. The envisioned hosing-drone would cover the operational range needed for bridge deck cleaning.
