Event Title

Augmenting Bridge Inspection with Augmented Reality and Haptics-Based Aerial Manipulation

Loading...

Media is loading
 

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

This document is currently not available here.

portrait of presenter

Share

COinS
 
Aug 10th, 3:00 PM Aug 10th, 3:30 PM

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.