Final Report - Integration of Aerial Manipulation, Haptics-based Human-in-the- Loop Control, and Augmented Reality for Bridge Deck Hosing

Author

Paul Oh
Blake Hament
Dongbin Kim

Abstract

This Year 5 and Year 6 report integrates the designs, analyses, and results of the previous years. These have culminated into the design, development and deployment of a hosing-drone. This drone carries and 3000 PSI (pounds per square inch) pressure washer often used to clean bridges. This accomplishment leverages the work in aerial manipulation, human-in-the-loop control, haptics, and augmented- and virtual-reality (AR/VR) executed in prior years. Additionally, this report presents results using a cable-driven parallel robot (CDPR) and telescopic mast. This robot provides another platform that has applications in bridge inspection, maintenance and repair.

Recommended Citation

Oh, Paul; Hament, Blake; and Kim, Dongbin, "Final Report - Integration of Aerial Manipulation, Haptics-based Human-in-the- Loop Control, and Augmented Reality for Bridge Deck Hosing" (2024). Project AS-9. 1.
https://scholarsmine.mst.edu/project_as-9/1

Department(s)

Civil, Architectural and Environmental Engineering

Research Center/Lab(s)

INSPIRE - University Transportation Center

Sponsor(s)

Office of the Assistant Secretary for Research and Technology U.S. Department of Transportation 1200 New Jersey Avenue, SE Washington, DC 20590

Comments

Principal Investigator: Paul Oh

Grant #: USDOT # 69A3551747126

Grant Period: 11/30/2016 - 09/30/2024

Project Period: 01/01/2020 - 06/30/2024

The investigation was conducted under the auspices of the INSPIRE University Transportation Center.

Keywords and Phrases

Bridge Maintenance, Drones, Manipulation

Report Number

INSPIRE-023

Document Type

Technical Report

Document Version

Final Version

File Type

text

Language(s)

English

Rights

© 2025 Missouri University of Science and Technology, All rights reserved.

Publication Date

August 6, 2024