Abstract

This project develops a compact ultrasonic thickness sensing device that is integrated with a steel-climbing bicycle robot for autonomous thickness measurement of steel bridge members. With wireless communication capability, the ultrasonic sensing device can perform high-voltage pulse excitation, filtering and amplification of the received ultrasonic signal, and high-speed analog-to-digital conversions (up to 80 MHz). After successful validations of the device, it is integrated into a bicycle-like robot with two magnetic wheels controlled by two independent steering actuators that navigates on various steel surfaces (flat, curved, rough, concave, and convex). Along with the wireless ultrasonic sensing device, the robot carries a dual element transducer, an automatic gel couplant dispenser, a position tracking sensor, and a camera. A mounting/retrieving mechanism of the transducer is designed to ensure the reliable contact of the transducer on steel surfaces. The camera view assists the operator in safely navigating the robot to measurement locations, properly dispense gel couplant, and firmly press the transducer on a measurement surface. The automated robot localization provides accurate thickness measurement locations, which in real time are mapped in 3D space together with the robot’s travel path. The performance of the developed system is validated in several indoor and outdoor tests.

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: Yang Wang, Ph. D.

Co-Principal Investigator: Hung Manh La, Ph. D.

Grant #: USDOT # 69A3551747126

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

Project Period: 01/01/219 - 06/30/2024

The investigation was conducted in cooperation with the U. S. Department of Transportation.

Keywords and Phrases

Ultrasonic thickness measurement, climbing robot, autonomous inspection, wireless sensing

Report Number

INSPIRE-020

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

June 30, 2024

Download

Share

 
COinS