Multi-robot teaming for inspection of hydraulic structures

The objective of the proposed research project is to advance the state of the art in monitoring hydraulic structures through the development of an integrated multi-robot inspection framework. This framework is designed to use a team of robots that collect assessment information above and below the water surface separately. Each data source is integrated into a unified digital twin model of the structural component through multi-view computer vision methods. The complete set of information from the robot team is then assessed through machine learning and computer vision methods that provide automated and quantitative assessment data. Analyzing the complete set of information within the digital twin allows for automated, element-level bridge inspection and holistic assessment of the complete hydraulic structure. Specific objectives of the proposed project include: • An evaluation of existing robotic and sensor technologies in the context of multi-robot inspection teams • 3D computer vision methods for integrating multi-robot information into a comprehensive digital twin model • Machine learning methods designed to automatically assess integrated twin information • Computational and mechanistic approaches for directly associating all analyses with bridge inspection and asset management standards.

• Supplemental Notes:
  • GMUFed/Match$70848/70847UDEL$70848/70847

Language

• English

Project

• Status: Active
• Funding: $283390
• Contract Numbers:

  69A3551847103

• Sponsor Organizations:

  Office of the Assistant Secretary for Research and Technology

  University Transportation Centers Program
  Department of Transportation
  Washington, DC  United States  20590
• Managing Organizations:

  Center for Integrated Asset Management for Multimodal Transportation Infrastructure Systems (CIAMTIS)

  Pennsylvania State University
  University Park, PA  United States  16802
• Project Managers:

  Donnell, Eric

• Performing Organizations:

  George Mason University

  School of Engineering
  CEIE Dept., MSN-6C1
  Faifax, VA  United States  22030

  University of Delaware, Newark

  College of Engineering
  Newark, DE  United States  19711
• Principal Investigators:

  Lattanzi, David

  Head, Monique

• Start Date: 20220120
• Expected Completion Date: 20230720
• Actual Completion Date: 0
• USDOT Program: University Transportation Centers

Subject/Index Terms

• TRT Terms: Hydraulic equipment; Inspection; Monitoring; Robotics; Sensors
• Subject Areas: Data and Information Technology; Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01835228
• Record Type: Research project
• Source Agency: Center for Integrated Asset Management for Multimodal Transportation Infrastructure Systems (CIAMTIS)
• Contract Numbers: 69A3551847103
• Files: UTC, RIP
• Created Date: Feb 2 2022 2:54PM