Integration of Aerial Manipulation, Haptics-based Human-in-the-Loop Control, and Augmented Reality for Bridge Deck Hosing (AS-9)

A mobile-manipulating unmanned aerial system (MM-UAS) was designed, developed and deployed in Years 1 to 5. Called Avatar-Drone, this system serves as a robotic agent for an embodied operator. Thru Avatar-Drone, the user can remotely perform tasks like aerial drilling and hosing. This Final Year 6 proposal serves to both test-and evaluate (T&E) and verify-and-validate (V&V) this system. The net effect is a prove-on study with the objective of knowledge and technology transfer to the INSPIRE team and the US Department of Transportation (USDOT).