A Light-Weight Wheel-Based Cable Inspection Climbing Robot: From Simulation to Reality

Zheng, Mingkang; Yang, Mingdai; Yuan, Xiaoqiang; Ding, Ning

doi:10.1109/robio.2018.8665062

Cited by 8 publications

(9 citation statements)

References 16 publications

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“…Accordingly, the application of robotic technology is growing rapidly, for which only a limited amount of time is required to collect necessary data with a variety of sensors. The increased focus on robotics equipment, semi-autonomous or fully autonomous, for the NDE of bridge infrastructure, has led to the providing of previously inaccessible bridge areas with faster and more accurate inspections [95][96][97][98][99][100][101][102][103][104][105][106][107]. The automated robotic equipment must be a certain weight and size, implementing specific modes of operation, power supply, types of data collection, and accuracy [111], and, currently, not all NDT methods can be accommodated by robotic delivery.…”

Section: Implementation Of Robotic Technologymentioning

confidence: 99%

“…Ground-based inspection robots represent the majority of the current advanced equipment used for the NDE and SHM of bridges. They can be further classified based on the type of locomotion they are implementing into a wheel-based robotic platform, climbing robotic platform, and bipedal as well as quadrupedal legged robotic platform [101,[104][105][106]110,[123][124][125][126][127]. Different types of ground and climbing robots can be adapted to handle different surfaces while still providing accurate navigation.…”

Section: Ground Robotsmentioning

confidence: 99%

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Non-Destructive Testing Applications for Steel Bridges

et al. 2021

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The growing population and increasing demand for surface transportation have highlighted the importance of maintaining safe and reliable civil infrastructures for daily use. Among all civil infrastructures, bridges are one of the most important elements in the transportation system. As such, to prevent any failures caused by aging and environmental impacts, bridges require periodic inspections. This becomes even more critical due to climate change and its effect on bridges, especially in the coastal regions. Most of the inspections conducted incorporate the visual type of evaluation due to its simplicity. However, with the current developments in new technologies, there is a need for more advanced techniques of structural health monitoring (SHM) methods to be incorporated in the maintenance programs for more accurate and efficient surveys. In this paper, non-destructive testing (NDT) methods applicable to steel bridges are reviewed, with a focus on methods applicable to local damage detection. Moreover, the methodology, advantages and disadvantages, and up-to-date research on NDT methods are presented. Furthermore, the application of novel NDT techniques using innovative sensors, drones, and robots for the rapid and efficient assessment of damages on small and large scales is emphasized. This study is deemed necessary as it compiles in one place the available information regarding NDT methods for in-service steel bridges. Access to such information is critical for researchers who intend to work on new or improved NDT techniques.

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Section: Implementation Of Robotic Technologymentioning

confidence: 99%

Section: Ground Robotsmentioning

confidence: 99%

Non-Destructive Testing Applications for Steel Bridges

et al. 2021

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“…In recent decades, there has been an increased focus towards the development and usage of semi-autonomous and fully autonomous robots for the NDE and SHM of civil infrastructures in general and bridges in particular. A wide array of diverse robots have been developed ranging from climbing robots (e.g., legged robots, wheel-based sliding robots and crawler robots) [ 38 , 39 , 40 , 48 , 49 , 50 , 51 , 52 , 53 , 54 , 55 , 56 , 57 , 58 , 59 , 60 , 61 , 62 ], and multi-rotor unmanned aerial vehicles (e.g., quad-rotors and octo-rotors) [ 63 , 64 , 65 , 66 , 67 , 68 , 69 ] to unmanned ground vehicles (UGVs) (e.g., advanced robotics and automation (ARA) lab robot, robotic crack inspection and mapping (ROCIM) , robotics-assisted bridge inspection tool (RABIT)) [ 45 , 47 , 70 , 71 , 72 , 73 , 74 , 75 , 76 , 77 , 78 , 79 ] and water-based robotic crafts (e.g., unmanned submersible vehicles (USVs), underwater marine vehicles (UMVs), underwater vehicles (UUVs)) [ 41 , 42 , 80 ].…”

Section: Technological Platformsmentioning

confidence: 99%

“…Many bridges are equipped with cables to provide support and load balancing across the different parts of the bridge. To provide the automatic maintenance and inspection of these parts of the bridges, a considerable amount of studies focuses towards the mechanical design and development of different cable climbing robots [ 53 , 54 , 55 , 56 , 57 , 58 , 59 , 63 , 64 ]. The use of bipedal and quadruped legged robots has also been proposed for the inspection of civil infrastructures in general and the vertical structures of bridges in particular [ 87 , 92 , 93 , 94 , 95 , 96 , 97 , 98 ].…”

Section: Technological Platformsmentioning

confidence: 99%

“…legged robots, wheel-based sliding robots and crawler robots) [38][39][40][48][49][50][51][52][53][54][55][56][57][58][59][60][61][62], and multi-rotor unmanned aerial vehicles (e.g., quad-rotors and octo-rotors) [63][64][65][66][67][68][69] to unmanned ground vehicles (UGVs) (e.g., advanced robotics and automation (ARA) lab robot, robotic crack inspection and mapping (ROCIM), robotics-assisted bridge inspection tool (RABIT)) [45,47,[70][71][72][73][74][75][76][77][78][79] and water-based robotic crafts (e.g., unmanned submersible vehicles (USVs), underwater marine vehicles (UMVs), underwater vehicles (UUVs)) [41,42,80]. Some of the recent studies have also focused towards developing hybrid robotic frameworks (e.g., wall-climbing unmanned aerial vehicles (UAVs), robots capable of flying and crawling and other multi-rotor flying robots capable of latching on to specific parts of infrastructure that require inspection), which are able to provide multi-functional roles and capabilities for the different types of inspection activities [43,…”

mentioning

confidence: 99%

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Review of Non-Destructive Civil Infrastructure Evaluation for Bridges: State-of-the-Art Robotic Platforms, Sensors and Algorithms

Ahmed

Gucunski

2020

Sensors

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The non-destructive evaluation (NDE) of civil infrastructure has been an active area of research in recent decades. The traditional inspection of civil infrastructure mostly relies on visual inspection using human inspectors. To facilitate this process, different sensors for data collection and techniques for data analyses have been used to effectively carry out this task in an automated fashion. This review-based study will examine some of the recent developments in the field of autonomous robotic platforms for NDE and the structural health monitoring (SHM) of bridges. Some of the salient features of this review-based study will be discussed in the light of the existing surveys and reviews that have been published in the recent past, which will enable the clarification regarding the novelty of the present review-based study. The review methodology will be discussed in sufficient depth, which will provide insights regarding some of the primary aspects of the review methodology followed by this review-based study. In order to provide an in-depth examination of the state-of-the-art, the current research will examine the three major research streams. The first stream relates to technological robotic platforms developed for NDE of bridges. The second stream of literature examines myriad sensors used for the development of robotic platforms for the NDE of bridges. The third stream of literature highlights different algorithms for the surface- and sub-surface-level analysis of bridges that have been developed by studies in the past. A number of challenges towards the development of robotic platforms have also been discussed.

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Design and Control Method of a Coupled Loading–Damping Mechanism of Cable‐Detecting Robots for Large Bridges

Xu,

Ma,

Zhou

et al. 2024

Journal of Field Robotics

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The climbing stability of cable‐detecting robots holds important significance for bridge detection. To improve the climbing stability of robots under cable vibration, a loading mechanism coupling variable stiffness and damping and a control method were proposed for robots. At first, aiming at the slip of cable‐detecting robots during climbing, the influences of cable vibration on the climbing stability of the robot and the damping mechanism of the variable‐stiffness and variable‐damping mechanism were assessed. Then, a new coupled loading mechanism was designed, and a mechanical model was established. The damping and stiffness were adjusted according to cable vibration, thus automatically adjusting the loading force of the robot. Afterwards, a fuzzy proportional–integral–derivative (PID) control strategy was devised and PID parameters were adjusted in accordance with cable vibration, thereby dynamically adjusting the clamping force of the coupled loading mechanism. Finally, a laboratory vibration test platform was established to conduct experiments on the output force of the coupled loading mechanism and on the robot climbing under vibration. Experimental results show that the maximum fluctuation amplitude of the climbing speed of the proposed robot decreases to 0.018 m/s, and the speed stability improves by 78.9% at the cable‐vibration frequency of 10 Hz and amplitude of 4 mm, when compared with the original common helical‐spring loading mechanism.

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A Light-Weight Wheel-Based Cable Inspection Climbing Robot: From Simulation to Reality

Cited by 8 publications

References 16 publications

Non-Destructive Testing Applications for Steel Bridges

Non-Destructive Testing Applications for Steel Bridges

Review of Non-Destructive Civil Infrastructure Evaluation for Bridges: State-of-the-Art Robotic Platforms, Sensors and Algorithms

Design and Control Method of a Coupled Loading–Damping Mechanism of Cable‐Detecting Robots for Large Bridges

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