Towards Autonomous Bridge Inspection: Sensor Mounting Using Aerial Manipulators

Abstract

Periodic bridge inspections are required every several years to determine the state of a bridge. Most commonly, the inspection is performed using specialized trucks allowing human inspectors to review the conditions underneath the bridge, which requires a road closure. The aim of this paper was to use aerial manipulators to mount sensors on the bridge to collect the necessary data, thus eliminating the need for the road closure. To do so, a two-step approach is proposed: an unmanned aerial vehicle (UAV) equipped with a pressurized canister sprays the first glue component onto the target area; afterward, the aerial manipulator detects the precise location of the sprayed area, and mounts the required sensor coated with the second glue component. The visual detection is based on an RGB-D sensor and provides the target position and orientation. A trajectory is then planned based on the detected contact point, and it is executed through the adaptive impedance control capable of achieving and maintaining a desired force reference. Such an approach allows for the two glue components to form a solid bond. The described pipeline is validated in a simulation environment while the visual detection is tested in an experimental environment.

Object Localization by Construction of an Asymmetric Isobody of the Magnetic Gradient Tensor Contraction Using Two Identical Permanent Magnets

“…As mentioned above, object mounting is also a part of the project ASAP which requires the assembly of the MUs directly on the bridge, which then record and collect vibrations over a longer period of time, for example. For this purpose, intelligent UAVs are being developed that can cooperatively perform such assembly [7]. While [7] addressed the question of how such an assembly can be performed by UAVs on bridges, this paper presents a concept of how an UAV can find and remove the MU again, which is an unresolved issue.…”

Robust Control Based on Adaptive Neural Network for the Process of Steady Formation of Continuous Contact Force in Unmanned Aerial Manipulator

“…The research of UAM applications has gained some achievements in the last decade, including grabbing stationary or moving objects [ 10 , 11 ], picking up and transporting goods [ 12 , 13 , 14 ], inspecting infrastructure [ 15 , 16 ], and installing and retrieving equipment [ 17 , 18 , 19 , 20 ]. Continuous contact operations cause the UAM to lose its degree of freedom in a specific direction, so the stability control of the UAM can be more complicated.…”

A New Methodology for Bridge Inspections in Linear Infrastructures from Optical Images and HD Videos Obtained by UAV

“…Similar conclusions were drawn by Koch et al [8] after analysing different large concrete structures (Figure 1). Many efforts are being successfully made to improve the quality and autonomy of UAS-enabled bridge inspections [9][10][11][12][13][14]. Nevertheless, a systematic methodology for inspections is needed to improve the overall quality of bridge inspections.…”

“…To avoid the lack of information and to make the available information easier to understand, it is also important to systematize data collection when viewing the images. A clear and systematized protocol using UAV for bridge inspection is also Many efforts are being successfully made to improve the quality and autonomy of UAS-enabled bridge inspections [9][10][11][12][13][14]. Nevertheless, a systematic methodology for inspections is needed to improve the overall quality of bridge inspections.…”