Infrastructure Robotics: Methodologies, Robotic Systems and Applications (IEEE Press Series on Systems Science and Engineering)

fmatter
	Copyright
	Contents
	About the Editors
	Preface
	Acronyms
part1
ch1
	1.1 Infrastructure Inspection and Maintenance
	1.2 Infrastructure Robotics
		1.2.1 Inspection and Maintenance of Steel Bridges
		1.2.2 Climbing and Wheeled Robots for Inspection of Truss Structures
		1.2.3 Robots for Underwater Infrastructure Maintenance
	1.3 Considerations in Infrastructure Robotics Research
	1.4 Opportunities and Challenges
	1.5 Concluding Remarks
	Bibliography
ch2
	2.1 Special Features of Infrastructure
	2.2 The Design Process
	2.3 Types of Robots and Their Design and Operation
	2.4 Software System Design
	2.5 An Example: Development of the CROC Design Concept
	2.6 Some Other Examples
	2.7 Actuator Systems
	2.8 Concluding Remarks
	Bibliography
ch3
	3.1 Introduction
	3.2 Sensor Description
		3.2.1 2D LiDAR
		3.2.2 3D LiDAR
		3.2.3 Sonar
		3.2.4 Monocular Camera
		3.2.5 Stereo Camera
		3.2.6 GRB‐D Camera
	3.3 Problem Description
	3.4 Theoretical Foundations
		3.4.1 Extended Kalman Filter
		3.4.2 Nonlinear Least Squares
		3.4.3 Environment Representations
		3.4.4 Mapping Techniques
		3.4.5 Localization Techniques
		3.4.6 SLAM Techniques
	3.5 Implementation
		3.5.1 Localization
		3.5.2 SLAM
	3.6 Case Studies
		3.6.1 Mapping in Confined Space
		3.6.2 Localization in Confined Space
		3.6.3 SLAM in Underwater Bridge Environment
	3.7 Conclusion and Discussion
	Bibliography
ch4
	4.1 Introduction
	4.2 GNN‐Based Pipe Failure Prediction
		4.2.1 Background
		4.2.2 Problem Formulation
		4.2.3 Data Preprocessing
		4.2.4 GNN Learning
		4.2.5 Failure Pattern Learning
		4.2.6 Failure Predictor
		4.2.7 Experimental Study
	4.3 Computer Vision‐Based Signal Aspect Transition Detection
		4.3.1 Background
		4.3.2 Signal Detection Model
		4.3.3 Track Detection Model
		4.3.4 Optimization for Target Locating
	4.4 Conclusion and Discussion
	Bibliography
ch5
	5.1 Introduction to Coverage and Motion Planning
	5.2 Coverage Planning Algorithms for a Single Robot
		5.2.1 An Offline Coverage Planning Algorithm
		5.2.2 A Real‐Time Coverage Planning Algorithm
	5.3 Coverage Planning Algorithms for Multiple Robots
		5.3.1 Base Placement Optimization
		5.3.2 Area Partitioning and Allocation
		5.3.3 Adaptive Coverage Path Planning
	5.4 Conclusion
	Bibliography
ch6
	6.1 Introduction
	6.2 Autonomy, Tele‐Operation, and pHRC
		6.2.1 Autonomous Robots
		6.2.2 Teleoperated Robots
		6.2.3 Physical Human–Robot Collaboration
	6.3 Control Methods
		6.3.1 Motion Control
		6.3.2 Force Control
	6.4 Adaptive Assistance Paradigms
		6.4.1 Manually Adapted Assistance
		6.4.2 Assistance‐As‐Needed Paradigms
		6.4.3 Performance‐Based Assistance
		6.4.4 Physiology‐Based Assistance
	6.5 Safety Framework for pHRC
	6.6 Performance‐Based Role Change
	6.7 Case Study
	6.8 Discussion
	Acknowledgements
	Bibliography
part2
ch7
	7.1 Introduction
	7.2 Recent Climbing Robot Platforms Developed by the ARA Lab
	7.3 Overall Design
		7.3.1 Mechanical Design and Analysis
	7.4 Overall Control Architecture
		7.4.1 Control System Framework
	7.5 Experiment Results
		7.5.1 Switching Control
		7.5.2 Robot Navigation in Mobile and Worming Transformation
		7.5.3 Robot Deployment
	7.6 Conclusion and Future Work
	Bibliography
ch8
	8.1 Introduction to Maintenance of Underwater Structures
	8.2 Robot System Design
		8.2.1 Hull Design and Maneuvering System
		8.2.2 Robot Arms for Docking and Water‐Jet Cleaning
	8.3 Sensing and Perception in Underwater Environments
		8.3.1 Underwater Simultaneous Localization and Mapping (SLAM) Around Bridge Piles
		8.3.2 Marine Growth Identification
	8.4 Software Architecture
	8.5 Robot Navigation, Motion Planning and System Integration
		8.5.1 Localization and Navigation in Open Water
		8.5.2 System Integration
	8.6 Testing in a Lab Setup and Trials in the Field
		8.6.1 Operation Procedure
		8.6.2 Autonomous Navigation in Narrow Environments
		8.6.3 Vision‐Based Marine Growth Removing Process
		8.6.4 Inspection and Marine Growth Identification
	8.7 Reflection and Lessons Learned
	8.8 Conclusion and Future Work
	Acknowledgments
	Bibliography
ch9
	9.1 Introduction
	9.2 ROBO‐SPECT Project
		9.2.1 Robotic System
		9.2.2 Intelligent Global Controller
		9.2.3 Ground Control Station
		9.2.4 Structural Assessment Tool
	9.3 Inspection Procedure
	9.4 Extended Kalman Filter for Mobile Vehicle Localization
	9.5 Mobile Vehicle Navigation
	9.6 Field Experimental Results
	9.7 Conclusion
	Bibliography
ch10
	10.1 Introduction
	10.2 Boring Systems and Methods
		10.2.1 Directional Drilling Methods
		10.2.2 Drilling Robotic Systems
	10.3 Main Drawbacks
	10.4 BADGER System and Components
		10.4.1 Main Systems Description
		10.4.2 BADGER Operation
	10.5 Future Trends
	Bibliography
ch11
	11.1 Introduction to Ferro‐Magnetic Pipeline Maintenance
		11.1.1 NDT Inspection Taxonomy
	11.2 Inspection Robots
		11.2.1 Robot Kinematics and Locomotion
	11.3 PEC Sensing for Ferromagnetic Wall Thickness Mapping
		11.3.1 Hardware and Software System Architecture
	11.4 Gaussian Processes for Spatial Regression from Sampled Inspection Data
		11.4.1 Gaussian Processes
	11.5 Field Robotic CA Inspection Results
	11.6 Concluding Remarks
	Bibliography
ch12
	12.1 Introduction
	12.2 Nondestructive Sensing System for Condition Assessment of Sewer Walls
	12.3 Robotic Tool for Field Deployment
	12.4 Laboratory Evaluation
	12.5 Field Deployment and Evaluation
	12.6 Lessons Learned and Future Directions
	12.7 Concluding Remarks
	Bibliography
ch13
	13.1 Introduction
	13.2 Robot Design
	13.3 Methodologies
		13.3.1 Perception
		13.3.2 Control
		13.3.3 Planning of Robot Body Motion
	13.4 Experiments and Results
		13.4.1 Experiment Setup
		13.4.2 Lab Test Results
		13.4.3 Field Trials in a Steel Bridge
	13.5 Discussion
	13.6 Conclusion
	Bibliography
ch14
	14.1 Introduction
	14.2 Multi‐UAV Inspection of Electrical Power Systems
		14.2.1 Use Cases
		14.2.2 Architecture
	14.3 Inspection Planning
		14.3.1 Vehicle Routing Problem
	14.4 Onboard Online Semantic Mapping
		14.4.1 GNSS‐Endowed Mapping System
		14.4.2 Reflectivity and Geometry‐Based Semantic Classification
		14.4.3 Validation
	14.5 Conclusion
	Bibliography
ch15
	15.1 Refining Oil for Fuels and Petrochemical Basics
	15.2 The Inspection Process
	15.3 Inspection and Mechanical Integrity of Oil Refinery Components
		15.3.1 Liquid Storage Tank Inspection
		15.3.2 Pressurized Vessels Inspection
		15.3.3 Process Pipping
		15.3.4 Heat Exchanger Bundles
	15.4 Plant Operations, Surveillance, Maintenance Activities, and Others
		15.4.1 Surveillance, Operations, and Maintenance of Oil and Gas Refineries
		15.4.2 Safety and Security
		15.4.3 Utilities and Support Activities
	15.5 Robotic Systems for Inspection
		15.5.1 Robotics for Storage Tanks
		15.5.2 Robotics for Pressure Vessels
		15.5.3 Robotics for Process Piping
		15.5.4 Robotics Heat Exchanger Bundles
	15.6 Robotics for Plant Operations, Surveillance, Maintenance, and Other Related Activities
		15.6.1 Operations, Surveillance, and Maintenance of Oil and Gas Refineries with Robotic Systems
		15.6.2 Safety and Security Robotics
		15.6.3 Robotics for Utilities and Support Activities
	15.7 Conclusion
ch16
	16.1 Introduction
		16.1.1 Motivation
		16.1.2 Related Works
		16.1.3 Scope
	16.2 Aerial Robot and Detection Framework
		16.2.1 Simulation Environment
		16.2.2 Solar Panel Detection
		16.2.3 Aerial Robot Trajectory
		16.2.4 Sensory Instrumentation for Aerial Robot
	16.3 Learning Framework
		16.3.1 Dataset Preparation
		16.3.2 CNN Architecture
		16.3.3 Performance Evaluation Measures
	16.4 Conclusion
	Acknowledgments
	Bibliography
ch17
	17.1 Review of State of the Art in Additive Manufacturing at Architectural Scales
	17.2 Review of Demonstrations of Aerial Manufacturing and Repair
		17.2.1 Demands and Challenges
		17.2.2 Future Prospects
	17.3 Initial Experimental Evaluations
	17.4 Conclusion and Discussion
	Bibliography
index
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