Robot-Assisted Inspection of Concrete Box Girders in Bridges

Valls Miro, J; De Bruijn, F; Dissanayake, G; Boisard, O; Ton, P

Robot-Assisted Inspection of Concrete Box Girders in Bridges

Valls Miro, J

De Bruijn, F Dissanayake, G

Boisard, O Ton, P

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Publisher:: Austroads Ltd.
Publication Type:: Conference Proceeding
Citation:: Proceedings for the Austroads Conference 2011: Sustainable Bridges - The Thread of Society, 2011, pp. 335 - 346
Issue Date:: 2011-01

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Field	Value	Language
dc.contributor.author	Valls Miro, J https://orcid.org/0000-0002-0083-7797	en_US
dc.contributor.author	De Bruijn, F	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.contributor.author	Boisard, O	en_US
dc.contributor.author	Ton, P	en_US
dc.contributor.editor	Ponnampalam, V	en_US
dc.contributor.editor	Madrio, H	en_US
dc.contributor.editor	Ancich, E	en_US
dc.date	2011-10-31	en_US
dc.date.issued	2011-01	en_US
dc.identifier.citation	Proceedings for the Austroads Conference 2011: Sustainable Bridges - The Thread of Society, 2011, pp. 335 - 346	en_US
dc.identifier.uri	http://hdl.handle.net/10453/30779
dc.description.abstract	This paper describes a robotic solution to the structural health inspection of concrete box girders. A combination of sensors including a laser range finder, a depth (RGB-D) camera, an inertial measurement unit and a high-resolution camera are mounted on a tracked robot. The robot can be driven inside a box girder even when there are steps present, to collect high-resolution images of the concrete structure. Software that allows the information captured to be registered with a 3D geometric map of the inside of a box girder, and a visualization tool that can be used to evaluate location-annotated highly-detailed surface condition pictures by the human operator has been developed. The proposed remote evaluation technique makes it feasible to safely monitor areas over a sequence of inspections, leading to more effective maintenance procedures. The effectiveness of the system is illustrated using data gathered during a field trial where the robot was deployed within the Overpass at Huntleyâs Point, in the junction between Victoria Road and Burns Bay Road in Sydney. Functionality to automatically identify defects/regions of interest is also being investigated. It is anticipated that supplementing manual inspection tasks with robotic aids will mitigate the risk to manual entry into a confined space with a consequential saving in associated cost. This project is collaboration between the University of Technology Sydney (UTS) and the Roads & Traffic Authority (RTA) of NSW.	en_US
dc.publisher	Austroads Ltd.	en_US
dc.relation.ispartof	Proceedings for the Austroads Conference 2011: Sustainable Bridges - The Thread of Society	en_US
dc.relation.ispartof	Austroads Bridge Conference	en_US
dc.title	Robot-Assisted Inspection of Concrete Box Girders in Bridges	en_US
dc.type	Conference Proceeding
utslib.location	Australia	en_US
utslib.location.activity	Sydney	en_US
utslib.for	0915 Interdisciplinary Engineering	en_US
dc.location.activity	Sydney
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	closed_access
pubs.consider-herdc	true	en_US
pubs.finish-date	2011-11-05	en_US
pubs.place-of-publication	Australia	en_US
pubs.start-date	2011-10-31	en_US

Abstract:

This paper describes a robotic solution to the structural health inspection of concrete box girders. A combination of sensors including a laser range finder, a depth (RGB-D) camera, an inertial measurement unit and a high-resolution camera are mounted on a tracked robot. The robot can be driven inside a box girder even when there are steps present, to collect high-resolution images of the concrete structure. Software that allows the information captured to be registered with a 3D geometric map of the inside of a box girder, and a visualization tool that can be used to evaluate location-annotated highly-detailed surface condition pictures by the human operator has been developed. The proposed remote evaluation technique makes it feasible to safely monitor areas over a sequence of inspections, leading to more effective maintenance procedures. The effectiveness of the system is illustrated using data gathered during a field trial where the robot was deployed within the Overpass at Huntleyâs Point, in the junction between Victoria Road and Burns Bay Road in Sydney. Functionality to automatically identify defects/regions of interest is also being investigated. It is anticipated that supplementing manual inspection tasks with robotic aids will mitigate the risk to manual entry into a confined space with a consequential saving in associated cost. This project is collaboration between the University of Technology Sydney (UTS) and the Roads & Traffic Authority (RTA) of NSW.

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http://hdl.handle.net/10453/30779