PI-bot: autonomous paving instant detection robot
PI-bot, an autonomous inspection method for pavements is proposed. Two major contributions of this research are described. The first is the development of an autonomous, intelligent robot which carries inspection equipment in the field. The robot is equipped with a GPS receiver, an inertial measurement unit (IMU), a laser rangefinder, and an inspection module. The test results show that PI-bot is effectively at performing a short range and small area pavement inspection task. The second contribution is the Chromatic Dual-Light Inspection (CDLI) method, a distress identification method suitable for automatic inspection. With the CDLI method integrated into PI-bot, the proposed real-time autonomous pavement inspection system is demonstrated to work effectively to execute pavement inspection tasks.
Swinging reduction control system on rotary cranes
During crane lifting, the sway of the hanged object will affect the efficiency of the projects. While many previous studies have also addressed the problem of swaying objects, few studies have discussed the technique of reducing swaying applied to rotary cranes. Therefore, we have developed a method to reduce the swing, guiding the novice crane operator to control the boom to reduce the sway of the object and increase the operating efficiency. This method includes (1) crane start-stop type reducing swing strategy (2) hanging object image sensing method (3) crane operator guiding method. The experimental results show that the sway is reduced by 56.5% when the oscillating device guides the novice crane operator, and the sway of the object \by the old crane operator is reduced by 14.5%.
Visual Awareness on Surface Flow Measurement
Flow velocity is one of the key factors in hydrology. Considering workers’ on-site safety, non-contact methods have become the major approach for flow velocity measurement. We proposed a surface flow measurement method that takes advantage of human visual awareness to measure flow velocity. People can mark the flow features on images using the measurement tool we developed to acquire flow velocity.
UAV Path Planning Method for Digital Terrain Model Reconstruction - a Debris Fan Example
This research develops an unmanned aerial vehicle (UAV) path-planning method that aims to ensure the required image overlap and optimize the flying routes when applying the UAV for digital terrain model's (DTM) reconstruction. The developed method is validated to be able to help operators to sufficiently use the limited UAV batteries and evaluate the efficiency of the image collection process. It also confirms that applying the method on an actual debris fan can guarantee the required image overlapping and generate a complete DTM without model breaking.
Teleyes: A Telepresence System based on Stereoscopic Vision and Head Motion Tracking
This study develops a telepresence system, Teleyes, to reduce visual distortion in remote environments. The primary objective of this research is to take advantage of state-of-art three-dimensional (3D) input/outputs technologies and to develop an avatar-like mechanism to synchronize the physical behavior of an operator with a remote system. Two 3D input/output methods are used in this research: stereoscopic vision and motion tracking. The results show that the system has significantly improved the visual experience and operating efficiency, thus having the potential to save resources and expand the application of unmanned vehicle systems (UVSs). The developed system also provides the operator with a realistic first-person view of a UVS and a visual experience similar to being onboard.
Framework of Automated Beam Assembly and Disassembly System for Temporary Bridge Structures
Temporary bridges play an important role in disaster relieving operations. However, available workers and limited time are precious resources during a disaster event. To address these issues during a disaster event, an automated beam assembly approach for temporary bridge segment is proposed in this study. The approach includes a framework for temporary bridge construction to be automated assembled by a crane and a construction process based on the framework. The framework and the construction process are examined with both virtual and small-scale models.