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Design and Development of Climbing Robotic Systems for Automated Inspection of Steel Structures and Bridges.

Record Type:	Language materials, manuscript : Monograph/item
Title/Author:	Design and Development of Climbing Robotic Systems for Automated Inspection of Steel Structures and Bridges./
Author:	Nguyen, Son Thanh.
Description:	1 online resource (160 pages)
Notes:	Source: Dissertations Abstracts International, Volume: 85-03, Section: B.
Contained By:	Dissertations Abstracts International85-03B.
Subject:	Computer engineering. -
Online resource:	click for full text (PQDT)
ISBN:	9798380366502

Design and Development of Climbing Robotic Systems for Automated Inspection of Steel Structures and Bridges.
Nguyen, Son Thanh.

Design and Development of Climbing Robotic Systems for Automated Inspection of Steel Structures and Bridges. - 1 online resource (160 pages)

Source: Dissertations Abstracts International, Volume: 85-03, Section: B.

Thesis (Ph.D.)--University of Nevada, Reno, 2023.

Includes bibliographical references

Steel structures are indispensable parts of modern civilization, with typical civil infrastructures including bridges, wind turbines, electric towers, oil rigs, ships, and submarines, all made of steel. These structures require frequent maintenance to ensure safety and longevity. Steel bridges are the most challenging architectures due to their complexity and height. Most inspections are conducted manually by professional human inspectors with special devices to inspect visible damages and defects on or inside these structures. However, this procedure is usually highly time-consuming, costly, and risky. Automated solutions are desired to address this problem. However, arduous engineering is delaying progress. A complete system needs to deal with three main problems: (1) locomotive performance for the high complexity of steel bridges, including differential curvatures, transitions between beams, and obstacles; (2) data collection capability, inclusive of visible and invisible damages, in-depth information such as vibration, coat, and material thickness, etc.; and (3) working conditions made up of gust winds.To achieve such a complete system, this dissertation presents novel developments of inspection-climbing robots. Five different robot versions are designed to find the simplest and most effective configuration as well as control manner. Our approach started with (1) a transformable tank-like robot integrated with a haptic device and two natural-inspired locomotions, (2) a roller chain-like robot, (3) a hybrid worming-mobile robot, (4) a multi-directional bicycle robot, and (5) an omni-directional climbing Robot, identified as the most potential solution for automated steel bridge inspection. For each robotic development, detailed mechanical analysis frameworks are presented. Both lab tests and field deployments of these robotic systems have been conducted to validate the proposed designs.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2024

Mode of access: World Wide Web

ISBN: 9798380366502Subjects--Topical Terms:

569006
Computer engineering.
Subjects--Index Terms:

Bridge inspection robotIndex Terms--Genre/Form:

554714
Electronic books.

Design and Development of Climbing Robotic Systems for Automated Inspection of Steel Structures and Bridges.
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