CPS: Synergy: Collaborative Research: Designing semi-autonomous networks of miniature robots for inspection of bridges and other

Abstract:

Visual identification of structural flaws is quite valuable not only to predict an imminent collapse of a bridge, but also to determine effective precautionary measures and repairs.

Statement of objectives:

In this project, we will pursue a three-year basic research program to establish new design and performance analysis principles, and technologies for the creation of a semi-autonomous network of small mobile robots to aid visual inspection of civil infrastructure. This network will aid a human surveyor to remotely and routinely inspect structure areas such as a typical girder assemblage that supports the decks of a suspension bridge. Methods to be used: The goals mentioned above will be addressed via a multidisciplinary basic research effort in hardware, algorithm design and performance analysis. In order to achieve this goal, our team includes one researcher (CTO of Resensys LLC) in the area of bridge monitoring, and 3 faculty from 2 departments. Our team’s expertise covers all the key basic research areas
of the proposal.

Summary of Technical Approach:

We will investigate fundamental principles and theories on algorithm design, performance evaluation, electroadhesion, dynamic locomotion and system integration to address the following challenges: i) The robots need to locomote through confined and complex environments made of steel and concrete with multiple transitions between horizontal and vertical surfaces. We will devise new locomotion  principles  to  support  mobility  within  complex  steel  and  concrete  girder  structures  using electroadhesives, robot body compliance and inertial appendages. We address challenges related to power and energy via the distribution of many smaller batteries and the creation of new voltage conversion technologies that reuse components between sub-systems to reduce mass. ii) The robots must be capable of carrying out autonomous inspection missions within the inner portions of the bridge. This will be achieved via existing algorithms  in which robots need to know their  location,  but  will  extend these algorithms  using robot communications to exchange coordinates and other parameters needed for coordination. We investigate the design of location estimators and omniscience algorithms that are optimal in a mean-square sense, subject to power constraints. We propose a framework to optimize the use of and fuse the information from inertial navigation, GPS and additional active sensing modalities. The key idea is to leverage on analogies with team-decision problems for which we have recently developed new methods and principles that lead to previously elusive event-driven  policies that are provably  optimal.  We also propose new omniscience algorithms based on decentralized control principles that are robust to network failures. iii) Design of energy-efficient message forwarding schemes supporting robot coordination and location omniscience in our challenging environment requires a careful analysis of their fundamental performance as a function of location message exchange rates and delays. Our findings from the analysis will be used to devise a new class of energy-efficient message forwarding schemes that can (a) deal with serious effects that steel and concrete impose on the communication among the robots within enclosed structures and (b) meet the critical need for timely exchange of location information among the robots.

Broader Impacts:

A) The activities funded by this grant will assist in the visual monitoring and guide the maintenance of bridges, which will improve public safety and reduce cost. B) The technological outcomes of this grant will be applicable to other infrastructure, such as tunnels and buildings. C) Proposed educational activities include STEM activities that will help attract and retain young talent to engineering. Here, we will prioritize the inclusion of underrepresented students. D) This grant will have a major impact not only in fostering multidisciplinary research among the PIs and beyond, but it may also lead to further investments by the University of Maryland (UMD) to promote research and education on CPS. E) This grant will promote a solid collaboration between the UMD, Resensys and the Maryland State Highway Administration. F) Our team is formed by a junior entrepreneur and faculty at the associate level whose research programs will be significantly impacted by this grant.

  • Monitoring
  • Resensys LLC
  • University of Maryland
  • CPS Domains
  • Modeling
  • Critical Infrastructure
  • Wireless Sensing and Actuation
  • Robotics
  • Validation and Verification
  • CPS Technologies
  • Education
  • Foundations
  • National CPS PI Meeting 2014
  • 2014
  • Abstract
  • Poster
  • Academia
  • CPSPI MTG 2014 Posters, Videos and Abstracts
Submitted by Nuno Martins on