{"product_id":"infrastructure-robotics-isbn-9781394162840","title":"Infrastructure Robotics","description":"\u003cb\u003eInfrastructure Robotics\u003c\/b\u003e \u003cp\u003e\u003cb\u003eIlluminating resource presenting commonly used robotic methodologies and technologies, with recent developments and clear application examples across different project types\u003c\/b\u003e \u003c\/p\u003e\u003cp\u003e\u003ci\u003eInfrastructure Robotics\u003c\/i\u003e presents state-of-the-art research in infrastructure robotics and key methodologies that enable the development of intelligent robots for operation in civil infrastructure environments, describing sensing, perception, localization, map building, environmental and operation awareness, motion and task planning, design methodologies, robot assistance paradigms, and physical human-robot collaboration. The text also presents many case studies of robotic systems developed for real-world applications in maintaining various civil infrastructures, including steel bridges, tunnels, underground water mains, underwater structures, and sewer pipes. In addition, later chapters discuss lessons learned in deployment of intelligent robots in practical applications overall. \u003c\/p\u003e\u003cp\u003e\u003ci\u003eInfrastructure Robotics\u003c\/i\u003e provides a timely and thorough treatment of the subject pertaining to recent developments, such as computer vision and machine learning techniques that have been used in inspection and condition assessment of critical civil infrastructures, including bridges, tunnels, and more. \u003c\/p\u003e\u003cp\u003eWritten by highly qualified contributors with significant experience in both academia and industry, \u003ci\u003eInfrastructure Robotics\u003c\/i\u003e covers topics such as: \u003c\/p\u003e\u003cul\u003e\n\u003cli\u003e Design methods for application of robots in civil infrastructure inspired by biological systems including ants, inchworms, and humans\u003c\/li\u003e \u003cli\u003e Fundamental aspects of research on intelligent robotic co-workers for human-robot collaborative operations\u003c\/li\u003e \u003cli\u003e The ROBO-SPECT European project and a robotized alternative to manual tunnel structural inspection and assessment\u003c\/li\u003e \u003cli\u003e Wider context for the use of additive manufacturing techniques on construction sites\u003c\/li\u003e\n\u003c\/ul\u003e \u003cp\u003e\u003ci\u003eInfrastructure Robotics\u003c\/i\u003e is an essential resource for researchers, engineers, and graduate students in related fields. Professionals in civil engineering, asset management, and project management who wish to be on the cutting edge of the future of their industries will also benefit from the text. \u003c\/p\u003e\u003cp\u003eAbout the Editors xv\u003c\/p\u003e \u003cp\u003ePreface xix\u003c\/p\u003e \u003cp\u003eAcronyms xxi\u003c\/p\u003e \u003cp\u003e\u003cb\u003ePart I Methodologies 1\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e1 Infrastructure Robotics: An Introduction 3\u003cbr\u003e \u003c\/b\u003e\u003ci\u003eDikai Liu and Gamini Dissanayake\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e1.1 Infrastructure Inspection and Maintenance 3\u003c\/p\u003e \u003cp\u003e1.2 Infrastructure Robotics 6\u003c\/p\u003e \u003cp\u003e1.2.1 Inspection and Maintenance of Steel Bridges 7\u003c\/p\u003e \u003cp\u003e1.2.2 Climbing and Wheeled Robots for Inspection of Truss Structures 8\u003c\/p\u003e \u003cp\u003e1.2.3 Robots for Underwater Infrastructure Maintenance 10\u003c\/p\u003e \u003cp\u003e1.3 Considerations in Infrastructure Robotics Research 11\u003c\/p\u003e \u003cp\u003e1.4 Opportunities and Challenges 13\u003c\/p\u003e \u003cp\u003e1.5 Concluding Remarks 15\u003c\/p\u003e \u003cp\u003eBibliography 15\u003c\/p\u003e \u003cp\u003e\u003cb\u003e2 Design of Infrastructure Robotic Systems 19\u003cbr\u003e \u003c\/b\u003e\u003ci\u003eKenneth Waldron\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e2.1 Special Features of Infrastructure 19\u003c\/p\u003e \u003cp\u003e2.2 The Design Process 20\u003c\/p\u003e \u003cp\u003e2.3 Types of Robots and Their Design and Operation 21\u003c\/p\u003e \u003cp\u003e2.4 Software System Design 23\u003c\/p\u003e \u003cp\u003e2.5 An Example: Development of the CROC Design Concept 23\u003c\/p\u003e \u003cp\u003e2.6 Some Other Examples 27\u003c\/p\u003e \u003cp\u003e2.7 Actuator Systems 30\u003c\/p\u003e \u003cp\u003e2.8 Concluding Remarks 31\u003c\/p\u003e \u003cp\u003eBibliography 31\u003c\/p\u003e \u003cp\u003e\u003cb\u003e3 Perception in Complex and Unstructured Infrastructure Environments 33\u003cbr\u003e \u003c\/b\u003e\u003ci\u003eShoudong Huang, Kai Pan, and Gamini Dissanayake\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e3.1 Introduction 33\u003c\/p\u003e \u003cp\u003e3.2 Sensor Description 35\u003c\/p\u003e \u003cp\u003e3.2.1 2D LiDAR 35\u003c\/p\u003e \u003cp\u003e3.2.2 3D LiDAR 35\u003c\/p\u003e \u003cp\u003e3.2.3 Sonar 36\u003c\/p\u003e \u003cp\u003e3.2.4 Monocular Camera 36\u003c\/p\u003e \u003cp\u003e3.2.5 Stereo Camera 36\u003c\/p\u003e \u003cp\u003e3.2.6 GRB-D Camera 37\u003c\/p\u003e \u003cp\u003e3.3 Problem Description 37\u003c\/p\u003e \u003cp\u003e3.4 Theoretical Foundations 38\u003c\/p\u003e \u003cp\u003e3.4.1 Extended Kalman Filter 39\u003c\/p\u003e \u003cp\u003e3.4.2 Nonlinear Least Squares 40\u003c\/p\u003e \u003cp\u003e3.4.3 Environment Representations 42\u003c\/p\u003e \u003cp\u003e3.4.4 Mapping Techniques 44\u003c\/p\u003e \u003cp\u003e3.4.5 Localization Techniques 47\u003c\/p\u003e \u003cp\u003e3.4.6 SLAM Techniques 49\u003c\/p\u003e \u003cp\u003e3.5 Implementation 53\u003c\/p\u003e \u003cp\u003e3.5.1 Localization 54\u003c\/p\u003e \u003cp\u003e3.5.2 Slam 54\u003c\/p\u003e \u003cp\u003e3.6 Case Studies 55\u003c\/p\u003e \u003cp\u003e3.6.1 Mapping in Confined Space 55\u003c\/p\u003e \u003cp\u003e3.6.2 Localization in Confined Space 55\u003c\/p\u003e \u003cp\u003e3.6.3 SLAM in Underwater Bridge Environment 56\u003c\/p\u003e \u003cp\u003e3.7 Conclusion and Discussion 56\u003c\/p\u003e \u003cp\u003eBibliography 57\u003c\/p\u003e \u003cp\u003e\u003cb\u003e4 Machine Learning and Computer Vision Applications in Civil Infrastructure Inspection and Monitoring 59\u003cbr\u003e \u003c\/b\u003e\u003ci\u003eShuming Liang, Andy Guo, Bin Liang, Zhidong Li, Yu Ding, Yang Wang, and Fang Chen\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e4.1 Introduction 59\u003c\/p\u003e \u003cp\u003e4.2 GNN-Based Pipe Failure Prediction 60\u003c\/p\u003e \u003cp\u003e4.2.1 Background 60\u003c\/p\u003e \u003cp\u003e4.2.2 Problem Formulation 61\u003c\/p\u003e \u003cp\u003e4.2.3 Data Preprocessing 61\u003c\/p\u003e \u003cp\u003e4.2.4 GNN Learning 62\u003c\/p\u003e \u003cp\u003e4.2.5 Failure Pattern Learning 64\u003c\/p\u003e \u003cp\u003e4.2.6 Failure Predictor 65\u003c\/p\u003e \u003cp\u003e4.2.7 Experimental Study 65\u003c\/p\u003e \u003cp\u003e4.3 Computer Vision-Based Signal Aspect Transition Detection 67\u003c\/p\u003e \u003cp\u003e4.3.1 Background 67\u003c\/p\u003e \u003cp\u003e4.3.2 Signal Detection Model 67\u003c\/p\u003e \u003cp\u003e4.3.3 Track Detection Model 69\u003c\/p\u003e \u003cp\u003e4.3.4 Optimization for Target Locating 72\u003c\/p\u003e \u003cp\u003e4.4 Conclusion and Discussion 75\u003c\/p\u003e \u003cp\u003eBibliography 77\u003c\/p\u003e \u003cp\u003e\u003cb\u003e5 Coverage Planning and Motion Planning of Intelligent Robots for Civil Infrastructure Maintenance 81\u003cbr\u003e \u003c\/b\u003e\u003ci\u003eMahdi Hassan and Dikai Liu\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e5.1 Introduction to Coverage and Motion Planning 81\u003c\/p\u003e \u003cp\u003e5.2 Coverage Planning Algorithms for a Single Robot 82\u003c\/p\u003e \u003cp\u003e5.2.1 An Offline Coverage Planning Algorithm 82\u003c\/p\u003e \u003cp\u003e5.2.2 A Real-Time Coverage Planning Algorithm 86\u003c\/p\u003e \u003cp\u003e5.3 Coverage Planning Algorithms for Multiple Robots 90\u003c\/p\u003e \u003cp\u003e5.3.1 Base Placement Optimization 90\u003c\/p\u003e \u003cp\u003e5.3.2 Area Partitioning and Allocation 93\u003c\/p\u003e \u003cp\u003e5.3.3 Adaptive Coverage Path Planning 97\u003c\/p\u003e \u003cp\u003e5.4 Conclusion 101\u003c\/p\u003e \u003cp\u003eBibliography 102\u003c\/p\u003e \u003cp\u003e\u003cb\u003e6 Methodologies in Physical Human–Robot Collaboration for Infrastructure Maintenance 105\u003cbr\u003e \u003c\/b\u003e\u003ci\u003eMarc G. Carmichael, Antony Tran, Stefano Aldini, and Dikai Liu\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e6.1 Introduction 105\u003c\/p\u003e \u003cp\u003e6.2 Autonomy, Tele-Operation, and pHRC 106\u003c\/p\u003e \u003cp\u003e6.2.1 Autonomous Robots 106\u003c\/p\u003e \u003cp\u003e6.2.2 Teleoperated Robots 108\u003c\/p\u003e \u003cp\u003e6.2.3 Physical Human–Robot Collaboration 109\u003c\/p\u003e \u003cp\u003e6.3 Control Methods 110\u003c\/p\u003e \u003cp\u003e6.3.1 Motion Control 110\u003c\/p\u003e \u003cp\u003e6.3.2 Force Control 111\u003c\/p\u003e \u003cp\u003e6.4 Adaptive Assistance Paradigms 113\u003c\/p\u003e \u003cp\u003e6.4.1 Manually Adapted Assistance 114\u003c\/p\u003e \u003cp\u003e6.4.2 Assistance-As-Needed Paradigms 115\u003c\/p\u003e \u003cp\u003e6.4.3 Performance-Based Assistance 115\u003c\/p\u003e \u003cp\u003e6.4.4 Physiology-Based Assistance 116\u003c\/p\u003e \u003cp\u003e6.5 Safety Framework for pHRC 117\u003c\/p\u003e \u003cp\u003e6.6 Performance-Based Role Change 119\u003c\/p\u003e \u003cp\u003e6.7 Case Study 121\u003c\/p\u003e \u003cp\u003e6.8 Discussion 122\u003c\/p\u003e \u003cp\u003eAcknowledgements 123\u003c\/p\u003e \u003cp\u003eBibliography 123\u003c\/p\u003e \u003cp\u003e\u003cb\u003ePart II Robotic System Design and Applications 127\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e7 Steel Bridge Climbing Robot Design and Development 129\u003cbr\u003e \u003c\/b\u003e\u003ci\u003eHung M. La\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e7.1 Introduction 129\u003c\/p\u003e \u003cp\u003e7.2 Recent Climbing Robot Platforms Developed by the ARA Lab 133\u003c\/p\u003e \u003cp\u003e7.3 Overall Design 134\u003c\/p\u003e \u003cp\u003e7.3.1 Mechanical Design and Analysis 136\u003c\/p\u003e \u003cp\u003e7.4 Overall Control Architecture 140\u003c\/p\u003e \u003cp\u003e7.4.1 Control System Framework 141\u003c\/p\u003e \u003cp\u003e7.5 Experiment Results 148\u003c\/p\u003e \u003cp\u003e7.5.1 Switching Control 149\u003c\/p\u003e \u003cp\u003e7.5.2 Robot Navigation in Mobile and Worming Transformation 152\u003c\/p\u003e \u003cp\u003e7.5.3 Robot Deployment 153\u003c\/p\u003e \u003cp\u003e7.6 Conclusion and Future Work 155\u003c\/p\u003e \u003cp\u003eBibliography 156\u003c\/p\u003e \u003cp\u003e\u003cb\u003e8 Underwater Robots for Cleaning and Inspection of Underwater Structures 161\u003cbr\u003e \u003c\/b\u003e\u003ci\u003eAndrew Wing Keung To, Khoa Le, and Dikai Liu\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e8.1 Introduction to Maintenance of Underwater Structures 161\u003c\/p\u003e \u003cp\u003e8.2 Robot System Design 163\u003c\/p\u003e \u003cp\u003e8.2.1 Hull Design and Maneuvering System 164\u003c\/p\u003e \u003cp\u003e8.2.2 Robot Arms for Docking and Water-Jet Cleaning 164\u003c\/p\u003e \u003cp\u003e8.3 Sensing and Perception in Underwater Environments 166\u003c\/p\u003e \u003cp\u003e8.3.1 Underwater Simultaneous Localization and Mapping (SLAM) Around Bridge Piles 167\u003c\/p\u003e \u003cp\u003e8.3.2 Marine Growth Identification 168\u003c\/p\u003e \u003cp\u003e8.4 Software Architecture 170\u003c\/p\u003e \u003cp\u003e8.5 Robot Navigation, Motion Planning and System Integration 170\u003c\/p\u003e \u003cp\u003e8.5.1 Localization and Navigation in Open Water 170\u003c\/p\u003e \u003cp\u003e8.5.2 System Integration 173\u003c\/p\u003e \u003cp\u003e8.6 Testing in a Lab Setup and Trials in the Field 174\u003c\/p\u003e \u003cp\u003e8.6.1 Operation Procedure 174\u003c\/p\u003e \u003cp\u003e8.6.2 Autonomous Navigation in Narrow Environments 176\u003c\/p\u003e \u003cp\u003e8.6.3 Vision-Based Marine Growth Removing Process 178\u003c\/p\u003e \u003cp\u003e8.6.4 Inspection and Marine Growth Identification 179\u003c\/p\u003e \u003cp\u003e8.7 Reflection and Lessons Learned 180\u003c\/p\u003e \u003cp\u003e8.8 Conclusion and Future Work 181\u003c\/p\u003e \u003cp\u003eAcknowledgments 182\u003c\/p\u003e \u003cp\u003eBibliography 182\u003c\/p\u003e \u003cp\u003e\u003cb\u003e9 Tunnel Structural Inspection and Assessment Using an Autonomous Robotic System 185\u003cbr\u003e \u003c\/b\u003e\u003ci\u003eJuan G. Victores, E. Menendez, and C. Balaguer\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e9.1 Introduction 185\u003c\/p\u003e \u003cp\u003e9.2 ROBO-SPECT Project 186\u003c\/p\u003e \u003cp\u003e9.2.1 Robotic System 187\u003c\/p\u003e \u003cp\u003e9.2.2 Intelligent Global Controller 191\u003c\/p\u003e \u003cp\u003e9.2.3 Ground Control Station 192\u003c\/p\u003e \u003cp\u003e9.2.4 Structural Assessment Tool 192\u003c\/p\u003e \u003cp\u003e9.3 Inspection Procedure 192\u003c\/p\u003e \u003cp\u003e9.4 Extended Kalman Filter for Mobile Vehicle Localization 195\u003c\/p\u003e \u003cp\u003e9.5 Mobile Vehicle Navigation 197\u003c\/p\u003e \u003cp\u003e9.6 Field Experimental Results 198\u003c\/p\u003e \u003cp\u003e9.7 Conclusion 201\u003c\/p\u003e \u003cp\u003eBibliography 201\u003c\/p\u003e \u003cp\u003e\u003cb\u003e10 BADGER: Intelligent Robotic System for Underground Construction 205\u003cbr\u003e \u003c\/b\u003e\u003ci\u003eSantiago Martínez, Marcos Marín, Elisabeth Menéndez, Panagiotis Vartholomeos, Dimitrios Giakoumis, Alessandro Simi, and Carlos Balaguer\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e10.1 Introduction 205\u003c\/p\u003e \u003cp\u003e10.2 Boring Systems and Methods 207\u003c\/p\u003e \u003cp\u003e10.2.1 Directional Drilling Methods 207\u003c\/p\u003e \u003cp\u003e10.2.2 Drilling Robotic Systems 209\u003c\/p\u003e \u003cp\u003e10.3 Main Drawbacks 210\u003c\/p\u003e \u003cp\u003e10.4 BADGER System and Components 212\u003c\/p\u003e \u003cp\u003e10.4.1 Main Systems Description 212\u003c\/p\u003e \u003cp\u003e10.4.2 BADGER Operation 215\u003c\/p\u003e \u003cp\u003e10.5 Future Trends 218\u003c\/p\u003e \u003cp\u003eBibliography 218\u003c\/p\u003e \u003cp\u003e\u003cb\u003e11 Robots for Underground Pipe Condition Assessment 221\u003cbr\u003e \u003c\/b\u003e\u003ci\u003eJaime Valls Miro\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e11.1 Introduction to Ferro-Magnetic Pipeline Maintenance 221\u003c\/p\u003e \u003cp\u003e11.1.1 NDT Inspection Taxonomy 222\u003c\/p\u003e \u003cp\u003e11.2 Inspection Robots 223\u003c\/p\u003e \u003cp\u003e11.2.1 Robot Kinematics and Locomotion 224\u003c\/p\u003e \u003cp\u003e11.3 PEC Sensing for Ferromagnetic Wall Thickness Mapping 228\u003c\/p\u003e \u003cp\u003e11.3.1 Hardware and Software System Architecture 230\u003c\/p\u003e \u003cp\u003e11.4 Gaussian Processes for Spatial Regression from Sampled Inspection Data 232\u003c\/p\u003e \u003cp\u003e11.4.1 Gaussian Processes 234\u003c\/p\u003e \u003cp\u003e11.5 Field Robotic CA Inspection Results 236\u003c\/p\u003e \u003cp\u003e11.6 Concluding Remarks 240\u003c\/p\u003e \u003cp\u003eBibliography 240\u003c\/p\u003e \u003cp\u003e\u003cb\u003e12 Robotics and Sensing for Condition Assessment of Wastewater Pipes 243\u003cbr\u003e \u003c\/b\u003e\u003ci\u003eSarath Kodagoda, Vinoth Kumar Viswanathan, Karthick Thiyagarajan, Antony Tran, Sathira Wickramanayake, Steve Barclay, and Dammika Vitanage\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e12.1 Introduction 243\u003c\/p\u003e \u003cp\u003e12.2 Nondestructive Sensing System for Condition Assessment of Sewer Walls 245\u003c\/p\u003e \u003cp\u003e12.3 Robotic Tool for Field Deployment 252\u003c\/p\u003e \u003cp\u003e12.4 Laboratory Evaluation 254\u003c\/p\u003e \u003cp\u003e12.5 Field Deployment and Evaluation 255\u003c\/p\u003e \u003cp\u003e12.6 Lessons Learned and Future Directions 258\u003c\/p\u003e \u003cp\u003e12.7 Concluding Remarks 259\u003c\/p\u003e \u003cp\u003eBibliography 260\u003c\/p\u003e \u003cp\u003e\u003cb\u003e13 A Climbing Robot for Maintenance Operations in Confined Spaces 263\u003cbr\u003e \u003c\/b\u003e\u003ci\u003eGibson Hu, Dinh Dang Khoa Le, and Dikai Liu\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e13.1 Introduction 263\u003c\/p\u003e \u003cp\u003e13.2 Robot Design 265\u003c\/p\u003e \u003cp\u003e13.3 Methodologies 271\u003c\/p\u003e \u003cp\u003e13.3.1 Perception 271\u003c\/p\u003e \u003cp\u003e13.3.2 Control 274\u003c\/p\u003e \u003cp\u003e13.3.3 Planning of Robot Body Motion 279\u003c\/p\u003e \u003cp\u003e13.4 Experiments and Results 279\u003c\/p\u003e \u003cp\u003e13.4.1 Experiment Setup 279\u003c\/p\u003e \u003cp\u003e13.4.2 Lab Test Results 280\u003c\/p\u003e \u003cp\u003e13.4.3 Field Trials in a Steel Bridge 282\u003c\/p\u003e \u003cp\u003e13.5 Discussion 283\u003c\/p\u003e \u003cp\u003e13.6 Conclusion 283\u003c\/p\u003e \u003cp\u003eBibliography 284\u003c\/p\u003e \u003cp\u003e\u003cb\u003e14 Multi-UAV Systems for Inspection of Industrial and Public Infrastructures 285\u003cbr\u003e \u003c\/b\u003e\u003ci\u003eAlvaro Caballero, Julio L. Paneque, Jose R. Martinez-de-Dios, Ivan Maza, and Anibal Ollero\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e14.1 Introduction 285\u003c\/p\u003e \u003cp\u003e14.2 Multi-UAV Inspection of Electrical Power Systems 287\u003c\/p\u003e \u003cp\u003e14.2.1 Use Cases 287\u003c\/p\u003e \u003cp\u003e14.2.2 Architecture 288\u003c\/p\u003e \u003cp\u003e14.3 Inspection Planning 289\u003c\/p\u003e \u003cp\u003e14.3.1 Vehicle Routing Problem 289\u003c\/p\u003e \u003cp\u003e14.4 Onboard Online Semantic Mapping 296\u003c\/p\u003e \u003cp\u003e14.4.1 GNSS-Endowed Mapping System 296\u003c\/p\u003e \u003cp\u003e14.4.2 Reflectivity and Geometry-Based Semantic Classification 297\u003c\/p\u003e \u003cp\u003e14.4.3 Validation 298\u003c\/p\u003e \u003cp\u003e14.5 Conclusion 300\u003c\/p\u003e \u003cp\u003eBibliography 302\u003c\/p\u003e \u003cp\u003e\u003cb\u003e15 Robotic Platforms for Inspection of Oil Refineries 305\u003cbr\u003e \u003c\/b\u003e\u003ci\u003eMauricio Calva\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e15.1 Refining Oil for Fuels and Petrochemical Basics 305\u003c\/p\u003e \u003cp\u003e15.2 The Inspection Process 307\u003c\/p\u003e \u003cp\u003e15.3 Inspection and Mechanical Integrity of Oil Refinery Components 310\u003c\/p\u003e \u003cp\u003e15.3.1 Liquid Storage Tank Inspection 310\u003c\/p\u003e \u003cp\u003e15.3.2 Pressurized Vessels Inspection 312\u003c\/p\u003e \u003cp\u003e15.3.3 Process Pipping 314\u003c\/p\u003e \u003cp\u003e15.3.4 Heat Exchanger Bundles 315\u003c\/p\u003e \u003cp\u003e15.4 Plant Operations, Surveillance, Maintenance Activities, and Others 316\u003c\/p\u003e \u003cp\u003e15.4.1 Surveillance, Operations, and Maintenance of Oil and Gas Refineries 316\u003c\/p\u003e \u003cp\u003e15.4.2 Safety and Security 318\u003c\/p\u003e \u003cp\u003e15.4.3 Utilities and Support Activities 318\u003c\/p\u003e \u003cp\u003e15.5 Robotic Systems for Inspection 319\u003c\/p\u003e \u003cp\u003e15.5.1 Robotics for Storage Tanks 320\u003c\/p\u003e \u003cp\u003e15.5.2 Robotics for Pressure Vessels 324\u003c\/p\u003e \u003cp\u003e15.5.3 Robotics for Process Piping 328\u003c\/p\u003e \u003cp\u003e15.5.4 Robotics Heat Exchanger Bundles 331\u003c\/p\u003e \u003cp\u003e15.6 Robotics for Plant Operations, Surveillance, Maintenance, and Other Related Activities 332\u003c\/p\u003e \u003cp\u003e15.6.1 Operations, Surveillance, and Maintenance of Oil and Gas Refineries with Robotic Systems 332\u003c\/p\u003e \u003cp\u003e15.6.2 Safety and Security Robotics 334\u003c\/p\u003e \u003cp\u003e15.6.3 Robotics for Utilities and Support Activities 335\u003c\/p\u003e \u003cp\u003e15.7 Conclusion 335\u003c\/p\u003e \u003cp\u003e\u003cb\u003e16 Drone-Based Solar Cell Inspection With Autonomous Deep Learning 337\u003cbr\u003e \u003c\/b\u003e\u003ci\u003eZhounan Wang, Peter Zheng, Basaran Bahadir Kocer, and Mirko Kovac\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e16.1 Introduction 337\u003c\/p\u003e \u003cp\u003e16.1.1 Motivation 337\u003c\/p\u003e \u003cp\u003e16.1.2 Related Works 339\u003c\/p\u003e \u003cp\u003e16.1.3 Scope 341\u003c\/p\u003e \u003cp\u003e16.2 Aerial Robot and Detection Framework 341\u003c\/p\u003e \u003cp\u003e16.2.1 Simulation Environment 343\u003c\/p\u003e \u003cp\u003e16.2.2 Solar Panel Detection 343\u003c\/p\u003e \u003cp\u003e16.2.3 Aerial Robot Trajectory 345\u003c\/p\u003e \u003cp\u003e16.2.4 Sensory Instrumentation for Aerial Robot 346\u003c\/p\u003e \u003cp\u003e16.3 Learning Framework 348\u003c\/p\u003e \u003cp\u003e16.3.1 Dataset Preparation 349\u003c\/p\u003e \u003cp\u003e16.3.2 CNN Architecture 351\u003c\/p\u003e \u003cp\u003e16.3.3 Performance Evaluation Measures 352\u003c\/p\u003e \u003cp\u003e16.4 Conclusion 357\u003c\/p\u003e \u003cp\u003eAcknowledgments 358\u003c\/p\u003e \u003cp\u003eBibliography 358\u003c\/p\u003e \u003cp\u003e\u003cb\u003e17 Aerial Repair and Aerial Additive Manufacturing 367\u003cbr\u003e \u003c\/b\u003e\u003ci\u003eYusuf Furkan Kaya, Lachlan Orr, Basaran Bahadir Kocer, and Mirko Kovac\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e17.1 Review of State of the Art in Additive Manufacturing at Architectural Scales 367\u003c\/p\u003e \u003cp\u003e17.2 Review of Demonstrations of Aerial Manufacturing and Repair 371\u003c\/p\u003e \u003cp\u003e17.2.1 Demands and Challenges 374\u003c\/p\u003e \u003cp\u003e17.2.2 Future Prospects 376\u003c\/p\u003e \u003cp\u003e17.3 Initial Experimental Evaluations 378\u003c\/p\u003e \u003cp\u003e17.4 Conclusion and Discussion 379\u003c\/p\u003e \u003cp\u003eBibliography 379\u003c\/p\u003e \u003cp\u003eIndex 385\u003c\/p\u003e  \u003cp\u003e\u003cb\u003eDIKAI LIU, P\u003csmall\u003eH\u003c\/small\u003eD,\u003c\/b\u003e is a Distinguished Professor at the University of Technology Sydney.  \u003c\/p\u003e\u003cp\u003e\u003cb\u003eCARLOS BALAGUER, P\u003csmall\u003eH\u003c\/small\u003eD,\u003c\/b\u003e is a Full Professor at University Carlos III of Madrid (UC3M).  \u003c\/p\u003e\u003cp\u003e\u003cb\u003eGAMINI DISSANAYAKE, P\u003csmall\u003eH\u003c\/small\u003eD,\u003c\/b\u003e is an Emeritus Professor at the University of Technology Sydney.  \u003c\/p\u003e\u003cp\u003e\u003cb\u003eMIRKO KOVAC, P\u003csmall\u003eH\u003c\/small\u003eD,\u003c\/b\u003e is Director of the Aerial Robotics Laboratory at Imperial College London and the Head of the Laboratory of Sustainability Robotics at the Swiss Federal Laboratories for Material Science and Technology (Empa).   \u003c\/p\u003e\u003cp\u003e\u003cb\u003eIlluminating resource presenting commonly used robotic methodologies and technologies, with recent developments and clear application examples across different project types\u003c\/b\u003e \u003c\/p\u003e\u003cp\u003e\u003ci\u003eInfrastructure Robotics\u003c\/i\u003e presents state-of-the-art research in infrastructure robotics and key methodologies that enable the development of intelligent robots for operation in civil infrastructure environments, describing sensing, perception, localization, map building, environmental and operation awareness, motion and task planning, design methodologies, robot assistance paradigms, and physical human-robot collaboration. The text also presents many case studies of robotic systems developed for real-world applications in maintaining various civil infrastructures, including steel bridges, tunnels, underground water mains, underwater structures, and sewer pipes. In addition, later chapters discuss lessons learned in deployment of intelligent robots in practical applications overall. \u003c\/p\u003e\u003cp\u003e\u003ci\u003eInfrastructure Robotics\u003c\/i\u003e provides a timely and thorough treatment of the subject pertaining to recent developments, such as computer vision and machine learning techniques that have been used in inspection and condition assessment of critical civil infrastructures, including bridges, tunnels, and more. \u003c\/p\u003e\u003cp\u003eWritten by highly qualified contributors with significant experience in both academia and industry, \u003ci\u003eInfrastructure Robotics\u003c\/i\u003e covers topics such as: \u003c\/p\u003e\u003cul\u003e\n\u003cli\u003e Design methods for application of robots in civil infrastructure inspired by biological systems including ants, inchworms, and humans\u003c\/li\u003e \u003cli\u003e Fundamental aspects of research on intelligent robotic co-workers for human-robot collaborative operations\u003c\/li\u003e \u003cli\u003e The ROBO-SPECT European project and a robotized alternative to manual tunnel structural inspection and assessment\u003c\/li\u003e \u003cli\u003e Wider context for the use of additive manufacturing techniques on construction sites\u003c\/li\u003e\n\u003c\/ul\u003e \u003cp\u003e\u003ci\u003eInfrastructure Robotics\u003c\/i\u003e is an essential resource for researchers, engineers, and graduate students in related fields. Professionals in civil engineering, asset management, and project management who wish to be on the cutting edge of the future of their industries will also benefit from the text.\u003c\/p\u003e","brand":"Wiley-IEEE Press","offers":[{"title":"Default Title","offer_id":47989424488677,"sku":"NP9781394162840","price":145.0,"currency_code":"USD","in_stock":false}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/1842\/7735\/files\/9781394162840.jpg?v=1761784050","url":"https:\/\/k12savings.com\/es\/products\/infrastructure-robotics-isbn-9781394162840","provider":"K12savings","version":"1.0","type":"link"}