Engineering Commons^™

Climbing Robots With Automated Deployment Of Sensors And Nde Devices For Steel Bridge Inspection, Hung La

INSPIRE-UTC Annual Meetings

The PI was a research scientist/faculty at Rutgers University who successfully developed in 2014 a Robotic Assisted Bridge Inspection Tool (RABIT) for bridge deck inspections. Other bridge elements, such as girders and columns, or even underside of bridge decks are difficult to access and remain a challenge for efficient inspection. Like visual inspection, current practices for bridge maintenance are equally time consuming and expensive. Automation of simple maintenance actions such as bearing cleaning and concrete sealing with robots will lead to a leap forward to the next-generation strategy of bridge maintenance.

This project aims to develop and prototype automated climbing …

Mobile-Manipulating Uavs For Sensor Installation, Bridge Inspection And Maintenance, Paul Oh

INSPIRE-UTC Annual Meetings

Mobile manipulating UAVs have great potential for bridge inspection and maintenance. Since 2002, the PI has developed UAVs that could fly through in-and-around buildings and tunnels. Collision avoidance in such cluttered near-Earth environments has been a key challenge. The advent of light-weight, computationally powerful cameras led to breakthroughs in SLAM even though SLAM-based autonomous aerial navigation around bridges remains an unsolved problem.

In 2007, the PI integrated a mobile manipulation function into UAVs, greatly extending the capabilities of UAVs from passive survey of environments with cameras to active interaction with environments using limbs. Mobile-manipulating UAVs have since been demonstrated to …

The 4 C'S Model - A Common Framework For Professional Aviator Development, Kenyatta Hents Ruffin

National Training Aircraft Symposium (NTAS)

The United States Air Force currently has an acute shortage of pilots while simultaneously, the commercial airline industry is currently experiencing unprecedented growth. With 100's of thousands aviation professionals required over the next 15-25 years, the need for a collaborative and comprehensive approach to attract, motivate, and prepare the next generation of aerospace leaders is clear. The 4C's Model presents a partnered civil-military strategy to efficiently and effectively take youth from from the cradle to the cockpit. Through deliberate, engaging activities over the course of four distinct time periods—childhood, college, cockpit, career—with specific outcomes, the 4C's Model provides the National …

Quantitative Bridge Inspection Ratings Using Autonomous Robotic Systems, Anil Agrawal

INSPIRE-UTC Annual Meetings

The 2001 study sponsored by FHWA raised serious concern on the consistency and reliability of visual inspection. Although consistent ratings can be obtained with a good QA/QC program, based on a recent study by the PI, the concern for reliability of defect detection remains. With the adoption of the recent AASHTO Manuel for Bridge Element Inspection, the new inspection approach not only requires rating for bridge elements, but also the location and extent of deterioration. Since autonomous robotic systems generate an enormous amount of inspection data, deducing from the data to a simple rating along with the location and extent …

Hyperspectral Image Analysis For Mechanical And Chemical Properties Of Concrete And Steel Surfaces, Genda Chen

INSPIRE-UTC Annual Meetings

A typical human eye will respond to wavelengths from approximately 400 to 700 nm. A hyperspectral camera can extend the wavelength to as high as 2500 nm. This extension will allow engineers to find objects, identify materials, and detect processes on structural surface, which cannot be done with visual inspection.

This project aims to develop an open-source catalogue of concrete and steel surfaces and their spectral/spatial features (discoloration, characteristic wavelength, roughness, texture, shape, etc.), extract spatial/spectral features of hyperspectral images, and develop/train a multi-class classification or regression classifier through machine learnings (supervised and/or semi-supervised), and validate the classifier as a …

3d Microwave Camera For Concrete Delamination And Steel Corrosion Detection, R. Zoughi

INSPIRE-UTC Annual Meetings

Corrosion of embedded steel reinforcement in concrete leads to concrete cracking and delamination, followed by increased salt and moisture permeation and further damage. Invisibility of the embedded rebar in combination with physical inaccessibility in elevated bridges presents a challenge in the assessment of RC bridge elements. Wideband (3D) microwave synthetic aperture radar (SAR) imaging techniques that can be integrated into a UAV offer a practical solution to overcome this challenge.

This project aims to develop and optimize a 3D microwave camera for bridge inspection on a UAV platform, quantify its performance for steel corrosion evaluation and concrete delamination detection in …

Thermally-Stable Passive Antenna Sensor For Strain And Crack Monitoring, Dan Li, Yang Wang

INSPIRE-UTC Annual Meetings

An RFID patch antenna sensor can be used to wirelessly measure the strain and/or crack on a structural surface through the shift of its electromagnetic resonance frequency. According to electromagnetic theory, the resonance frequency �_R of a patch antenna has an approximately linear relationship with strain �: [Formula]

Previous design of antenna sensor with Rogers RT/duroid® 5880 substrate is sensitive to temperature change. A new RFID patch antenna sensor with thermally-stable substrate material Rogers RT/duroid® 6202 is designed and tested through both numerical simulation and laboratory experiments. A new RFID chip with much smaller footprint is adopted in the …

Deep Semantic 3d Visual Metric Reconstruction Using Wall-Climbing Robot, Liang Yang, Bing Li, Yong Chang, Jizhong Xiao

INSPIRE-UTC Annual Meetings

This project introduces an inspection method using a deep neural network to detect the crack and spalling defects on concrete structures performed by a wall-climbing robot. First, we create a pixel-level semantic dataset which includes 820 labeled images. Second, we propose an inspection method to obtain 3D metric measurement by using an RGB-D camera-based visual simultaneous localization and mapping (SLAM), which is able to generate pose coupled key-frames with depth information. Therefore, the semantic inspection results can be registered in the concrete structure 3D model for condition assessment and monitoring. Third, we present our new generation wall-climbing robot to perform …

Modeling Hose Dynamics For Unmanned Aerial Vehicles, Blake Hament, Paul Y. Oh, Autonomous Systems Lab (Dasl)

INSPIRE-UTC Annual Meetings

Bridges and other large pieces of infrastructure accumulate massive amounts of dirt, dust, and other particulates that can obscure the structure when scanning to discern structural integrity. Traditionally, these particulates have been removed by humans operating handheld compressed-air hoses, often while mounting ladders -- a risky and inefficient task. To improve infrastructure scanning, unmanned aerial vehicles (UAV) equipped with hoses could be used to clean the structure in place of the current method.

The challenge in equipping a UAV with a hose is compensating for the reaction forces and torques produced by fluids expelled by the hose. In order to …

Parallel Manipulator-Gripper For Mobile Manipulating Uavs, Dongbin Kim, Paul Y. Oh, Autonomous Systems Lab (Dasl)

INSPIRE-UTC Annual Meetings

Unmanned Aerial Vehicles (UAVs) are originally developed for military, but have been developed over time to time for valuable roles in surveillance, work-assistant, and intelligence for both civilian and military operations.

The ability of UAVs that manipulate or carry objects can expand the type of tasks achieved by unmanned aerial systems. High degree of freedom robots with dexterous arm can lead to various applications. Most of manipulators are serial, each motor on each joint affects on stabilizing UAVs. Our lab , DASL , has presented parallel mechanism manipulator for UAVs. It results in less impact on center of gravity(CoG) of …

Integrated Fiber Optic Sensors For Strain, Temperature And Corrosion-Induced Mass Loss Measurement, Chuanrui Guo, Liang Fan, Genda Chen

INSPIRE-UTC Annual Meetings

In this study, a fiber optic sensing system based on long period fiber gratings (LPFG) in LP06 and LP07 modes is designed, fabricated and tested for simultaneous measurements of strain, temperature and corrosion-induced mass loss. It consists of three steel tubes and several Fe-C coated LPFG sensors for long- and short-term corrosion monitoring, respectively, when deployed in proximity and parallel to a steel member. Graphene/silver nanowire (Gr/AgNW) composite was coated on the LPFG surface for efficient Fe-C electroplating due to its high optical transparency and conductivity. The sensor was subjected to both tensile strain and temperature, and submerged in 3.5 …

Bridge Resilience Assessment With Inspire Data, Yijian Albert Zhang, Reginald Desroches, Iris Tien

INSPIRE-UTC Annual Meetings

In this research, we proposed analytical models validated with numerical results to assess how inspection-collected data on corrosion can be used to update bridge models and predict performance under future events. A detailed investigation of the vulnerability of bridges due to corrosion at both component and global levels. The results show the impact of corrosion-induced degradation on the seismic fragility of reinforced concrete columns under various failure modes, e.g., flexural, shear, and lap-spliced failures. As increasing amounts of data are collected on the states of bridges, the results show how these data can be used to update bridge assessments and …

Microwave Imaging For Corroded Rebars And Delamination In Concrete Structures, Matthew Dvorsky, Stephon Barker, Mohammad Tayeb Ahmad Ghasr, R. Zoughi

INSPIRE-UTC Annual Meetings

Corrosion of embedded steel reinforcement bars (rebars) in concrete leads to concrete cracking and delamination, which in turn leads to increased salt and moisture permeation and further damage. This study aims to evaluate the effectiveness of microwave imaging for the characterization of this corrosionand delaminationof steel rebar embedded in concrete.

Hyperspectral Image Analysis For Mechanical And Chemical Properties Of Concrete And Steel Surfaces, Liang Fan, Paul Manley, Huaishuai Shang, Abdullah Alhaj, Hongyan Ma, Genda Chen

INSPIRE-UTC Annual Meetings

According to the 2017 ASCE Report Card, 39% and 15% of 614,387 bridges in the U.S. are more than 50 years and 40 to 49 years, respectively. The number of deficient bridges is increasing. One of the most common causes of reinforced concrete deterioration is corrosion of steel reinforcing bars. Currently, most bridges are visually inspected every two years using boom/snooper trucks to get access to various areas to be inspected. The subjective visual inspection often leads to inconsistent results that are less useful in bridge management. Hyperspectral camera, installed on an unmanned aerial vehicle, can potentially supplement visual inspection …

Uav-Enabled Measurement On Magnetic Field Of Smart Rocks For Bridge Scour Monitoring, Haibin Zhang, Zhaochao Li, Genda Chen

INSPIRE-UTC Annual Meetings

Scour and other hydraulic induced failures accounted for 58% of over 1,500 bridge collapses in the U.S. Bridge scour is the engineering term for the erosion of soil surrounding a bridge foundation as a result of water current. Monitoring with fixed and/or portable instrumentations is one of the most effective measures in mitigating scour hazards. However, fixed instrumentation with sensors installed prior to flood events cannot detect scour other than the area instrumented. It is susceptible to the harsh environment during a flood event. Portable instrumentation is difficult to deploy during a severe flood event due to safety consideration and/or …

Battery-Free Antenna Sensors For Strain And Crack Monitoring Of Bridge Structures, Yang Wang

INSPIRE-UTC Annual Meetings

Fatigue cracks need to be monitored in fatigue critical elements. Previous research by the PI produced a radiofrequency identification (RFID) sensor prototype that can accurately measure tens of micro-strains in laboratory. The antenna sensor was made on a glass microfiber-reinforced polymer substrate. Although accurate for strain measurement and detection of fatigue cracks, the sensor performs less satisfactorily in field conditions since the substrate material (RT/duroid® 5880) is susceptible to thermal effect. In addition, a wireless interrogation distance by a general-purpose commercial RFID reader is limited to the order of meter, which is not desirable with the operation of a UAV. …

Enhanced Learnability Of Flight Techniques Through The Introduction Of Targeted Observation Flights With Ab-Initio Through Advanced Flight Training Candidates, Gary A. Carter M.Div., Nicola M. O'Toole M.S., John M. Robbins Ph.D.

National Training Aircraft Symposium (NTAS)

Flight training paradigms exist to provide a framework for instructors to relay both technical and applied knowledge to students in the most efficient way possible. Traditional methods imply the use of pre/post flight briefings coincident with flight in either an actual or simulated environments. The demonstration of maneuvers may be accomplished by the instructor followed by the student or solely by the student. In this phase, aeronautical knowledge, procedural knowledge, and performance metrics are usually assessed. With regard to enhanced learnability, the study of effectiveness becomes critical to the application of new methods that could significantly lower the amount of …

Uav-Enabled Measurement For Spatial Magnetic Field Of Smart Rocks In Bridge Scour Monitoring, Genda Chen

INSPIRE-UTC Annual Meetings

Foundation scour is the main cause of bridge collapses in the U.S. In 2011, the principal investigator (PI) proposed smart rocks with embedded magnets for bridge scour monitoring. Once deployed around a bridge pier, smart rocks as field agents offer mission-critical information about the maximum depth of a scour hole developed around the bridge foundation – the key parameter that is used to assess foundation stability in engineering design and retrofit. Smart rocks have recently been deployed and tested at three bridge sites in California and Missouri. With multiple measurements, they can be located with an accuracy of 0.5 m. …

Suas: Cybersecurity Threats, Vulnerabilities, And Exploits, Philip Craiger, Gary Kessler, William Rose

National Training Aircraft Symposium (NTAS)

The FAA predicts that purchases of hobbyist small unmanned aerial systems (sUAS) will grow from 1.9 million in 2016 to 4.3 million by 2020, and commercial sUAS to increase from 600,000 in 2016 to 2.7 million by 2020. sUAS, often referred to as 'drones,' are comprised of aeronautical hardware, a CPU, RAM, onboard storage, radio frequency communications, sensors, a camera, and a controller used by the pilot-in-command (PIC). Some have argued that a sUAS is essentially a flying computer. As such, sUAS are sometimes susceptible to many of the types of attacks that are often used on PC-based computers attached …

Assessing Small Uas Operator Flight Behavior And Potential Interference With Aviation Operations In Controlled Airspace, Ryan J. Wallace Ed.D., Tom Haritos Ph.D., John M. Robbins Ph.D.

National Training Aircraft Symposium (NTAS)

The rapid rise of small UAS (sUAS) operations in the National Airspace System is generating an increasing concern about possible interference with manned aircraft. Reported sightings of UAS by manned aircraft pilots rose from an average of 147 sightings per month in 2016 to 188 sightings per month in the first three quarters of 2017. The purpose of this study was to evaluate sUAS operator behaviors and identify sUAS interference with aviation operations in the sample area. The authors partnered with a UAS technology company to deploy an AeroScope, a passive radio frequency detection device, in proximity to Tampa International …

Uas Pilots Code: Tools To Advance Uas Safety & Professionalism, Ryan J. Wallace Ed.D., John M. Robbins Ph.D.

National Training Aircraft Symposium (NTAS)

As unmanned aircraft operations become more ubiquitous in the National Airspace System, one of the key remaining challenges is instilling the precepts of safety culture, aviation professionalism, airmanship, and effective aeronautical decision-making among these non-traditional aviators. To address these challenges, researchers codified best practices and operational recommendations from across the UAS industry, collectively publishing them in a compendium titled the UAS Pilots Code (UASPC). Guidance for the UASPC was informed by material assembled from leading governmental and industry organizations including: FAA, AEA, AMA, AOPA, ASTM, AUVSI, CANSO, EAA, EASA, EUROCAE, ICAO, ISO, JARUS, NBAA, RTCA, SAE, UVS, and others. Extensive …

Advanced Uas Training; Integration Of Remote Live Aircraft Crash Investigation With Uas, Scott S. Burgess

National Training Aircraft Symposium (NTAS)

Current Unmanned Aircraft System (UAS) flight training generally operates at the ab-initio level. As UAS flight and academic programs evolve, so also must UAS training advance, specifically regarding new and evolving uses of UAS. This task must present a quality delivery in a distributed modality. As an example, integration of UAS into missions such as aircraft crash investigation are occurring or in development with safety investigators globally. Bringing this type of specialization (theory and practice) to academia must follow, but currently can only be done well in a face-to-face setting. Near term technology for UAS will allow distribution of a …

Clean-Fuel E-Vtol Air Mobility Vehicles For Unmanned And Manned Operations, Larry D. Mccarroll, Brian Morrison, Bruce J. Holmes D.E., Faiaa, Fraes, Henry Vu

National Training Aircraft Symposium (NTAS)

Imagine for a moment, having your very own safe, affordable, clean-fuel, point-to-any point vehicle for travel in the 21st-century 3-dimensional airspace system. Your ultra-reliable e-VTOL allows commuters to leave behind the constraints of hub-and-spoke airports, and the congestion of interstates, turnpikes and freeways. Facilitating Inter- and Intra-urban travel, such as downtown-to-airport, or metropolis-to-metropolis, or home-to-work. Perfect for dense urban environments worldwide. And all while offering the clean power of hydrogen for zero-emission travel.

This vision for efficient, clean, delay-free mobility has been talked about for decades, but always waived aside as some kind of futurist vision. This future requires tackling …

Jetblue Pilot Gateway Programs: Creative Approaches To Pilot Sourcing, Nancy Shane Ph.D.

National Training Aircraft Symposium (NTAS)

The JetBlue University Gateway program was the first pathway program in our industry. When it started, it offered the only structured path for aviation students to earn an aviation degree, build time as a flight instructor, gain experience at a regional partner and then end up as a first officer – and eventually a captain - on a JetBlue airplane. Now almost 10 years after its inception, the program continues to help young pilots as they make their way from dreaming of the skies to sitting in a JetBlue airplane. While still going strong, the University Gateway program is not …

Holographic Micro-Simulations To Enhance Aviation Training With Mixed Reality, Lori Brown Fraes, Msc, Hfavn

National Training Aircraft Symposium (NTAS)

Mixed reality technologies present a new medium, a new paradigm of augmented reality, where for the first time we have the ability to take the analog world and superimpose digital training artifacts and create a ‘mixed reality’ to enhance aviation training. Digital computing headsets such as Microsoft HoloLens are intuitive and offer a natural means of interaction with no computer, wire or touch-screen. This approach has several practical advantages to overlay holographic elements onto real-world crew environments which makes holographic micro-simulations particularly suited to aviation training and education. Unlike virtual reality—the user is not isolated from their surroundings. MR allows …

Implementing Immersive Virtual Reality In An Aviation/Aerospace Teaching And Learning Paradigm, Tom Haritos, Stephanie G. Fussell

National Training Aircraft Symposium (NTAS)

The ubiquity of computing technology has revolutionized the workplace and has also had a significant impact on education. The use of interactive simulations based on virtual reality (VR), augmented reality (AR), and mixed reality (MR) has gained wide acceptance and become a prominent mechanism for learning to occur. Interactive simulations may afford unique learning advantages revealed as effective knowledge retention and skill transfer when information is presented using multi-modal sensory approach. The goal of VR is to create an environment that mimics real world complexities; one that offers comparable stimuli in the virtual environment (VE) to elicit cognitive and psychomotor …

Seeing Beyond: Real-Time Ultrasound Image Integration In Augmented Reality Based Telementoring, Mandira S. Marambe, Natalia Sanchez-Tamayo, Juan P. Wachs

The Summer Undergraduate Research Fellowship (SURF) Symposium

Ultrasound imaging, when aptly integrated with augmented reality based medical telementoring, may be beneficial as an assistive tool in a range of trauma procedures including removal of foreign objects from blast injuries and central or peripheral venous access. Expected benefits include reduced procedure completion time, higher efficiency, and higher incision accuracy. This paper describes the implementation strategy selected for the integration of real time ultrasound imaging in the trainee view of a telementoring system. The proposed strategy augments the view of the trainee surgeon by displaying the ultrasound image directly below and parallel to the ultrasound transducer. The developed system …

Tool For Correlating Ebsd And Afm Data Arrays, Andrew Krawec, Matthew Michie, John Blendell

The Summer Undergraduate Research Fellowship (SURF) Symposium

Ceramic and semiconductor research is limited in its ability to create holistic representations of data in concise, easily-accessible file formats or visual data representations. These materials are used in everyday electronics, and optimizing their electrical and physical properties is important for developing more advanced computational technologies. There is a desire to understand how changing the composition of the ceramic alters the shape and structure of the grown crystals. However, few accessible tools exist to generate a dataset with the proper organization to understand correlations between grain orientation and crystallographic orientation. This paper outlines an approach to analyzing the crystal structure …

Remote Sensing Of Soil Moisture Using S-Band Signals Of Opportunity: Model Development And Experimental Validation, Marvin Jesse, Benjamin Nold, James L. Garrison

The Summer Undergraduate Research Fellowship (SURF) Symposium

Root zone soil moisture (RZSM) is a vital aspect in meteorology, hydrology, and agriculture. There are currently some methods in passive and active remote sensing at L-band, but these methods are limited to a sensing depth of approximately 10 cm. Observing RZSM (water in the top meter of soil) will require lower frequencies, thus presenting significant difficulties for a spaceborne instrument, because of the required antenna size, the presence of radio-frequency interference (RFI), and competition for spectrum allocations (in the case of active radar). Bistatic radar using Signal of Opportunity (SoOp) (e.g. digital satellite transmitters) provides an opportunity for remote …

A Security Approach For The Example Sodium Fast Reactor, Christian X. Young, Robert S. Bean

The Summer Undergraduate Research Fellowship (SURF) Symposium

Increases in the spread of nuclear technology and the rise of non-state terrorism in the modern era has proved the need for effective security approaches to new nuclear facilities. Many documents about security approaches for nuclear plants are non-public material, however, making it difficult to teach others about the basics of security design. To alleviate this issue, we used available texts in the security realm to design a security approach for the Generation IV International Forum’s Example Sodium Fast Reactor. Our approach utilized infrared, microwave, fiber optic, and other advanced technologies to provide security for the special nuclear material present. …