Search Results (4)

This study proposes a cyber–physical framework for the integration of a heterogeneous swarm of robots, sensors, microrobots, and AR for structural health monitoring and confined space inspection based on the application’s unique challenges. The structural issues investigated are cracks in the walls, deformation of the structures, and damage to the culverts and devices commonly used in buildings. The PC and augmented reality interfaces are incorporated for human–robot collaboration to provide the necessary information to the human user while teleoperating the robots. The proposed interfaces use edge computing and machine learning to enhance operator interactions and to improve damage detection in confined spaces and challenging environments. The proposed swarm inspection framework is called HeSARIC. Full article

Transition zones on railway lines are localities with gradual changes in the construction layers in the connections between a fixed track and ballasted track or between a wide track and various railway objects, e.g., tunnels, bridges, culverts, etc. The different type of construction of transition zones causes a shock wave when the train passes, which can cause undesired effects on the stability of its construction, durability, and passengers’ comfort. For this reason, railway opera-tors pay increased attention to the construction inspection of these transition sections. The research deals with the description of the transition zones, methods, and results of their monitoring in experimental sections of the railway corridors. Innovative aspects are the measurements made using precise geodetic instruments as well as continuous measurements with the KRAB trolley. The analyses of measurements in the experimental sections of the track show whether the stability of the geometric spatial position is ensured. Full article

Finding efficient and less expensive techniques for different aspects of culvert inspection is in great demand. This study assesses the potential of infrared thermography (IRT) to detect the presence of cavities in the soil around a culvert, specifically for cavities adjacent to the pipe of galvanized culverts. To identify cavities, we analyze thermograms, generated via long pulse thermography, using absolute thermal contrast, principal components thermography, and a statistical approach along with a combination of different pre- and post-processing algorithms. Using several experiments, we evaluate the performance of IRT for accomplishing the given task. Empirical results show a promising future for the application of this approach in culvert inspection. The size and location of cavities are among the aspects that can be extracted from analyzing thermograms. The key finding of this research is that the proposed approach can provide useful information about a certain type of problem around a culvert pipe which may indicate the early stage of the cavity formation. Becoming aware of this process in earlier stages will certainly help to prevent any costly incidents later. Full article

Transportation agencies are currently challenged to keep up with culvert infrastructure that is rapidly deteriorating due to lack of adequate maintenance and capital improvement. It is imperative for the transportation agencies to identify and rehabilitate deteriorated culverts prior to their failures. Among several concerns, lack of rational rehabilitation prioritization tools is foremost. Complicating this need further, current practices vary widely across the state departments of transportation (DOTs) which makes it difficult to develop a universal approach for prioritizing failing culverts. This paper presents and demonstrates a failure risk-based culvert prioritization approach that is compliant with the inspection procedures of the South Carolina DOT. The approach presented in this paper is specifically developed for reinforced concrete pipe (RCP) and corrugated metal pipe (CMP) materials because of their wide popularity. Outcomes from a survey of state DOTs informed the development of parametric weightings using the principles of analytical hierarchy process (AHP). Weightings developed for several critical inspection parameters are combined with the corresponding condition assessment scores to determine the failure criticality of culverts, which are subsequently combined with estimated failure consequences to determine failure risk estimates. The prioritization approach is demonstrated using the condition assessment scores of over 5200 culvert structures in South Carolina. Full article