Search Results (63)

Stable adhesion on non-magnetic, steep, and irregular underwater surfaces (e.g., concrete dams with cracks or biofilms) remains a challenge for inspection robots. This study develops a novel adsorption mechanism based on the synergistic operation of a Venturi-ejector and a composite suction cup. The mechanism utilizes the Venturi effect to generate stable negative pressure via hydrodynamic entrainment and innovatively adopts a composite suction cup—comprising a rigid base and a dual-layer EPDM sponge (closed-cell + open-cell)—to achieve adaptive sealing, thereby reliably applying the efficient negative-pressure generation capability to rough underwater surfaces. Theoretical modeling established the quantitative relationship between adsorption force (F) and key parameters (nozzle/throat diameters, suction cup radius). CFD simulations revealed optimal adsorption at a nozzle diameter of 4.4 mm and throat diameter of 5.8 mm, achieving a peak simulated F of 520 N. Experiments demonstrated a maximum F of 417.9 N at 88.9 W power. The composite seal significantly reduced leakage on high-roughness surfaces (Ra ≥ 6 mm) compared to single-layer designs. Integrated into an inspection robot, the system provided stable adhesion (>600 N per single adsorption device) on vertical walls and reliable operation under real-world conditions at Balnetan Dam, enabling mechanical-arm-assisted maintenance. Full article

Underwater crack detection in dam structures is of significant importance to ensure structural safety, assess operational conditions, and prevent potential disasters. Traditional crack detection methods face various limitations when applied to underwater environments, particularly in high dam underwater environments where image quality is influenced by factors such as water flow disturbances, light diffraction effects, and low contrast, making it difficult for conventional methods to accurately extract crack features. This study proposes a dual-stage underwater crack detection method based on Cycle-GAN and YOLOv11 called Edge-Enhanced Underwater CrackNet (E²UCN) to overcome the limitations of existing image enhancement methods in retaining crack details and improving detection accuracy. First, underwater concrete crack images were collected using an underwater remotely operated vehicle (ROV), and various complex underwater environments were simulated to construct a test dataset. Then, an improved Cycle-GAN image style transfer method was used to enhance the underwater images. Unlike conventional GAN-based underwater image enhancement methods that focus on global visual quality, our model specifically constrains edge preservation and high-frequency crack textures, providing a novel solution tailored for crack detection tasks. Subsequently, the YOLOv11 model was employed to perform object detection on the enhanced underwater crack images, effectively extracting crack features and achieving high-precision crack detection. The experimental results show that the proposed method significantly outperforms traditional methods in terms of crack detection accuracy, edge clarity, and adaptability to complex backgrounds, effectively improving underwater crack detection accuracy (precision = 0.995, F1 = 0.99762, mAP@0.5 = 0.995, and mAP@0.5:0.95 = 0.736) and providing a feasible technological solution for intelligent inspection of high dam underwater cracks. Full article

Rehabilitation plans are based on pavement condition assessments, which are crucial to modern pavement management systems. However, some of the disadvantages of conventional approaches for road maintenance and repair include the time consumption, high costs, visual errors, seasonal limitations, and low accuracy. Continuous and efficient pavement monitoring is essential, necessitating reliable equipment that can function in a variety of weather and traffic conditions. UAVs offer a practical and eco-friendly alternative for tasks including road inspections, dam monitoring, and the production of 3D ground models and orthophotos. They are more affordable, accessible, and safe than traditional field surveys, and they reduce the environmental effects of pavement management by using less fuel and producing less greenhouse gas emissions. This study uses UAV technology in conjunction with ground control points (GCPs) to assess the kind and amount of damage in flexible pavements. Vertical photogrammetric mapping was utilized to produce 3D road models, which were then processed and analyzed using Agisoft Photoscan (Metashape Professional (64 bit)) software. The sorts of fractures, patch areas, and rut depths on pavement surfaces may be accurately identified and measured thanks to this technique. When compared to field exams, the findings demonstrated an outstanding accuracy with errors of around 3.54 mm in the rut depth, 4.44 cm² for patch and pothole areas, and a 96% accuracy rate in identifying cracked locations and crack varieties. This study demonstrates how adding GCPs may enhance the UAV image accuracy, particularly in challenging weather and traffic conditions, and promote sustainable pavement management strategies by lowering carbon emissions and resource consumption. Full article

As critical infrastructure, hydropower dams require efficient and accurate detection of underwater structural surface defects to ensure their safety. This paper presents the design and implementation of a robotic control system specifically developed for underwater dam inspection in hydropower stations, aiming to enhance the robot’s operational capability under harsh hydraulic conditions. The study includes the hardware design of the control system and the development of a surface human–machine interface unit. At the software level, a modular architecture is adopted to ensure real-time performance and reliability. The solution employs a hierarchical architecture comprising hardware sensing, real-time interaction protocols, and an adaptive controller, and the integrated algorithm combining a fixed-time disturbance observer with adaptive super-twisting controller compensates for complex hydrodynamic forces. To validate the system’s effectiveness, field tests were conducted at the Baihetan Hydropower Station. Experimental results demonstrate that the proposed control system enables stable and precise dam inspection, with standard deviations of multi-degree-of-freedom automatic control below 0.5 and hovering control below 0.1. These findings confirm the system’s feasibility and superiority in performing high-precision, high-stability inspection tasks in complex underwater environments of real hydropower dams. The developed system provides reliable technical support for intelligent underwater dam inspection and holds significant practical value for improving the safety and maintenance of major hydraulic infrastructure. Full article

The structural health monitoring (SHM) of existing infrastructure and heritage buildings is essential for their preservation and safety. This is a review paper which focuses on modern three-dimensional (3D) measurement techniques, particularly those that enable the assessment of the structural response to environmental actions and operational conditions. The emphasis is on the detection of fractures and the identification of the crack geometry. While traditional monitoring systems—such as pendula, callipers, and strain gauges—have been widely used in massive, quasi-brittle structures like dams and masonry buildings, advancements in non-contact and computer-vision-based methods are increasingly offering flexible and efficient alternatives. The integration of drone-mounted systems facilitates access to challenging inspection zones, enabling the acquisition of quantitative data from full-field surface measurements. Among the reviewed techniques, digital image correlation (DIC) stands out for its superior displacement accuracy, while photogrammetry and time-of-flight (ToF) technologies offer greater operational flexibility but require additional processing to extract displacement data. The collected information contributes to the calibration of digital twins, supporting predictive simulations and real-time anomaly detection. Emerging tools based on machine learning and digital technologies further enhance damage detection capabilities and inform retrofitting strategies. Overall, vision-based methods show strong potential for outdoor SHM applications, though practical constraints such as drone payload and calibration requirements must be carefully managed. Full article

Cone Penetration Tests with pore pressure measurements (CPTu) are widely used in geotechnical site investigations due to their high-resolution profiling capabilities. However, traditional interpretation methods—such as the Soil Behavior Type Index ($I_c$)—often fail to capture the internal heterogeneity typical of mining tailings deposits. This study presents a machine learning-based approach to enhance stratigraphic interpretation from CPTu data. Four unsupervised clustering algorithms—k-means, DBSCAN, MeanShift, and Affinity Propagation—were evaluated using a dataset of 12 CPTu soundings collected over a 19-year period from an iron tailings dam in Brazil. Clustering performance was assessed through visual inspection, stratigraphic consistency, and comparison with $I_c$-based profiles. k-means and MeanShift produced the most consistent stratigraphic segmentation, clearly delineating depositional layers, consolidated zones, and transitions linked to dam raising. In contrast, DBSCAN and Affinity Propagation either over-fragmented or failed to identify meaningful structures. The results demonstrate that clustering methods can reveal behavioral trends not detected by $I_c$ alone, offering a complementary perspective for understanding depositional and mechanical evolution in tailings. Integrating clustering outputs with conventional geotechnical indices improves the interpretability of CPTu profiles, supporting more informed geomechanical modeling, dam monitoring, and design. The approach provides a replicable methodology for data-rich environments with high spatial and temporal variability. Full article

Cracks and seepage in dam structures pose a serious risk to their safety, yet traditional inspection methods often fall short when it comes to detecting shallow or early-stage fractures. This study proposes a new approach that uses spectral response analysis to quickly identify signs of seepage in concrete dams. Researchers developed a three-layer model—representing the concrete, a seepage zone, and water—to better understand how cracks affect the way electrical signals behave, thereby inverting the state of the dam based on how electrical signals behave in actual engineering measurements. Through computer simulations and lab experiments, the team explored how changes in the resistivity and thickness of the seepage layer, along with the resistivity of surrounding water, influence key indicators like impedance and signal angle. The results show that the “spectrum-based method” can effectively detect seepage in concrete cracks of dams, and the measurement method of the “spectral quadrupole method” based on the “spectrum-based method” is highly sensitive to these variations, making it a promising tool for spotting early seepage. Field tests backed up the lab findings, confirming that this method is significantly better than traditional techniques at detecting cracks less than a meter deep and identifying early signs of water intrusion. It could provide dam inspectors with a more reliable way to monitor structural health and prevent potential failures. Full article

Termites pose significant threats to the structural integrity of embankments due to their nesting and tunneling behavior, which leads to internal voids, water leakage, or even dam failure. This review systematically classifies and evaluates current termite detection techniques in the context of embankment maintenance, focusing on physical sensing technologies and biological characteristic-based methods. Physical sensing methods enable non-invasive localization of subsurface anomalies, including ground-penetrating radar, acoustic detection, and electrical resistivity imaging. Biological characteristic-based methods, such as electronic noses, sniffer dogs, visual inspection, intelligent monitoring, and UAV-based image analysis, are capable of detecting volatile compounds and surface activity signs associated with termites. The review summarizes key principles, application scenarios, advantages, and limitations of each technique. It also highlights integrated multi-sensor frameworks and artificial intelligence algorithms as emerging solutions to enhance detection accuracy, adaptability, and automation. The findings suggest that future termite detection in embankments will rely on interdisciplinary integration and intelligent monitoring systems to support early warning, rapid response, and long-term structural resilience. This work provides a scientific foundation and practical reference for advancing termite management and embankment safety strategies. Full article

Continuous monitoring is key to the safety of such critical infrastructure as Tailings storage facilities. Due to the high risk of liquification of the dams, it is crucial to move the water as far as possible from the dam crest. In order to control the distance from the water to the dam, regular manual inspections need to be carried out. In this article, we propose a method for automatic detection of the water-beach line based on photographs from an unmanned aerial vehicle (UAV). An algorithm based on MobileNet v2 convolutional neural network architecture was developed for the classification of images collected by the UAV. Based on the results of this classification, the border between the water and the beach is defined. Several approaches to the model training were tested. Accuracy for the validation set reaches up to 97% for particular image fragments. Full article

Concrete dams are prone to various hidden dangers after long-term operation and may lead to significant risk if failed to be detected in time. However, the existing hollowing detection techniques are few as well as inefficient when facing the demands of comprehensive coverage and intelligent management for regular inspections. Hence, we proposed an innovative, non-destructive infrared inspection method via constructed dataset and proposed deep learning algorithms. We first modeled the surface temperature field variation of concrete dams as a one-dimensional, non-stationary partial differential equation with Robin boundary. We also designed physics-informed neural networks (PINNs) with multi-subnets to compute the temperature value automatically. Secondly, we obtained the time-domain features in one-dimensional space and used the diffusion techniques to obtain the synthetic infrared images with dam hollowing by converting the one-dimensional temperatures into two-dimensional ones. Finally, we employed adaptive joint learning to obtain the spatio-temporal features. We designed the experiments on the dataset we constructed, and we demonstrated that the method proposed in this paper can handle the low-data (few shots real images) issue. Our method achieved 94.7% of recognition accuracy based on few shots real images, which is 17.9% and 5.8% higher than maximum entropy and classical OTSU methods, respectively. Furthermore, it attained a sub-10% cross-sectional calculation error for hollowing dimensions, outperforming maximum entropy (70.5% error reduction) and OTSU (7.4% error reduction) methods, which shows our method being one novel method for automated intelligent hollowing detection. Full article

Civil engineering is a field of knowledge in direct contact with the citizen, not only in the design and construction of infrastructure but also in its maintenance, conservation, monitoring, and management. The integration of new technologies, such as drones, is revolutionizing work methodologies, offering new possibilities for the execution and management of infrastructure and minimizing human intervention in these jobs, with the increase in occupational safety and cost reduction that this entails. This study presents a comprehensive review of the literature on UAV applications for the monitoring and management of civil infrastructure. The applicability of UAVs and their connection with the main existing sensors and technologies are analyzed, such as visible cameras (RGB), multispectral cameras, and hyperspectral cameras, in the most relevant areas of civil engineering, such as building inspection, bridge inspection, dams, power line inspection, photovoltaic plants, inspection, hydrological studies road inspection, slope supervision, and the maintenance and monitoring of landfill operation. The impact and scope of these technologies are addressed, as well as the benefits in terms of process automation, efficiency, safety, and cost reduction. The incorporation of drones promises to significantly transform the practice of civil engineering, improving the sustainability and resilience of infrastructures. Full article

Classifying dams is important to ensure proper management, safety, and maintenance based on their size, purpose, and risk level. This helps in planning for emergency responses, structural inspections, and efficient water resource utilization. This study used the analysis of variance (ANOVA) technique to categorize the main Tunisian dams according to their precipitation to potential evapotranspiration (P/PET) ratio. The data were obtained from the NASA POWER platform, with potential evapotranspiration estimated using the Oudin model. Despite the violation of the normality assumption, the robustness of the ANOVA test for classification purposes remained unaffected. A comparison between Duncan’s test (parametric) and the Kruskal–Wallis test (non-parametric) revealed similar class structures, although Duncan’s test provided greater precision. The analysis identified four primary dam classes, reflecting regional differences in water availability and evaporative demand, and included dams in north-west Tunisia, considered the ‘water tower’ of the country, and those in semi-arid and arid regions. Full article

Dental professionals face an increased risk of exposure to biological fluids, aerosols, and droplets due to close patient contact, which heightens the risk of infectious diseases. Rubber dam, commonly used in dentistry, not only isolates treatment areas but also reduces aerosol and droplet dispersion. Accurate orthodontic bracket positioning is crucial for optimal treatment, and isolation techniques like rubber dam and traditional methods are essential for ensuring precise bracket placement and bonding. This study aims to compare the effects of rubber dam and traditional isolation techniques on orthodontic bracket positioning using 3D digital models, while also evaluating the impact of these methods on the patient’s chair time during the procedure. The study group (RDI—Rubber Dam Isolation) included individuals isolated with a rubber dam, while the control group (TI—Traditional Isolation) consisted of those isolated using retractors and cotton rolls. Digital models were taken from these groups before bracketing (BB) and after bracketing (AB). BB models were transferred to the Orthoanalyzer^TM program for virtual bracketing and a virtual bonding model (VB) was created. AB and VB models were superimposed in the GOM Inspect^TM program in order to determine the accuracy of the bracket positions. Linear measurements were taken along the X, Y, and Z axes, while angular measurements were recorded on the XY, XZ, and YZ planes. There was no significant difference in deviation values along the X-axis between the RDI and TI groups. In both groups, the lowest deviation values in linear measurements were found in the Z-axis, while the highest deviation values were found in the Y-axis. In the Y-axis, it was found that the deviation values were higher in the RDI group for tooth numbers 32 and 33, and in the Z-axis, the deviation values were higher in the RDI group for tooth numbers 34 and 44. In angular measurements, it was observed that in the XY plane, the deviation values in tooth number 35 were higher in the TI group. RDI proves to be an effective method for ensuring accurate bracket positioning in orthodontic procedures when compared to traditional isolation techniques. Especially considering infectious diseases, the use of RDI is considered appropriate. Full article

Over the past few decades, a significant number of large concrete structures with deterioration problems related to the alkali–silica reaction (ASR) have been identified in Portugal and worldwide. Assessing the condition of ASR-affected concrete dams involves both diagnosis and prognosis. Diagnosis evaluates the structure’s current state, while prognosis predicts deterioration and safety implications. This is key to estimate the period during which the structure will effectively perform its function, and essential for the timely and cost-effective planning of the necessary mitigation, rehabilitation, and/or reconstruction works. This article aims to contribute to the ongoing discussion of this topic by the scientific and technical community and, therefore, presents the methodology adopted to assess the condition of a severely ASR-affected concrete dam in Portugal, the Alto Ceira dam, in which the concrete was produced with susceptible to ASR quartzitic aggregates and that was decommissioned and replaced by a new one in 2014. The article provides a brief review of the diagnosis and prognosis of the ASR in concrete dams, presents and analyses the results from laboratory testing (including chemical, microstructural, physical, mechanical, and expansion tests), in-situ testing, structural monitoring systems, visual inspections, and numerical modelling, aiming at assessing ASR impacts and evidencing the utility of the reported methodology on the appraisal of ASR-affected structures. Full article

Civil infrastructure assets’ contribution to countries’ economic growth is significantly increasing due to the rapid population growth and demands for public services. These civil infrastructures, including roads, bridges, railways, tunnels, dams, residential complexes, and commercial buildings, experience significant deterioration from the surrounding harsh environment. Traditional methods of visual inspection and non-destructive tests are generally undertaken to monitor and evaluate the structural health of the infrastructure. However, these methods lack reliability due to the need for instrumentation calibration and reliance on subjective visual judgments. Digital twin (DT) technology digitally replicates existing infrastructure, offering significant potential for real-time intelligent monitoring and assessment of structural health. This study reviews the existing applications of DTs across various sectors. It proposes an approach for developing DT applications in civil infrastructure, including using the Internet of Things, data acquisition, and modelling, together with the platform requirements and challenges that may be confronted during DT development. This comprehensive review is a state-of-the-art review of advancements and challenges in DT technology for intelligent monitoring and maintenance of civil infrastructure. Full article