详情

原文传递 Robotic System for Underwater Bridge Inspection and Scour Evaluation. Report of Investigation; Final rept. Jun 97-Nov 98

题名：	Robotic System for Underwater Bridge Inspection and Scour Evaluation. Report of Investigation; Final rept. Jun 97-Nov 98
作者：	Devault, J. E.; Hudson, W. B.; Hossain, M.
关键词：	Bridge inspection; Robotics; Erosion; Underwater foundations; Video signals; Feasibility; Images
摘要：	This project developed a prototype robotic system for underwater inspection of bridge substructure and scour evaluation. The primary system consists of two or more identical robots designed to travel along opposite surfaces of submerged strucures while connected to one antoher by a cable and winch system. The system carries a video to areas along the periphery of the structure that transmit images to an operator at the control console. A prototype with control and communications modules and software to support a communication protocol was fabricated. An on-board microprocessor-based control system provided local control of system activities including robot motion, cable tensionsing, and sensor operation. However, the system was too heavy for deployment under realistic conditions. Consequently, a second prototype with a different design and reduced was developed that incorporated hydraulic motors on an open frame structure with control electronics housed separately and located above water. The system needs to be evaluated under field conditions.
总页数：	30p
报告类型：	科技报告