详情

Augmented Bridge Inspection with Augmented Reality and Haptics-based Aerial Manipulation

项目名称：	Augmented Bridge Inspection with Augmented Reality and Haptics-based Aerial Manipulation
摘要：	Insight and leverage from prior project work identified the need for haptics; the inspector’s sense of touch is often used in bridge assessment. Haptics’ adoption in medical robotics shows potential for applications in remote inspection and maintenance. For example, surgeons employ haptic-based manipulators to both probe and operate minimally-invasive procedures. Such manipulators augment the surgeon by assessing areas that are difficult to see or reach with conventional tools. Likewise, envisioned is the augmentation of bridge personnel by providing a haptics-based aerial manipulator. Such a manipulator would reduce needs to ascend elevated structures like under bridge decks and cabling. There is recent work that uses haptics in aerial manipulation. But these center on autonomous multi-drone flight formation for aerial shows or cooperative object delivery [1] [2]. The haptics research here is relatively straight-forward [3]. The sense of touch is used to provide spatial distance between drones. By contrast, this proposal’s novelty and merit are centered on human-in-the-loop aerial manipulation. The notion is that the expert bridge worker remotely configures the aerial manipulator to “probe” areas of interest and “operate” maintenance procedures. This Year 4 proposal integrates haptics, augmented reality (AR), and drone-mounted arm. The specific objective is to characterize haptics and AR for their applicability to perform remote probing (i.e. inspection) and operation (i.e. maintenance). Scope of Work in Year 4: The objectives of this study are to test, evaluate, verify and validate haptics-based aerial manipulation. Realizing such objectives would yield new capabilities for remote bridge inspection and maintenance. The tools and techniques would leverage bridge personnel expertise and introduce a new paradigm of human-in-the-loop aerial manipulation. This is akin to the advances and adoption found in medical robotics for minimally-invasive surgery.
状态：	Active
资金：	132195
资助组织：	Office of the Assistant Secretary for Research and Technology
执行机构：	University of Nevada, Reno
开始时间：	20200101
预计完成日期：	20210630
主题领域：	Bridges and other structures；Data and Information Technology；Maintenance and Preservation；Vehicles and Equipment