NDLI: Strategies for autonomous robot to inspect pavement distresses

Content Provider	IEEE Xplore Digital Library
Author	Tseng, Y.H. Kang, S.C. Su, Y.S. Lee, C.H. Chang, J.R.
Copyright Year	2010
Description	Author affiliation: Department of Environmental and Informatics, Minghsin University of Science and Technology, Taiwan (Chang, J.R.) \|\| Computer Aided Engineering, (CAE), Department of Civil Engineering, National Taiwan University, Taiwan (Tseng, Y.H.; Kang, S.C.; Su, Y.S.; Lee, C.H.)
Abstract	Distress inspection is an important task in pavement maintenance. Pavement inspection requires tremendous human resources, so many investigators start developing automatic and robotic inspection methods to increase the efficiency and accuracy. However, the systems they developed are applicable for network-level inspection (large areas, long-distance) but too expensive or too big for project-level inspection (small areas, short-distance). Dealing with this problem, some researchers have developed an autonomous vehicle for inspection. In this research, we specific focus on developing strategies for executing the inspection tasks using robots. We developed three strategies. The first strategy is random-walk. The second strategy is random-walk with map recording. The third one adds the vision capacity to the robot. To validate the three strategies, we developed a test field in a virtual environment. This test field includes 5 types of common distress, including an alligator crack, a patching, a breaking hole, a rectangular manhole and a circular manhole. We also developed a virtual robot which can autonomously navigate in the test field. We then implemented the three survey strategies in the robot and compare their performances with traditional longitudinal survey method. The results show that using the first strategy, we can increase frequency for passing the distresses; it means that robot can detect and collect data more times than traditional longitudinal survey. The results of the second strategy show that we can increase the repeatability by using map recording to guide random-walk. The results of third strategy show that the robot can find more distresses in a certain amount of time; it means that we can improve survey efficiency by adding vision capacity to adjust motion path when distresses detected. Comparing these strategies with conventional Longitudinal survey strategy(L strategy), the three proposed strategies have a higher possibility of revisiting distresses, and it means making the results more reliable.
Starting Page	1196
Ending Page	1201
File Size	2041330
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5650543
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Inspection Robot sensing systems Vehicles Virtual environment Computational modeling Cameras
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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