Plenty of dams in China are in danger while there are few effective methods for underwater dam inspections of hidden problems such as conduits,cracks and inanitions.The dam safety inspection remotely operated vehicle(...Plenty of dams in China are in danger while there are few effective methods for underwater dam inspections of hidden problems such as conduits,cracks and inanitions.The dam safety inspection remotely operated vehicle(DSIROV) is designed to solve these problems which can be equipped with many advanced sensors such as acoustical,optical and electrical sensors for underwater dam inspection.A least-square parameter estimation method is utilized to estimate the hydrodynamic coefficients of DSIROV,and a four degree-of-freedom(DOF) simulation system is constructed.The architecture of DSIROV's motion control system is introduced,which includes hardware and software structures.The hardware based on PC104 BUS,uses AMD ELAN520 as the controller's embedded CPU and all control modules work in VxWorks real-time operating system.Information flow of the motion system of DSIROV,automatic control of dam scanning and dead-reckoning algorithm for navigation are also discussed.The reliability of DSIROV's control system can be verified and the control system can fulfill the motion control mission because embankment checking can be demonstrated by the lake trials.展开更多
In this paper, we describe an image enhancement and interpretation methodology to enhance and recognize surface defects and critical patterns from remote imagery of sewer pipeline inspection. The objective is to provi...In this paper, we describe an image enhancement and interpretation methodology to enhance and recognize surface defects and critical patterns from remote imagery of sewer pipeline inspection. The objective is to provide inspectors and professionals with better tools to allow them to examine the imagery for condition assessment. We present initial results of a collaboration with a robotic company through a case study on computer-assisted processing and interpretation of sewer pipeline inspection imagery. In the mean time, the described enhancement and interpretation methodology can also be applied to sewer pipeline condition assessment in an offline mode, where this methodology can support professionals’ examination of acquired sewer condition imagery.展开更多
This paper describes an empirical study on an augmented virtuality (AV)-based system dedicated for tele-inspection of built environments. This system is regarded as a solution that allows users to experience the real ...This paper describes an empirical study on an augmented virtuality (AV)-based system dedicated for tele-inspection of built environments. This system is regarded as a solution that allows users to experience the real remote built environment without the need of physically stepping into that actual place. Such experience is realized by using AV technology to enrich the virtual counterparts of the place with captured real images from the real space. Those integrated into the AV environment are real photos that represent key landmarks/features of the real place, live video streams of on-site crew, and 3D virtual design geome-tries. The focus of this paper is the implementation and evaluation of the AV system in its current state as compared with traditional photo-based methods. Results from this preliminary empirical study show that the AV system achieves good overall satisfaction, although it involves certain general usability issues.展开更多
基金Project(20100480964) supported by China Postdoctoral Science FoundationProjects(2002AA420090,2008AA092301) supported by the National High Technology Research and Development Program of China
文摘Plenty of dams in China are in danger while there are few effective methods for underwater dam inspections of hidden problems such as conduits,cracks and inanitions.The dam safety inspection remotely operated vehicle(DSIROV) is designed to solve these problems which can be equipped with many advanced sensors such as acoustical,optical and electrical sensors for underwater dam inspection.A least-square parameter estimation method is utilized to estimate the hydrodynamic coefficients of DSIROV,and a four degree-of-freedom(DOF) simulation system is constructed.The architecture of DSIROV's motion control system is introduced,which includes hardware and software structures.The hardware based on PC104 BUS,uses AMD ELAN520 as the controller's embedded CPU and all control modules work in VxWorks real-time operating system.Information flow of the motion system of DSIROV,automatic control of dam scanning and dead-reckoning algorithm for navigation are also discussed.The reliability of DSIROV's control system can be verified and the control system can fulfill the motion control mission because embankment checking can be demonstrated by the lake trials.
基金the Innovative Management & Technology Services-National Aeronautics and Space Administration (IMTS-NASA) grant, and the Pennsylvania Infrastructure Technology Alliance.
文摘In this paper, we describe an image enhancement and interpretation methodology to enhance and recognize surface defects and critical patterns from remote imagery of sewer pipeline inspection. The objective is to provide inspectors and professionals with better tools to allow them to examine the imagery for condition assessment. We present initial results of a collaboration with a robotic company through a case study on computer-assisted processing and interpretation of sewer pipeline inspection imagery. In the mean time, the described enhancement and interpretation methodology can also be applied to sewer pipeline condition assessment in an offline mode, where this methodology can support professionals’ examination of acquired sewer condition imagery.
文摘This paper describes an empirical study on an augmented virtuality (AV)-based system dedicated for tele-inspection of built environments. This system is regarded as a solution that allows users to experience the real remote built environment without the need of physically stepping into that actual place. Such experience is realized by using AV technology to enrich the virtual counterparts of the place with captured real images from the real space. Those integrated into the AV environment are real photos that represent key landmarks/features of the real place, live video streams of on-site crew, and 3D virtual design geome-tries. The focus of this paper is the implementation and evaluation of the AV system in its current state as compared with traditional photo-based methods. Results from this preliminary empirical study show that the AV system achieves good overall satisfaction, although it involves certain general usability issues.
