Intelligent Robotic Diver for Underwater Bridge Pylon Cleaning and Inspection -- Scoping Study and Robot Design

Project Member(s): Liu, D., Dissanayake, G., Paul, G., Huang, S., Waldron, K.

Funding or Partner Organisation: Roads and Maritime Services (formerly known as RTA) (Roads and Maritime Services)

Start year: 2014

Summary: The primary objective of this research is to develop an autonomous robotic system that will enable safe and cost-effective underwater cleaning and inspection of bridge substructures. To achieve this objective, a number of research and engineering challenges need to be addressed. As the first stage of this research, this project will undertake a scoping study and robot design.

Publications:

Woolfrey, J, Liu, D & Carmichael, M 1970, 'Kinematic control of an Autonomous Underwater Vehicle-Manipulator System (AUVMS) using autoregressive prediction of vehicle motion and Model Predictive Control', 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016 IEEE International Conference on Robotics and Automation (ICRA), IEEE, Stockholm, Sweden, pp. 4591-4596.
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Zhang, T, Huang, S, Liu, D, Shi, L, Zhou, C & Xiong, R 1970, 'A method of state estimation for underwater vehicle navigation around a cylindrical structure', 2016 IEEE 11th Conference on Industrial Electronics and Applications (ICIEA), 2016 IEEE 11th Conference on Industrial Electronics and Applications (ICIEA), IEEE, Hefei, China, pp. 101-106.
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Keywords: Underwater robots, bridge inspection and maintenance, robot control

FOR Codes: Mechanical Engineering, Rail Infrastructure and Networks, Transport Engineering, Machinery and Equipment not elsewhere classified, Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics), Road Infrastructure and Networks, Manufacturing robotics, Machinery and equipment, Ground transport

Acknowledgement of Country

UTS acknowledges the Gadigal people of the Eora Nation, the Boorooberongal people of the Dharug Nation, the Bidiagal people and the Gamaygal people, upon whose ancestral lands our university stands. We would also like to pay respect to the Elders both past and present, acknowledging them as the traditional custodians of knowledge for these lands.