@article{633ba76a974d4622b1775f7deda169c2,
title = "RABIT: implementation, performance validation and integration with other robotic platforms for improved management of bridge decks",
abstract = "Accurate condition assessment and monitoring of concrete bridge deck deterioration progression requires both use of multiple nondestructive evaluation (NDE) technologies and automation in data collection and analysis. RABIT (robotics assisted bridge inspection tool) for bridge decks enables fully autonomous data collection at rates three or more times higher than it is typically done by a team of five inspectors using manual NDE technologies. The system concentrates on the detection and characterization of three most common internal deterioration and damage types: rebar corrosion, delamination, and concrete degradation. For that purpose, RABIT implements four NDE technologies: electrical resistivity (ER), ground-penetrating radar (GPR), impact echo (IE) and ultrasonic surface waves (USW) method. High productivity and higher spatial data resolution are achieved through the use of large sensor arrays or multiple probes for the four NDE methods. RABIT surveys also complement visual inspection by collecting high resolution images of the deck surface, which can be used for crack mapping and documentation of deck spalling, previous repairs, etc. The NDE technologies are used in a complementary way to enhance the overall condition assessment, certainty regarding the detected deterioration and better identification of the primary cause of deterioration. RABIT{\textquoteright}s components, operation, field implementation and validation, as well as future integration with a robotic platform for minimally invasive rehabilitation, are described.",
keywords = "Bridge decks, Concrete, Corrosion, Deterioration, Electrical resistivity, GPR, Impact echo, Nondestructive evaluation, Rehabilitation, Robotics, Surface waves",
author = "Nenad Gucunski and Basily Basily and Jinyoung Kim and Jingang Yi and Trung Duong and Kien Dinh and Kee, {Seong Hoon} and Ali Maher",
note = "Funding Information: RABIT was developed under DTFH61-08-C-00005 contract from the US Department of Transportation—Federal Highway Administration (USDOT-FHWA). The authors sincerely acknowledge this FHWA{\textquoteright}s support through the Long Term Bridge Performance Program, especially Drs. Hamid Ghasemi and Robert Zobel. The authors are also grateful to the Virginia Department of Transportation (VDOT) for its cooperation in providing access to the Haymarket Bridge and Warren County Engineer{\textquoteright}s office that allowed access to the Pohatcong Bridge. ANDERS NRI robotic system development was supported under the research project entitled “Automated Nondestructive Evaluation and Rehabilitation System (ANDERS) for Concrete Bridge Decks”. The project was funded by the National Institute of Standard Technology (NIST) under its Technology Innovation Program (TIP) under award 70NANB10H014. The support of the NIST-TIP for the ANDERS project is gratefully acknowledged. The work on the model and formation control framework development for multi-robot coordination and human-robot collaboration is supported by NSF-NRI: Collaborative Research award IIS-1426828 through project entitled: “Minimally Invasive Robotic Non-Destructive Evaluation and Rehabilitation for Bridge Decks (Bridge-MINDER)”. The support of the NSF-NRI for the Bridge-MINDER project is gratefully acknowledged. Finally, the authors are grateful to the previous or current research staff at Rutgers{\textquoteright} School of Engineering and Center for Advanced Infrastructure and Transportation (CAIT), especially Professors Kristin Dana, Perumalsamy Balaguru and Husam Najm, research engineer Hooman Parvardeh, and former research staff and graduate students, Dr. Hung La, Dr. Matthew Klein, Ronny Lim, Parneet Kaur and Prateek Prasanna. Funding Information: RABIT was developed under DTFH61-08-C-00005 contract from the US Department of Transportation?Federal Highway Administration (USDOT-FHWA). The authors sincerely acknowledge this FHWA?s support through the Long Term Bridge Performance Program, especially Drs. Hamid Ghasemi and Robert Zobel. The authors are also grateful to the Virginia Department of Transportation (VDOT) for its cooperation in providing access to the Haymarket Bridge and Warren County Engineer?s office that allowed access to the Pohatcong Bridge. ANDERS NRI robotic system development was supported under the research project entitled ?Automated Nondestructive Evaluation and Rehabilitation System (ANDERS) for Concrete Bridge Decks?. The project was funded by the National Institute of Standard Technology (NIST) under its Technology Innovation Program (TIP) under award 70NANB10H014. The support of the NIST-TIP for the ANDERS project is gratefully acknowledged. The work on the model and formation control framework development for multi-robot coordination and human-robot collaboration is supported by NSF-NRI: Collaborative Research award IIS-1426828 through project entitled: ?Minimally Invasive Robotic Non-Destructive Evaluation and Rehabilitation for Bridge Decks (Bridge-MINDER)?. The support of the NSF-NRI for the Bridge-MINDER project is gratefully acknowledged. Finally, the authors are grateful to the previous or current research staff at Rutgers? School of Engineering and Center for Advanced Infrastructure and Transportation (CAIT), especially Professors Kristin Dana, Perumalsamy Balaguru and Husam Najm, research engineer Hooman Parvardeh, and former research staff and graduate students, Dr. Hung La, Dr. Matthew Klein, Ronny Lim, Parneet Kaur and Prateek Prasanna. Funding Information: The ability to detect and characterize early deterioration or defect development should be complemented by the ability for their mitigation for the maximum benefit. The current practice of partial- and full-depth repairs of concrete bridge decks are being done at advanced stages of delamination. The repairs involve removal of damaged concrete, and rust and other deleterious materials from reinforcing steel, and placement of the repair material. This is a labor intensive and expensive process. In contrast to this approach, concentration of the current research is development and implementation of a minimally invasive rehabilitation (MIR) strategy for early problem intervention. The MIR{\textquoteright}s approach concentrates on mitigation of early stage delamination and cracking using robotics. To repair a delamination, a group of small diameter holes is drilled and a specially developed cement based material is injected. The injection is done under a combination of low pressure on one, and vacuum on the other side of the end-effector, to fill the delamination and connecting cracks within the deck. While the intervention will not always fully correct the problem, it will extend the life of a bridge deck. The MIR robot, named ANDERS, and the robotic end-effector for material delivery are shown in Fig. 14 . Fig. 14 Mobile manipulator-based autonomous rehabilitation platform ANDERS ( top ), and 5-DoF manipulator with drilling/filling robotic end-effector ( bottom ) Furthermore, there are efforts in developing an efficient cooperative control strategy for the heterogeneous robot team, including the robotic NDE and MIR systems, conebots (traffic cone robots) and aerial robots. Since both RABIT and ANDERS MIR robotic systems navigate using a common differential GPS, the activities are concentrating on their synchronized operation in terms of activity sequencing and collision avoidance. The use of conebots in robotic setting up of a work zone is also explored. The formation control aims a team of conebots to set up the work zone of a desired shape, but in a way that is compliant with the current manual work zone setting up protocols. Overall, the goal of this research effort supported by National Science Foundation{\textquoteright}s NRI Program is to establish human-robot collaboration that will reduce negative impacts on traffic flow and safety, while maintaining an effective and efficient operation of evaluation and rehabilitation robotic systems. Publisher Copyright: {\textcopyright} 2017, Springer Nature Singapore Pte Ltd.",
year = "2017",
month = sep,
day = "1",
doi = "10.1007/s41315-017-0027-5",
language = "English (US)",
volume = "1",
pages = "271--286",
journal = "International Journal of Intelligent Robotics and Applications",
issn = "2366-5971",
publisher = "Springer Singapore",
number = "3",
}