Infrastructure Robotics
Methodologies, Robotic Systems and Applications
Herausgeber: Liu, Dikai; Kovac, Mirko; Dissanayake, Gamini; Balaguer, Carlos
Infrastructure Robotics
Methodologies, Robotic Systems and Applications
Herausgeber: Liu, Dikai; Kovac, Mirko; Dissanayake, Gamini; Balaguer, Carlos
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Illuminating resource presenting commonly used robotic methodologies and technologies, with recent developments and clear application examples across different project types Infrastructure Robotics presents state-of-the-art research in infrastructure robotics and key methodologies that enable the development of intelligent robots for operation in civil infrastructure environments, describing sensing, perception, localization, map building, environmental and operation awareness, motion and task planning, design methodologies, robot assistance paradigms, and physical human-robot collaboration.…mehr
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- Produktdetails
- Verlag: Wiley
- Seitenzahl: 432
- Erscheinungstermin: 27. Dezember 2023
- Englisch
- Abmessung: 235mm x 157mm x 28mm
- Gewicht: 778g
- ISBN-13: 9781394162840
- ISBN-10: 1394162847
- Artikelnr.: 68443044
- Verlag: Wiley
- Seitenzahl: 432
- Erscheinungstermin: 27. Dezember 2023
- Englisch
- Abmessung: 235mm x 157mm x 28mm
- Gewicht: 778g
- ISBN-13: 9781394162840
- ISBN-10: 1394162847
- Artikelnr.: 68443044
Infrastructure Robotics: An Introduction 3 Dikai Liu and Gamini Dissanayake
1.1 Infrastructure Inspection and Maintenance 3 1.2 Infrastructure Robotics
6 1.2.1 Inspection and Maintenance of Steel Bridges 7 1.2.2 Climbing and
Wheeled Robots for Inspection of Truss Structures 8 1.2.3 Robots for
Underwater Infrastructure Maintenance 10 1.3 Considerations in
Infrastructure Robotics Research 11 1.4 Opportunities and Challenges 13 1.5
Concluding Remarks 15 Bibliography 15 2 Design of Infrastructure Robotic
Systems 19 Kenneth Waldron 2.1 Special Features of Infrastructure 19 2.2
The Design Process 20 2.3 Types of Robots and Their Design and Operation 21
2.4 Software System Design 23 2.5 An Example: Development of the CROC
Design Concept 23 2.6 Some Other Examples 27 2.7 Actuator Systems 30 2.8
Concluding Remarks 31 Bibliography 31 3 Perception in Complex and
Unstructured Infrastructure Environments 33 Shoudong Huang, Kai Pan, and
Gamini Dissanayake 3.1 Introduction 33 3.2 Sensor Description 35 3.2.1 2D
LiDAR 35 3.2.2 3D LiDAR 35 3.2.3 Sonar 36 3.2.4 Monocular Camera 36 3.2.5
Stereo Camera 36 3.2.6 GRB-D Camera 37 3.3 Problem Description 37 3.4
Theoretical Foundations 38 3.4.1 Extended Kalman Filter 39 3.4.2 Nonlinear
Least Squares 40 3.4.3 Environment Representations 42 3.4.4 Mapping
Techniques 44 3.4.5 Localization Techniques 47 3.4.6 SLAM Techniques 49 3.5
Implementation 53 3.5.1 Localization 54 3.5.2 Slam 54 3.6 Case Studies 55
3.6.1 Mapping in Confined Space 55 3.6.2 Localization in Confined Space 55
3.6.3 SLAM in Underwater Bridge Environment 56 3.7 Conclusion and
Discussion 56 Bibliography 57 4 Machine Learning and Computer Vision
Applications in Civil Infrastructure Inspection and Monitoring 59 Shuming
Liang, Andy Guo, Bin Liang, Zhidong Li, Yu Ding, Yang Wang, and Fang Chen
4.1 Introduction 59 4.2 GNN-Based Pipe Failure Prediction 60 4.2.1
Background 60 4.2.2 Problem Formulation 61 4.2.3 Data Preprocessing 61
4.2.4 GNN Learning 62 4.2.5 Failure Pattern Learning 64 4.2.6 Failure
Predictor 65 4.2.7 Experimental Study 65 4.3 Computer Vision-Based Signal
Aspect Transition Detection 67 4.3.1 Background 67 4.3.2 Signal Detection
Model 67 4.3.3 Track Detection Model 69 4.3.4 Optimization for Target
Locating 72 4.4 Conclusion and Discussion 75 Bibliography 77 5 Coverage
Planning and Motion Planning of Intelligent Robots for Civil Infrastructure
Maintenance 81 Mahdi Hassan and Dikai Liu 5.1 Introduction to Coverage and
Motion Planning 81 5.2 Coverage Planning Algorithms for a Single Robot 82
5.2.1 An Offline Coverage Planning Algorithm 82 5.2.2 A Real-Time Coverage
Planning Algorithm 86 5.3 Coverage Planning Algorithms for Multiple Robots
90 5.3.1 Base Placement Optimization 90 5.3.2 Area Partitioning and
Allocation 93 5.3.3 Adaptive Coverage Path Planning 97 5.4 Conclusion 101
Bibliography 102 6 Methodologies in Physical Human-Robot Collaboration for
Infrastructure Maintenance 105 Marc G. Carmichael, Antony Tran, Stefano
Aldini, and Dikai Liu 6.1 Introduction 105 6.2 Autonomy, Tele-Operation,
and pHRC 106 6.2.1 Autonomous Robots 106 6.2.2 Teleoperated Robots 108
6.2.3 Physical Human-Robot Collaboration 109 6.3 Control Methods 110 6.3.1
Motion Control 110 6.3.2 Force Control 111 6.4 Adaptive Assistance
Paradigms 113 6.4.1 Manually Adapted Assistance 114 6.4.2
Assistance-As-Needed Paradigms 115 6.4.3 Performance-Based Assistance 115
6.4.4 Physiology-Based Assistance 116 6.5 Safety Framework for pHRC 117 6.6
Performance-Based Role Change 119 6.7 Case Study 121 6.8 Discussion 122
Acknowledgements 123 Bibliography 123 Part II Robotic System Design and
Applications 127 7 Steel Bridge Climbing Robot Design and Development 129
Hung M. La 7.1 Introduction 129 7.2 Recent Climbing Robot Platforms
Developed by the ARA Lab 133 7.3 Overall Design 134 7.3.1 Mechanical Design
and Analysis 136 7.4 Overall Control Architecture 140 7.4.1 Control System
Framework 141 7.5 Experiment Results 148 7.5.1 Switching Control 149 7.5.2
Robot Navigation in Mobile and Worming Transformation 152 7.5.3 Robot
Deployment 153 7.6 Conclusion and Future Work 155 Bibliography 156 8
Underwater Robots for Cleaning and Inspection of Underwater Structures 161
Andrew Wing Keung To, Khoa Le, and Dikai Liu 8.1 Introduction to
Maintenance of Underwater Structures 161 8.2 Robot System Design 163 8.2.1
Hull Design and Maneuvering System 164 8.2.2 Robot Arms for Docking and
Water-Jet Cleaning 164 8.3 Sensing and Perception in Underwater
Environments 166 8.3.1 Underwater Simultaneous Localization and Mapping
(SLAM) Around Bridge Piles 167 8.3.2 Marine Growth Identification 168 8.4
Software Architecture 170 8.5 Robot Navigation, Motion Planning and System
Integration 170 8.5.1 Localization and Navigation in Open Water 170 8.5.2
System Integration 173 8.6 Testing in a Lab Setup and Trials in the Field
174 8.6.1 Operation Procedure 174 8.6.2 Autonomous Navigation in Narrow
Environments 176 8.6.3 Vision-Based Marine Growth Removing Process 178
8.6.4 Inspection and Marine Growth Identification 179 8.7 Reflection and
Lessons Learned 180 8.8 Conclusion and Future Work 181 Acknowledgments 182
Bibliography 182 9 Tunnel Structural Inspection and Assessment Using an
Autonomous Robotic System 185 Juan G. Victores, E. Menendez, and C.
Balaguer 9.1 Introduction 185 9.2 ROBO-SPECT Project 186 9.2.1 Robotic
System 187 9.2.2 Intelligent Global Controller 191 9.2.3 Ground Control
Station 192 9.2.4 Structural Assessment Tool 192 9.3 Inspection Procedure
192 9.4 Extended Kalman Filter for Mobile Vehicle Localization 195 9.5
Mobile Vehicle Navigation 197 9.6 Field Experimental Results 198 9.7
Conclusion 201 Bibliography 201 10 BADGER: Intelligent Robotic System for
Underground Construction 205 Santiago Martínez, Marcos Marín, Elisabeth
Menéndez, Panagiotis Vartholomeos, Dimitrios Giakoumis, Alessandro Simi,
and Carlos Balaguer 10.1 Introduction 205 10.2 Boring Systems and Methods
207 10.2.1 Directional Drilling Methods 207 10.2.2 Drilling Robotic Systems
209 10.3 Main Drawbacks 210 10.4 BADGER System and Components 212 10.4.1
Main Systems Description 212 10.4.2 BADGER Operation 215 10.5 Future Trends
218 Bibliography 218 11 Robots for Underground Pipe Condition Assessment
221 Jaime Valls Miro 11.1 Introduction to Ferro-Magnetic Pipeline
Maintenance 221 11.1.1 NDT Inspection Taxonomy 222 11.2 Inspection Robots
223 11.2.1 Robot Kinematics and Locomotion 224 11.3 PEC Sensing for
Ferromagnetic Wall Thickness Mapping 228 11.3.1 Hardware and Software
System Architecture 230 11.4 Gaussian Processes for Spatial Regression from
Sampled Inspection Data 232 11.4.1 Gaussian Processes 234 11.5 Field
Robotic CA Inspection Results 236 11.6 Concluding Remarks 240 Bibliography
240 12 Robotics and Sensing for Condition Assessment of Wastewater Pipes
243 Sarath Kodagoda, Vinoth Kumar Viswanathan, Karthick Thiyagarajan,
Antony Tran, Sathira Wickramanayake, Steve Barclay, and Dammika Vitanage
12.1 Introduction 243 12.2 Nondestructive Sensing System for Condition
Assessment of Sewer Walls 245 12.3 Robotic Tool for Field Deployment 252
12.4 Laboratory Evaluation 254 12.5 Field Deployment and Evaluation 255
12.6 Lessons Learned and Future Directions 258 12.7 Concluding Remarks 259
Bibliography 260 13 A Climbing Robot for Maintenance Operations in Confined
Spaces 263 Gibson Hu, Dinh Dang Khoa Le, and Dikai Liu 13.1 Introduction
263 13.2 Robot Design 265 13.3 Methodologies 271 13.3.1 Perception 271
13.3.2 Control 274 13.3.3 Planning of Robot Body Motion 279 13.4
Experiments and Results 279 13.4.1 Experiment Setup 279 13.4.2 Lab Test
Results 280 13.4.3 Field Trials in a Steel Bridge 282 13.5 Discussion 283
13.6 Conclusion 283 Bibliography 284 14 Multi-UAV Systems for Inspection of
Industrial and Public Infrastructures 285 Alvaro Caballero, Julio L.
Paneque, Jose R. Martinez-de-Dios, Ivan Maza, and Anibal Ollero 14.1
Introduction 285 14.2 Multi-UAV Inspection of Electrical Power Systems 287
14.2.1 Use Cases 287 14.2.2 Architecture 288 14.3 Inspection Planning 289
14.3.1 Vehicle Routing Problem 289 14.4 Onboard Online Semantic Mapping 296
14.4.1 GNSS-Endowed Mapping System 296 14.4.2 Reflectivity and
Geometry-Based Semantic Classification 297 14.4.3 Validation 298 14.5
Conclusion 300 Bibliography 302 15 Robotic Platforms for Inspection of Oil
Refineries 305 Mauricio Calva 15.1 Refining Oil for Fuels and Petrochemical
Basics 305 15.2 The Inspection Process 307 15.3 Inspection and Mechanical
Integrity of Oil Refinery Components 310 15.3.1 Liquid Storage Tank
Inspection 310 15.3.2 Pressurized Vessels Inspection 312 15.3.3 Process
Pipping 314 15.3.4 Heat Exchanger Bundles 315 15.4 Plant Operations,
Surveillance, Maintenance Activities, and Others 316 15.4.1 Surveillance,
Operations, and Maintenance of Oil and Gas Refineries 316 15.4.2 Safety and
Security 318 15.4.3 Utilities and Support Activities 318 15.5 Robotic
Systems for Inspection 319 15.5.1 Robotics for Storage Tanks 320 15.5.2
Robotics for Pressure Vessels 324 15.5.3 Robotics for Process Piping 328
15.5.4 Robotics Heat Exchanger Bundles 331 15.6 Robotics for Plant
Operations, Surveillance, Maintenance, and Other Related Activities 332
15.6.1 Operations, Surveillance, and Maintenance of Oil and Gas Refineries
with Robotic Systems 332 15.6.2 Safety and Security Robotics 334 15.6.3
Robotics for Utilities and Support Activities 335 15.7 Conclusion 335 16
Drone-Based Solar Cell Inspection With Autonomous Deep Learning 337 Zhounan
Wang, Peter Zheng, Basaran Bahadir Kocer, and Mirko Kovac 16.1 Introduction
337 16.1.1 Motivation 337 16.1.2 Related Works 339 16.1.3 Scope 341 16.2
Aerial Robot and Detection Framework 341 16.2.1 Simulation Environment 343
16.2.2 Solar Panel Detection 343 16.2.3 Aerial Robot Trajectory 345 16.2.4
Sensory Instrumentation for Aerial Robot 346 16.3 Learning Framework 348
16.3.1 Dataset Preparation 349 16.3.2 CNN Architecture 351 16.3.3
Performance Evaluation Measures 352 16.4 Conclusion 357 Acknowledgments 358
Bibliography 358 17 Aerial Repair and Aerial Additive Manufacturing 367
Yusuf Furkan Kaya, Lachlan Orr, Basaran Bahadir Kocer, and Mirko Kovac 17.1
Review of State of the Art in Additive Manufacturing at Architectural
Scales 367 17.2 Review of Demonstrations of Aerial Manufacturing and Repair
371 17.2.1 Demands and Challenges 374 17.2.2 Future Prospects 376 17.3
Initial Experimental Evaluations 378 17.4 Conclusion and Discussion 379
Bibliography 379 Index 385
Infrastructure Robotics: An Introduction 3 Dikai Liu and Gamini Dissanayake
1.1 Infrastructure Inspection and Maintenance 3 1.2 Infrastructure Robotics
6 1.2.1 Inspection and Maintenance of Steel Bridges 7 1.2.2 Climbing and
Wheeled Robots for Inspection of Truss Structures 8 1.2.3 Robots for
Underwater Infrastructure Maintenance 10 1.3 Considerations in
Infrastructure Robotics Research 11 1.4 Opportunities and Challenges 13 1.5
Concluding Remarks 15 Bibliography 15 2 Design of Infrastructure Robotic
Systems 19 Kenneth Waldron 2.1 Special Features of Infrastructure 19 2.2
The Design Process 20 2.3 Types of Robots and Their Design and Operation 21
2.4 Software System Design 23 2.5 An Example: Development of the CROC
Design Concept 23 2.6 Some Other Examples 27 2.7 Actuator Systems 30 2.8
Concluding Remarks 31 Bibliography 31 3 Perception in Complex and
Unstructured Infrastructure Environments 33 Shoudong Huang, Kai Pan, and
Gamini Dissanayake 3.1 Introduction 33 3.2 Sensor Description 35 3.2.1 2D
LiDAR 35 3.2.2 3D LiDAR 35 3.2.3 Sonar 36 3.2.4 Monocular Camera 36 3.2.5
Stereo Camera 36 3.2.6 GRB-D Camera 37 3.3 Problem Description 37 3.4
Theoretical Foundations 38 3.4.1 Extended Kalman Filter 39 3.4.2 Nonlinear
Least Squares 40 3.4.3 Environment Representations 42 3.4.4 Mapping
Techniques 44 3.4.5 Localization Techniques 47 3.4.6 SLAM Techniques 49 3.5
Implementation 53 3.5.1 Localization 54 3.5.2 Slam 54 3.6 Case Studies 55
3.6.1 Mapping in Confined Space 55 3.6.2 Localization in Confined Space 55
3.6.3 SLAM in Underwater Bridge Environment 56 3.7 Conclusion and
Discussion 56 Bibliography 57 4 Machine Learning and Computer Vision
Applications in Civil Infrastructure Inspection and Monitoring 59 Shuming
Liang, Andy Guo, Bin Liang, Zhidong Li, Yu Ding, Yang Wang, and Fang Chen
4.1 Introduction 59 4.2 GNN-Based Pipe Failure Prediction 60 4.2.1
Background 60 4.2.2 Problem Formulation 61 4.2.3 Data Preprocessing 61
4.2.4 GNN Learning 62 4.2.5 Failure Pattern Learning 64 4.2.6 Failure
Predictor 65 4.2.7 Experimental Study 65 4.3 Computer Vision-Based Signal
Aspect Transition Detection 67 4.3.1 Background 67 4.3.2 Signal Detection
Model 67 4.3.3 Track Detection Model 69 4.3.4 Optimization for Target
Locating 72 4.4 Conclusion and Discussion 75 Bibliography 77 5 Coverage
Planning and Motion Planning of Intelligent Robots for Civil Infrastructure
Maintenance 81 Mahdi Hassan and Dikai Liu 5.1 Introduction to Coverage and
Motion Planning 81 5.2 Coverage Planning Algorithms for a Single Robot 82
5.2.1 An Offline Coverage Planning Algorithm 82 5.2.2 A Real-Time Coverage
Planning Algorithm 86 5.3 Coverage Planning Algorithms for Multiple Robots
90 5.3.1 Base Placement Optimization 90 5.3.2 Area Partitioning and
Allocation 93 5.3.3 Adaptive Coverage Path Planning 97 5.4 Conclusion 101
Bibliography 102 6 Methodologies in Physical Human-Robot Collaboration for
Infrastructure Maintenance 105 Marc G. Carmichael, Antony Tran, Stefano
Aldini, and Dikai Liu 6.1 Introduction 105 6.2 Autonomy, Tele-Operation,
and pHRC 106 6.2.1 Autonomous Robots 106 6.2.2 Teleoperated Robots 108
6.2.3 Physical Human-Robot Collaboration 109 6.3 Control Methods 110 6.3.1
Motion Control 110 6.3.2 Force Control 111 6.4 Adaptive Assistance
Paradigms 113 6.4.1 Manually Adapted Assistance 114 6.4.2
Assistance-As-Needed Paradigms 115 6.4.3 Performance-Based Assistance 115
6.4.4 Physiology-Based Assistance 116 6.5 Safety Framework for pHRC 117 6.6
Performance-Based Role Change 119 6.7 Case Study 121 6.8 Discussion 122
Acknowledgements 123 Bibliography 123 Part II Robotic System Design and
Applications 127 7 Steel Bridge Climbing Robot Design and Development 129
Hung M. La 7.1 Introduction 129 7.2 Recent Climbing Robot Platforms
Developed by the ARA Lab 133 7.3 Overall Design 134 7.3.1 Mechanical Design
and Analysis 136 7.4 Overall Control Architecture 140 7.4.1 Control System
Framework 141 7.5 Experiment Results 148 7.5.1 Switching Control 149 7.5.2
Robot Navigation in Mobile and Worming Transformation 152 7.5.3 Robot
Deployment 153 7.6 Conclusion and Future Work 155 Bibliography 156 8
Underwater Robots for Cleaning and Inspection of Underwater Structures 161
Andrew Wing Keung To, Khoa Le, and Dikai Liu 8.1 Introduction to
Maintenance of Underwater Structures 161 8.2 Robot System Design 163 8.2.1
Hull Design and Maneuvering System 164 8.2.2 Robot Arms for Docking and
Water-Jet Cleaning 164 8.3 Sensing and Perception in Underwater
Environments 166 8.3.1 Underwater Simultaneous Localization and Mapping
(SLAM) Around Bridge Piles 167 8.3.2 Marine Growth Identification 168 8.4
Software Architecture 170 8.5 Robot Navigation, Motion Planning and System
Integration 170 8.5.1 Localization and Navigation in Open Water 170 8.5.2
System Integration 173 8.6 Testing in a Lab Setup and Trials in the Field
174 8.6.1 Operation Procedure 174 8.6.2 Autonomous Navigation in Narrow
Environments 176 8.6.3 Vision-Based Marine Growth Removing Process 178
8.6.4 Inspection and Marine Growth Identification 179 8.7 Reflection and
Lessons Learned 180 8.8 Conclusion and Future Work 181 Acknowledgments 182
Bibliography 182 9 Tunnel Structural Inspection and Assessment Using an
Autonomous Robotic System 185 Juan G. Victores, E. Menendez, and C.
Balaguer 9.1 Introduction 185 9.2 ROBO-SPECT Project 186 9.2.1 Robotic
System 187 9.2.2 Intelligent Global Controller 191 9.2.3 Ground Control
Station 192 9.2.4 Structural Assessment Tool 192 9.3 Inspection Procedure
192 9.4 Extended Kalman Filter for Mobile Vehicle Localization 195 9.5
Mobile Vehicle Navigation 197 9.6 Field Experimental Results 198 9.7
Conclusion 201 Bibliography 201 10 BADGER: Intelligent Robotic System for
Underground Construction 205 Santiago Martínez, Marcos Marín, Elisabeth
Menéndez, Panagiotis Vartholomeos, Dimitrios Giakoumis, Alessandro Simi,
and Carlos Balaguer 10.1 Introduction 205 10.2 Boring Systems and Methods
207 10.2.1 Directional Drilling Methods 207 10.2.2 Drilling Robotic Systems
209 10.3 Main Drawbacks 210 10.4 BADGER System and Components 212 10.4.1
Main Systems Description 212 10.4.2 BADGER Operation 215 10.5 Future Trends
218 Bibliography 218 11 Robots for Underground Pipe Condition Assessment
221 Jaime Valls Miro 11.1 Introduction to Ferro-Magnetic Pipeline
Maintenance 221 11.1.1 NDT Inspection Taxonomy 222 11.2 Inspection Robots
223 11.2.1 Robot Kinematics and Locomotion 224 11.3 PEC Sensing for
Ferromagnetic Wall Thickness Mapping 228 11.3.1 Hardware and Software
System Architecture 230 11.4 Gaussian Processes for Spatial Regression from
Sampled Inspection Data 232 11.4.1 Gaussian Processes 234 11.5 Field
Robotic CA Inspection Results 236 11.6 Concluding Remarks 240 Bibliography
240 12 Robotics and Sensing for Condition Assessment of Wastewater Pipes
243 Sarath Kodagoda, Vinoth Kumar Viswanathan, Karthick Thiyagarajan,
Antony Tran, Sathira Wickramanayake, Steve Barclay, and Dammika Vitanage
12.1 Introduction 243 12.2 Nondestructive Sensing System for Condition
Assessment of Sewer Walls 245 12.3 Robotic Tool for Field Deployment 252
12.4 Laboratory Evaluation 254 12.5 Field Deployment and Evaluation 255
12.6 Lessons Learned and Future Directions 258 12.7 Concluding Remarks 259
Bibliography 260 13 A Climbing Robot for Maintenance Operations in Confined
Spaces 263 Gibson Hu, Dinh Dang Khoa Le, and Dikai Liu 13.1 Introduction
263 13.2 Robot Design 265 13.3 Methodologies 271 13.3.1 Perception 271
13.3.2 Control 274 13.3.3 Planning of Robot Body Motion 279 13.4
Experiments and Results 279 13.4.1 Experiment Setup 279 13.4.2 Lab Test
Results 280 13.4.3 Field Trials in a Steel Bridge 282 13.5 Discussion 283
13.6 Conclusion 283 Bibliography 284 14 Multi-UAV Systems for Inspection of
Industrial and Public Infrastructures 285 Alvaro Caballero, Julio L.
Paneque, Jose R. Martinez-de-Dios, Ivan Maza, and Anibal Ollero 14.1
Introduction 285 14.2 Multi-UAV Inspection of Electrical Power Systems 287
14.2.1 Use Cases 287 14.2.2 Architecture 288 14.3 Inspection Planning 289
14.3.1 Vehicle Routing Problem 289 14.4 Onboard Online Semantic Mapping 296
14.4.1 GNSS-Endowed Mapping System 296 14.4.2 Reflectivity and
Geometry-Based Semantic Classification 297 14.4.3 Validation 298 14.5
Conclusion 300 Bibliography 302 15 Robotic Platforms for Inspection of Oil
Refineries 305 Mauricio Calva 15.1 Refining Oil for Fuels and Petrochemical
Basics 305 15.2 The Inspection Process 307 15.3 Inspection and Mechanical
Integrity of Oil Refinery Components 310 15.3.1 Liquid Storage Tank
Inspection 310 15.3.2 Pressurized Vessels Inspection 312 15.3.3 Process
Pipping 314 15.3.4 Heat Exchanger Bundles 315 15.4 Plant Operations,
Surveillance, Maintenance Activities, and Others 316 15.4.1 Surveillance,
Operations, and Maintenance of Oil and Gas Refineries 316 15.4.2 Safety and
Security 318 15.4.3 Utilities and Support Activities 318 15.5 Robotic
Systems for Inspection 319 15.5.1 Robotics for Storage Tanks 320 15.5.2
Robotics for Pressure Vessels 324 15.5.3 Robotics for Process Piping 328
15.5.4 Robotics Heat Exchanger Bundles 331 15.6 Robotics for Plant
Operations, Surveillance, Maintenance, and Other Related Activities 332
15.6.1 Operations, Surveillance, and Maintenance of Oil and Gas Refineries
with Robotic Systems 332 15.6.2 Safety and Security Robotics 334 15.6.3
Robotics for Utilities and Support Activities 335 15.7 Conclusion 335 16
Drone-Based Solar Cell Inspection With Autonomous Deep Learning 337 Zhounan
Wang, Peter Zheng, Basaran Bahadir Kocer, and Mirko Kovac 16.1 Introduction
337 16.1.1 Motivation 337 16.1.2 Related Works 339 16.1.3 Scope 341 16.2
Aerial Robot and Detection Framework 341 16.2.1 Simulation Environment 343
16.2.2 Solar Panel Detection 343 16.2.3 Aerial Robot Trajectory 345 16.2.4
Sensory Instrumentation for Aerial Robot 346 16.3 Learning Framework 348
16.3.1 Dataset Preparation 349 16.3.2 CNN Architecture 351 16.3.3
Performance Evaluation Measures 352 16.4 Conclusion 357 Acknowledgments 358
Bibliography 358 17 Aerial Repair and Aerial Additive Manufacturing 367
Yusuf Furkan Kaya, Lachlan Orr, Basaran Bahadir Kocer, and Mirko Kovac 17.1
Review of State of the Art in Additive Manufacturing at Architectural
Scales 367 17.2 Review of Demonstrations of Aerial Manufacturing and Repair
371 17.2.1 Demands and Challenges 374 17.2.2 Future Prospects 376 17.3
Initial Experimental Evaluations 378 17.4 Conclusion and Discussion 379
Bibliography 379 Index 385