RI: Small:Robotic Inspection, Diagnosis, and Repair

RI：小型：机器人检查、诊断和维修

• 批准号: 0915542
• 负责人: Gregory Chirikjian
• 金额: $ 36.99万
• 依托单位: Johns Hopkins University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2009
• 资助国家: 美国
• 起止时间: 2009-07-15 至 2013-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0915542&HistoricalAwards=false
• 关键词: RI; Small; Robotic; Inspection; Diagnosis

This project develops a framework for deploying multi-robot teams on man-made structures for continual inspection, structural health monitoring, and minor repair tasks. Within this framework, sensory information obtained by a coordinated group of mobile robots is pooled, resulting in a diagnosis of the state of the structure on which the robots roam. In addition, methodologies for endowing the robots with the ability to self-diagnose are being explored. These topics involve the integration of advanced probabilistic, geometric, and mechanics-based computations. The results of this research are expected to enhance the robustness, lifetime, and range of applicability of robotic systems. Research results will be leveraged by collaborating with external research labs.The robots and structures in the testbed being developed in this project, which are scaled down models of real-world systems, are ideal for student projects.Participation by undergraduates and local high-school students on research projects in the PI's lab will serve as a model for increasing interest in engineering research among these groups.

该项目开发了一个框架，用于在人造结构上部署多机器人团队，进行持续检查，结构健康监测和小修任务。在此框架内，感官信息所获得的协调组的移动的机器人被汇集，导致在诊断的结构上的机器人漫游的状态。此外，正在探索赋予机器人自我诊断能力的方法。这些主题涉及先进的概率，几何和力学为基础的计算集成。这项研究的结果有望提高机器人系统的鲁棒性，寿命和适用范围。研究成果将通过与外部研究实验室的合作来发挥作用。该项目正在开发的机器人和实验台中的结构是真实世界系统的缩小模型，非常适合学生项目。大学生和当地高中生参与PI实验室的研究项目将成为提高这些群体对工程研究兴趣的典范。