RI: Small:Robotic Inspection, Diagnosis, and Repair

该项目开发了一个框架，用于在人造结构上部署多个机器人团队，以进行持续检查、结构健康监测和次要修复任务。在这个框架内，由一组协调的移动机器人获得的感觉信息被汇集在一起，导致对机器人漫游的结构的状态进行诊断。此外，正在探索赋予机器人自我诊断能力的方法。这些主题涉及高级概率、几何和基于力学的计算的集成。这项研究的结果有望提高机器人系统的健壮性、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利用。这个项目中开发的试验台上的机器人和结构是真实世界系统的缩小模型，非常适合学生项目。本科生和当地高中生参与PI实验室的研究项目将成为这些群体提高工程研究兴趣的典范。

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.