CALTRANS Bridge Inspection Aerial Robot Final Report

The California Department of Transportation (Caltrans) project resulted in the development of a twin-motor, single duct, electric-powered Aerobot capable of carrying video cameras up to 200 feet in elevation to enable close inspection of bridges and other elevated highway structures. The Aerobot designed to perform that mission, the model ES20-10, is a forty-pound vehicle employing two electric motors with power, control commands, and sensor images transmitted through a thin-wire and fiber-optic 200-foot cable. Aerobot is a ducted-fan vehicle utilizing a unique computer-aided stabilization and control system. The vehicle is capable of vertical takeoff, translation to horizontal movement as commanded by the pilot, hover at a point in space as commanded, rotation about its vertical axis (yaw control), and controlled descent to a vertical landing. This control permits extensive mobility for positioning the inspection camera to view elevated structures close-up from any angle. Onboard computer controls stabilize the Aerobot at all times. Due to a number of implementation issues, including motor controller adaptation and a video camera not being purchased, the device did not perform as expected within the initial or extended schedule of events and was not deployed; the contractor recommended terminating the program.

• Record URL:
  https://dot.ca.gov/-/media/dot-media/programs/research-innovation-system-information/documents/f0016965-08-0182.pdf
• Record URL:
  https://merritt.cdlib.org/api/presign-file/ark%253A%252F13030%252Fm5sv2bfv/2/producer%252FCA08-0182.pdf
• 
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/oclc/607711760
• Corporate Authors:

  Aerobotics

  1222 Research Park Drive
  Davis, CA  United States  95618

  California Department of Transportation

  1120 N Street
  Sacramento, CA  United States  95814

  Federal Highway Administration

  1200 New Jersey Avenue, SE
  Washington, DC  United States  20590
• Authors:
  • Moller, Paul S
• Publication Date: 2008-10

Language

• English

Media Info

• Media Type: Print
• Features: Appendices; Photos;
• Pagination: 26p

Subject/Index Terms

• TRT Terms: Bridges; Inspection equipment; Mobile robots; Video cameras
• Subject Areas: Bridges and other structures; Highways;

Filing Info

• Accession Number: 01158866
• Record Type: Publication
• Source Agency: UC Berkeley Transportation Library
• Report/Paper Numbers: CA 08-0182
• Contract Numbers: UCD02-02371
• Files: BTRIS, TRIS, USDOT, STATEDOT
• Created Date: Jun 14 2010 8:54AM