® The contents of this report reflect the views of the authors, who are responsible for the facts and the accuracy of the information presented herein. This document is disseminated under the sponsorship of the Department of Transportation University Transportation Centers Program, in the interest of information exchange. The U.S. Government assumes no liability for the contents or use thereof. Develop a UAV Platform for Automated Bridge Inspection Report # MATC-MS&T: 295 Final Report Zhaozheng Yin, Ph.D. Assistant Professor Department of Computer Science Missouri University of Science and Technology Yunxiang Mao Ph.D. Candidate Missouri University Science and Technology Chris Seto Undergraduate Student Missouri University Science and Technology 2015 A Cooperative Research Project sponsored by U.S. Department of Transportation-Research and Innovative Technology Administration WBS:25-1121-0003-295
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The contents of this report reflect the views of the authors, who are responsible for the facts and the accuracy of the information presented herein. This document is disseminated under the sponsorship of the Department of Transportation
University Transportation Centers Program, in the interest of information exchange. The U.S. Government assumes no liability for the contents or use thereof.
Develop a UAV Platform for Automated Bridge Inspection
Report # MATC-MS&T: 295 Final Report
Zhaozheng Yin, Ph.D.Assistant ProfessorDepartment of Computer ScienceMissouri University of Science and Technology
Yunxiang MaoPh.D. Candidate
Missouri University Science and Technology
Chris SetoUndergraduate Student
Missouri University Science and Technology
2015
A Cooperative Research Project sponsored by U.S. Department of Transportation-Research and Innovative Technology Administration
WBS:25-1121-0003-295
Develop a UAV Platform for Automated Bridge Inspection
Zhaozheng Yin, Ph.D.
Assistant Professor
Department of Computer Science
Missouri University of Science and Technology
Yunxiang Mao
Ph.D. student
Department of Computer Science
Missouri University of Science and Technology
Chris Seto
Undergraduate student
Department of Computer Science
Missouri University of Science and Technology
A Report on Research Sponsored by
Mid-America Transportation Center
University of Nebraska-Lincoln
March 2015
ii
Technical Report Documentation Page
1. Report No.
25-1121-0003-295
2. Government Accession No.
3. Recipient's Catalog No.
4. Title and Subtitle
Develop a UAV Platform for Automated Bridge Inspection
5. Report Date
March 2015
6. Performing Organization Code
7. Author(s)
Zhaozheng Yin, Yunxiang Mao, and Chris Seto
8. Performing Organization Report No.
25-1121-0003-295
9. Performing Organization Name and Address
Mid-America Transportation Center
2200 Vine St.
PO Box 830851
Lincoln, NE 68583-0851
10. Work Unit No. (TRAIS)
11. Contract or Grant No.
12. Sponsoring Agency Name and Address
Research and Innovative Technology Administration
1200 New Jersey Ave., SE
Washington, D.C. 20590
13. Type of Report and Period Covered
August 2013 – December 2014
14. Sponsoring Agency Code
MATC TRB RiP Project 34785
15. Supplementary Notes
16. Abstract
Inspecting the health of bridges is important to maintain the operation of a road network while protecting public users’
safety. However, routinely inspecting numerous bridges in a state over a long time period by human is a labor-intense and
costly task, or a dangerous task in some environments such as inspecting the underneath of a bridge spanning across a
rushing river. This project seeks to develop an automated bridge inspection technology that can make the inspection
process safer, more efficient and convenient. The focus of this research is to study the technical foundation of an
Unmanned Aerial Vehicle (UAV) system capable of remotely inspecting bridges with sensors without interfering with road
operation. The applicability of this technique will be validated by a prototype UAV system with field testing.
17. Key Words
Bridge health monitoring and inspection, quadcopter
18. Distribution Statement
19. Security Classif. (of this report)
Unclassified
20. Security Classif. (of this page)
Unclassified
21. No. of Pages
18
22. Price
iii
Table of Contents
Disclaimer ...................................................................................................................................... vi Abstract ......................................................................................................................................... vii Chapter 1 Introduction .................................................................................................................... 1 Chapter 2 Project Overview ............................................................................................................ 2 Chapter 3 Prototype UAV Systems ................................................................................................ 3 Chapter 4 Multicopter Control ........................................................................................................ 5
4.1 Multicopter Control with External Sensors ...................................................................6 4.2 GPS Assisted Multicopter ..............................................................................................8 4.3 GPS Augmented Multicopter Experiments ...................................................................9
Chapter 5 Analyze Image Data Collected from the Quadcopter. ................................................. 11 Chapter 6 Conclusion .................................................................................................................... 17 References ..................................................................................................................................... 18
iv
List of Figures
Figure 2.1 Bridge inspection by a UAV with onboard sensors .......................................................2