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    that impact tunnel stability with mm accuracies This permits in one pass both the inspection and structural assessment of tunnels Intelligent control and robotics tools are interwoven to set an automatic robotic arm manipulation and an autonomous vehicle navigation so as to minimize humans interaction This way the structural condition and safety of a tunnel is assessed automatically reliably and speedily The project is supported by the European Commission under

    Original URL path: http://www.robo-spect.eu/ (2015-12-29)
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  • Project
    knowledge of the models so as to reduce the required time To adopt specific methodologies for collecting data Tunnels inspection is not a process in which many and free visual data are available On the contrary such type of information is in fact missing from the computer vision society In this project new strategies for data collections will be developed from the early stages of the project and these strategies will be refined later on Data collection is an important element in ROBO SPECT since the quality of this dataset will affect the performance of the developed system To extend already existing 3D reconstruction tools so that they can be able to precisely detect tunnels cracks and use these models at later stages so as to derive more robust knowledge on tunnels stresses Computer vision tools and sensory data will be exploited towards this case To promote a new evaluation framework through which it is possible to extract local knowledge from one type of tunnels that can be straight forwardly extended to other types compensating local and generic information incorporate social knowledge from several civil engineers process data from diverse sources compensate erroneous decisions by averaging the knowledge improve the control mechanisms of the robots in terms of velocity of the inspection and the orientation based on the results of computer vision techniques To develop a sensor system suitable for being installed on the robotic inspection system described at 1 that will measure a the depth of cracks or the depth of the opening of joints of interest with an accuracy of 1 mm and b the width of these cracks and openings with an accuracy of 0 1 mm The solution proposed for these measurements will be based on existing sensor technologies that will be exploited to assemble a sensor unit able to perform the required crack analysis In particular ultrasonic transducers will be employed for the generation and detection of ultrasonic waves whose scattering across the crack will be exploited to evaluate crack depth and width In order to do that the ultrasonic far and near field transmitted across the crack will be analyzed using commercial piezoelectric sensors for ultrasound generation and for far field detection at a distance of few centimetres from the crack whereas optical acoustic fibre optic ultrasound sensors will be used to perform measurements on point areas of the ultrasonic near field scattering at a distance of few millimetres from the crack The sensors will be integrated in the robotic platform on the moving arm in order to be placed on cracks selected for measurement during tunnel inspection The measurement procedure of the crack will be defined in order to be completed within 15 seconds on a single crack section and with a confidence defined as the average number of measurements successfully performed on the total amount of 90 The fiber optic sensors based on ultrasound sensitive polymeric Fabry Perot cavities on micromachined silicon frames will be fabricated using a Micro Opto Mechanical technology developed by CNR in previous research projects Belsito et al 2011 Such sensors operated with a telecommunication laser and a wavelength of 1520 nm will allow for broadband detection of ultrasounds on extremely small areas around 0 01 mm2 in close proximity to the crack for ultrasonic near field detection For the processing of the detected ultrasonic signal both Time Of Flight TOF and Frequency Domain FD techniques will be tested in order to reach the required goals in crack width depth measurements and the needed confidence level To develop a quantitative structural assessment tool that based on input from the inspection with the system in 1 construction information and information on the operative environment will automatically assess the structural condition and stability of the tunnel at the time of the inspection and at future times so that tunnel managers can decide on an immediate intervention or on the time for the next inspection There can be a degradation of the lining as a function of time Common material defects responsible for the latter degradation in concrete linings produce signs visible at the tunnel intrados e g calcium leaching produces white deposits on the concrete surface and reinforcing steel corrosion produces brown reddish staining of the surface Once the computer vision system detects such material defects quantitative predictive degradation models from the literature modified to reflect the tunnel conditions will be used to evaluate the change in the mechanical properties of the lining because of these defects as a function of time in terms of initial conditions e g commissioning year and identified influential operational parameters e g volume of traffic Successive inspection results with the computer vision system will be used to assess the rate of attack which will be used to update the above models The quantitative models described above together with input from inspection on structural damage e g cracks will provide input for the assessment of the stiffness and resistance in lining sections of the tunnel cross section under study It will be used in quantitative mechanical models that will be developed to assess the structural condition and safety of the tunnel lining at the time of the inspection based on measurements of the deformed shape of the tunnel cross section provided by the inspection in 1 Four cases will be covered cast in place and segmental concrete linings where vertical loads are higher than horizontal loads deep tunnels and cast in place and segmental concrete linings where horizontal loads are higher than vertical loads Lining deterioration as a function of time will cause the risk of structural failure to accelerate To test validate and benchmark the system in 1 at the research infrastructure of tunnels of VSH early in the project and in real rail and road tunnel environments at the London Post Office rail tunnels and Egnatia Motorways respectively later in the project in terms of its potential take up and operational deployment The selected sections of the tunnels for the field inspections and

    Original URL path: http://www.robo-spect.eu/index.php/project (2015-12-29)
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  • Related EU Projects
    that processes this information to assess the structural reliability of the monitored lining under operating and seismic loading The RECONASS project will provide a monitoring system for constructed facilities that will provide a near real time reliable and continuously updated assessment of the structural condition of the monitored facilities after a disaster with enough detail to be useful for early and full recovery planning The above assessment will be seamlessly

    Original URL path: http://www.robo-spect.eu/index.php/project/related-eu-projects (2015-12-29)
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  • Project facts
    Events Media centre Newsletters Flyers Posters Videos News Glossary Related EU Projects Project facts Project facts Project Number 611145 Project Acronym ROBISPECT Project title ROBotic System with intelligent Vision and Control for Tunnel inspection Duration in months 36 Call part identifier FP7 ICT 2013 10 Countries 6 Partners 11 Requested EU contribution 3 300 000 00 Prev Next This project is funded by the European Union IMPORTANT LEGAL NOTICE The

    Original URL path: http://www.robo-spect.eu/index.php/project/2013-05-31-13-56-25 (2015-12-29)
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  • Consortium
    France University Carlos III Madrid Dpto De Ingeniera de Sistemas y Automatica Robotics Laboratory UC3M Spain VSH Hagerbach Test Gallery Ltd VSH Switzerland Egnatia Motorway S A EOAE Greece Institute of Microelectronics and Microsystems National Research Council of Italy CNR Italy RISA Sicherheitsanalysen GmbH RISA Germany Techniche e Consulenze Nell Ingegneria Civile S p A Consulting Engineers S p A TECNIC Italy D Bairaktaris Associates Structural Design Office Ltd DBA

    Original URL path: http://www.robo-spect.eu/index.php/consortium (2015-12-29)
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  • Scientific Methodology & Work Packages
    of requirements and the design of the system architecture WP2 Robotic Navigation and Intelligent Positioning Controllers will be lead by UC3M A set of controllers will be developed for the robotic parts of the system vehicle crane arm global Each controller will move a robotic part according to a reference it is given from a high level global controller but will provide basic security by restricting or suppressing the velocity of the movement if local sensor information indicates risk of collision Part of the developments of WP3 will be used as the robotic perception system as they will provide a stream of 3D models of the surrounding environment and the uncertainties of these models to the global controller The main theory behind the global controller will be intelligent control to enable it to accept the stream of models and uncertainties as perception input to update its belief state The behaviours described in the first of the objectives in section 1 1 will be hard coded into the global controller and a prototype Human Machine Interface will be developed for their individual or collective activation The vehicle and crane will be developed by ROB and the robot arm will be selected from the market WP3 Computer Vision for Real Time Defect Detection will be led by ENPC along with ICCS A set of local descriptors will be initially evaluated which will be enhanced using semi supervision tools Object detection algorithms will be applied Due to lack of data availability covering all the different and diverse types of tunnels the focus lies on the use of semi supervised learning methodologies for improving the recognition accuracy In this case approximate solutions are obtained using only the labeled data while accurate precision is drawn on the exploitation of a huge number of unlabelled data For the recognition process active continuous learning is performed so that cracks detection is on line real time accomplished as the system surveys the tunnels The detection will be tailored to cylindrical coordination constraints to take care of the curved shape of the tunnel Having recognized the objects the next step of the vision tool will be to identify accurate 3D measurements This will be achieved via monocular cameras yielding a cost tolerant methodology for the inspection Smooth constraints on the shape of the detected objects will be imposed to handle the ill posed problem of 3D measurements from 2D cameras Finally relevance feedback schemes will be adopted to enhance recognition accuracy exploiting user s evaluation regarding the actual assessment Relevance feedback is an online learning strategy which adapts the response of the system by exploiting user interaction Furthermore relevance feedback schemes do not force the user to acquire expert technological knowledge about the structures relations and decisions that the system applies in order to identify events of interest and alert Instead the schemes just receive an evaluation of the system performance i e what is false positive or false negative and then the schemes applies intelligent learning algorithms to

    Original URL path: http://www.robo-spect.eu/index.php/scientific-methodology-and-work-packages (2015-12-29)
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  • Deliverables and Publications
    A Doulamis K Loupos Deep Convolutional Neural Networks for Efficient Vision Based Tunnel Inspection K Loupos A Roncaglia A Amditis S Camarinopoulos C Stentoumis P Chrobocinski J Victores N Komodakis R Lopez Robotic System with Intelligent Vision for Tunnel Structural Assessment System Architecture The ROBO SPECT EC project Robotic System with Intelligent Vision for Tunnel Structural Assessment System Architecture The ROBO SPECT pdf Presentations Title Event K Loupos A Amditis C Stedoumis Integrated Robotic System for Tunnel Structural Assessment The ROBO SPECT EC Project World Tunnel Congress 2015 May 26 Dubrovnik Croatia C Stentoumis K Loupos A Doulamis N Doulamis N Komodakis W Zou A Computer Vision System for Tunnel Inspection World Tunnel Congress 2015 May 26 Dubrovnik Croatia Wright P Case Studies of Tunnel Inspection and Assessment World Tunnel Congress 2015 May 26 Dubrovnik Croatia Chrobocinkski P Robotic Systems for Autonomous Tunnel Inspection World Tunnel Congress 2015 May 26 Dubrovnik Croatia Panetsos P Greek Road Tunnel Case Studies World Tunnel Congress 2015 May 26 Dubrovnik Croatia Bairaktaris D Structural Assessment of the Lining Based on Measurements from the Intrados World Tunnel Congress 2015 May 26 Dubrovnik Croatia Lopez R Mobile Robot for Tunnel Inspection World Tunnel Congress 2015 May

    Original URL path: http://www.robo-spect.eu/index.php/deliverables-and-publications (2015-12-29)
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  • Events
    Assessment and Rehabilitation of Structures 7 9 Sept 2015 Antalya http www smar2015 org Sept 7 9 2015 ROBO SPECT organizes a special session in the framework of World Tunnel Congress 2015 ROBO SPECT is organizing a special session at the 2015 World Tunnel Congress in Dubrovnik Croatia on Emerging Technologies for Tunnel Inspection May 22 28 2015 ROBO SPECT participation in ROSE 2014 International Symposium on Robotic and Sensor Environments The technological concept and system architecture was presented through a publication and fruitfully discussed during the ROSE 2014 conference that was held on 16 18 October 2014 in Timisoara Romania Project leaflets were also disseminated to the symposium participants Link http rose2014 ieee ims org October 19 18 2014 ROBO SPECT participation into Researchers Night 2014 The researchers night is an international celebration organized once a year in more than 300 countries in Europe In Greece in 2014 the event was organized in 9 cities ICCS participated into the Athens event 26 September 2014 at the NTUA premises disseminating the project to the research audience The event was funded by the European Commission s Research and Innovation Framework Programme H2020 2014 2020 by the Marie Skłodowska Curie actions Directorate

    Original URL path: http://www.robo-spect.eu/index.php/events (2015-12-29)
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