An autonomous rail-road amphibious robotic system for railway maintenance using sensor fusion and mobile manipulator

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dc.contributor.authorLiu, Haochen
dc.contributor.authorRahman, Miftahur
dc.contributor.authorRahimi, Masoumeh
dc.contributor.authorStarr, Andrew
dc.contributor.authorDurazo-Cardenas, Isidro
dc.contributor.authorRuiz-Carcel, Cristobal
dc.contributor.authorOmpusunggu, Agusmian
dc.contributor.authorHall, Amanda
dc.contributor.authorAnderson, Robert
dc.date.accessioned2023-10-20T10:21:34Z
dc.date.available2023-10-20T10:21:34Z
dc.date.issued2023-08-02
dc.description.abstractThe current maintenance of railway infrastructure replies heavily on human involvement, requiring possession of the track section during maintenance, resulting in high costs and inefficient execution. This paper proposes an autonomous rail-road amphibious robotic system for railway inspection and maintenance tasks. By virtue of its road and rail-autonomous mobility, it is able to execute the complete maintenance execution flow in multiple phases. The system provides flexible track job location access, low-cost maintenance execution, and reduced track network possession. The payload mobile manipulator and sensor fusion enhance the system's capabilities for multiple types of inspection and repair. The design of a command and control system was guided by a rule-based expert system strategy to enable remote operation of the whole system. The developed demonstrator of a track wheel accompanied unmanned ground vehicle was integrated and demonstrated in both operational and realistic track environments with multiple testing activities of remote operation, navigation, accurate job detection, inspection, and repair, confirming effective job completion and logical human interaction. The proposed method produces an outstanding hardware-software integrated robotic inspection and repair system with a high level of technological readiness for autonomous railway maintenance and intelligent railway asset management.en_UK
dc.identifier.citationLiu H, Rahman M, Rahimi M, et al., (2023) An autonomous rail-road amphibious robotic system for railway maintenance using sensor fusion and mobile manipulator. Computers and Electrical Engineering, Volume 110, September 2023, Article number 108874en_UK
dc.identifier.issn0045-7906
dc.identifier.urihttps://doi.org/10.1016/j.compeleceng.2023.108874
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/20417
dc.language.isoenen_UK
dc.publisherElsevieren_UK
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectRailway maintenanceen_UK
dc.subjectAutonomous robotic systemen_UK
dc.subjectCommand and controlen_UK
dc.subjectSystem designen_UK
dc.subjectInformation fusionen_UK
dc.titleAn autonomous rail-road amphibious robotic system for railway maintenance using sensor fusion and mobile manipulatoren_UK
dc.typeArticleen_UK

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