Design of a Small Unmanned Aircraft System for Bridge Inspections.

Bridge inspections are an important procedure for maintaining the infrastructure vital to our economy and well-being. The current methodology of utilizing specialized equipment such as snooper trucks and scaffolding to support manned-inspections poses a significant financial cost, disrupts traffic, and is dangerous to the inspectors and public. The advent of unmanned aerial systems (UAS), more commonly called drones, presents a practical solution that promises reduced cost, enhanced safety, and is significantly less intrusive than previous methodologies. Current limitations in the implementation of UAS include the reliance on a skilled operator and/or the requirement for a UAS to operate in a cluttered, GPS-denied environment. A solution to these challenges is presented in this paper by utilizing commercial off-the-shelf (COTS) hardware including laser rangefinders, optical flow sensors, and live video telemetry. Included in the system is the obstacle avoidance equipped drone and a ground station intended to be manned by a pilot and bridge inspector. The proposed custom-fabricated UAS was implemented during eight inspections of Florida Department of Transportation (FDOT) bridges. The UAS was able to navigate under GPS-denied and obstacle-laden bridge decks with position-hold performance comparable to, if not better than, a COTS unit in an unobstructed environment. The position hold capability maintained an altitude of ±12.8 cm with a horizontal hold of ±435 cm. Details of the hardware, algorithm development, and suggestions for future research are discussed in this paper.

Deformation of the Zurich cementless acetabular cup caused by implantation in a canine cadaver model.

OBJECTIVE: To evaluate the change in geometry of the Zurich total hip arthroplasty (THA) acetabular component after implantation. ANIMALS: Hemipelves from adult mix-breed dogs weighing between 20 and 25 kg. METHODS: Digital image correlation imaging was performed prior to, immediately after, and 24 hours after impaction of Zurich THA acetabular component, and after removal of the cup from the specimen. Patterns of deformation were qualitatively described, and maximal deformations were compared between time points. RESULTS: All cups deformed after implantation into the hemipelves by "pinching" in a cranial-caudal direction and dorsoventral expansion, resulting in an ellipsoid configuration to the peripheral rim. The mean ± SD maximum deformation at the rim immediately post-impaction was 0.202 ± 0.052 mm, or approximately 0.4 mm of diametrical deformation. Deformation did not change after the 24-hour saline bath. Impaction and subsequent extraction had a marginal effect on the original cup geometry, as maximum deformation at the rim after cup extraction was 0.074 ± 0.032 mm, relative to prior to impaction. CONCLUSIONS: The original Zurich cup geometry is distorted as a consequence of the press-fit mechanism. Further studies are required to determine whether deformation induced by impaction has any association with polyethylene wear rates or other prosthesis-related complications.

Estimating distribution of hidden objects with drones: from tennis balls to manatees.

Unmanned aerial vehicles (UAV), or drones, have been used widely in military applications, but more recently civilian applications have emerged (e.g., wildlife population monitoring, traffic monitoring, law enforcement, oil and gas pipeline threat detection). UAV can have several advantages over manned aircraft for wildlife surveys, including reduced ecological footprint, increased safety, and the ability to collect high-resolution geo-referenced imagery that can document the presence of species without the use of a human observer. We illustrate how geo-referenced data collected with UAV technology in combination with recently developed statistical models can improve our ability to estimate the distribution of organisms. To demonstrate the efficacy of this methodology, we conducted an experiment in which tennis balls were used as surrogates of organisms to be surveyed. We used a UAV to collect images of an experimental field with a known number of tennis balls, each of which had a certain probability of being hidden. We then applied spatially explicit occupancy models to estimate the number of balls and created precise distribution maps. We conducted three consecutive surveys over the experimental field and estimated the total number of balls to be 328 (95%CI: 312, 348). The true number was 329 balls, but simple counts based on the UAV pictures would have led to a total maximum count of 284. The distribution of the balls in the field followed a simulated environmental gradient. We also were able to accurately estimate the relationship between the gradient and the distribution of balls. Our experiment demonstrates how this technology can be used to create precise distribution maps in which discrete regions of the study area are assigned a probability of presence of an object. Finally, we discuss the applicability and relevance of this experimental study to the case study of Florida manatee distribution at power plants.

Understanding stress concentration about a nutrient foramen.

We investigated the microstructural basis of a reduced stress concentration around the primary nutrient foramen of the equine third metacarpus. We quantified the spatial variations of compositional parameters (mineral content, volume fraction, histological architecture, and osteonal trajectories) from microradiographs and polarizing microscopic images of thin sections. These variations in composition and organization in turn cause variations in mechanical properties of cortical bone. We modeled the spatially inhomogeneous anisotropic elastic properties based on the measured compositional parameters and used the properties as inputs to a finite element model of the bone containing the foramen. This model, spatially constructed solely from the microscopic images, was subsequently validated by our mechanical test results. We found that: (1) a primary mechanism for stress concentration reduction appears to be due to an increased compliance near the foramen: the sharp discontinuity represented by the hole is softened by embedding it in a compliant region; (2) a reinforcing ring of increased stiffness exists at some distance from the foramen; and (3) a ring of lamellar bone exists along the foramen inside edge, which might serve to reduce the chance of cracks forming there. Our work is allowing us to design biomimetic structures with holes by mimicking the microstructure near the nutrient foramen.