Nenad Gucunski

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Detection of cracks on bridge decks is a vital task for maintaining the structural health and reliability of concrete bridges. Robotic imaging can be used to obtain bridge surface image sets for automated on-site analysis. We present a novel automated crack detection algorithm, the STRUM (spatially tuned robust multifeature) classifier, and demonstrate(More)
—The condition of bridges is critical for the safety of the traveling public. Bridges deteriorate with time as a result of material aging, excessive loading, environmental effects, and inadequate maintenance. The current practice of nondestructive evaluation (NDE) of bridge decks cannot meet the increasing demands for highly efficient, cost-effective, and(More)
Bridge deck inspection is conducted to identify bridge condition deterioration and, thus, to facilitate implementation of appropriate maintenance or rehabilitation procedures. In this paper, we report the development of a robotic system for bridge deck data collection and analysis. The robotic system accurately localizes itself and autonomously maneuvers on(More)
Bridges are one of the critical civil infrastructure for safety of traveling public. The conditions of bridges deteriorate with time as a result of material aging, excessive loading, and inadequate maintenance, etc. In this paper, the development of an autonomous robotic system is presented for highly-efficient bridge deck inspection and evaluation. An(More)
Cracks on a bridge deck should be ideally detected at an early stage in order to prevent further damage. To ensure safety, it is necessary to inspect the quality of concrete decks at regular intervals. Conventional methods usually include manual inspection of concrete surfaces to determine defects. Though very e↵ective, these methods are time-inecient. This(More)
Bridge deck inspection is essential task to monitor the health of the bridges. This paper reports the data collection and analysis for bridge decks based on our novel robotic system which can autonomously and accurately navigate on the bridge. The developed robotic system can lessen the cost and time of the bridge deck data collection and risks of human(More)
Ground penetrating radar (GPR) is used to evaluate deterioration of reinforced concrete bridge decks based on measuring signal attenuation from embedded rebar. The existing methods for obtaining deterioration maps from GPR data often require manual interaction and offsite processing. In this paper, a novel algorithm is presented for automated rebar(More)
This paper presents a dynamic model of pure percussive drilling for autonomous robotic rehabilitation for concrete bridge decks. We first describe the autonomous mobile manipulator-based concrete drilling system for bridge deck rehabilitation. A dry friction-based pure percussive drilling model is then presented to describe the drilling process(More)
The threat to safety of aging bridges has been recognized as a critical concern to the general public due to the poor condition of many bridges in the U.S. Currently, the bridge inspection is conducted manually, and it is not efficient to identify bridge condition deterioration in order to facilitate implementation of appropriate maintenance or(More)
A very common problem in concrete bridge decks is corrosion induced delamination. Impact echo (IE) is one of the nondestructive techniques used in the bridge deck condition assessment and monitoring to detect presence and position of a delamination. To detect a delamination, the IE technique relies on finding the peak frequency in the spectrum of the signal(More)