HEROIC: A Concept Robotic System for Hydro-Erosion in Concrete Repair Preperation

摘要

The definition of the excavation geometry in concrete removal has a considerable effect on the longevity of the subsequent replacement repair material .Also, when removing defective material, it is important to use methods that do not cause micro-cracking and other structural damge.The hydro -erosion concept , a controlled version of hydro-demolition.represents a means of excavating material to well definded gometry without causing such damage .To achieve a robotic solution for this, it is necessary to incorporate sensing and control strategies that are roboust in the harsh environment .An experimental robot has been devised for investigations into these issues .