Abstract
| Language | English |
|---|---|
| Article number | 1999 |
| Number of pages | 7 |
| Journal | American Institute of Physics Conference Proceedings |
| Volume | 1211 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - 22 Feb 2010 |
| Event | Review of Progress in Quantitative NDE - Kingston, Rhode Island, United States Duration: 26 Jul 2009 → 31 Jul 2009 |
Fingerprint
Keywords
- wireless robotic inspection vehicles
- NDE payloads
- particle filter approach
- nondestructive testing
- robot dynamics
- ultrasonic transducers
- probability
Cite this
}
A probabilistic approach to robotic NDE inspection. / Summan, R.; Dobie, G.; Hensman, J.; Pierce, S.G.; Worden, K.
In: American Institute of Physics Conference Proceedings, Vol. 1211, No. 1, 1999, 22.02.2010.Research output: Contribution to journal › Conference Contribution
TY - JOUR
T1 - A probabilistic approach to robotic NDE inspection
AU - Summan, R.
AU - Dobie, G.
AU - Hensman, J.
AU - Pierce, S.G.
AU - Worden, K.
PY - 2010/2/22
Y1 - 2010/2/22
N2 - The application of wireless robotic inspection vehicles equipped with different NDE payloads has been introduced previously, with emphasis placed on inspection applications in hazardous and inaccessible environments. A particular challenge to the practical application of such robotic inspection lies in the localization of the devices. The authors here consider a probabilistic approach to both the positioning and defect problems by using the location of the robot and the NDE measurements (acquired from the onboard transducers) to make inference about defect existence and position. Using a particle filter approach running locally on the robots, the vehicle location is tracked by fusing noisy redundant data sets supplying positional information.
AB - The application of wireless robotic inspection vehicles equipped with different NDE payloads has been introduced previously, with emphasis placed on inspection applications in hazardous and inaccessible environments. A particular challenge to the practical application of such robotic inspection lies in the localization of the devices. The authors here consider a probabilistic approach to both the positioning and defect problems by using the location of the robot and the NDE measurements (acquired from the onboard transducers) to make inference about defect existence and position. Using a particle filter approach running locally on the robots, the vehicle location is tracked by fusing noisy redundant data sets supplying positional information.
KW - wireless robotic inspection vehicles
KW - NDE payloads
KW - particle filter approach
KW - nondestructive testing
KW - robot dynamics
KW - ultrasonic transducers
KW - probability
U2 - 10.1063/1.3362357
DO - 10.1063/1.3362357
M3 - Conference Contribution
VL - 1211
JO - AIP Conference Proceedings
T2 - AIP Conference Proceedings
JF - AIP Conference Proceedings
SN - 0094-243X
IS - 1
M1 - 1999
ER -