A probabilistic approach to robotic NDE inspection

R. Summan; G. Dobie; J. Hensman; S.G. Pierce; K. Worden

doi:10.1063/1.3362357

A probabilistic approach to robotic NDE inspection

R. Summan, G. Dobie, J. Hensman, S.G. Pierce, K. Worden

Electronic And Electrical Engineering

Research output: Contribution to journal › Conference Contribution › peer-review

5 Citations (Scopus)

Abstract

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.

Original language	English
Article number	1999
Number of pages	7
Journal	American Institute of Physics Conference Proceedings
Volume	1211
Issue number	1
DOIs	https://doi.org/10.1063/1.3362357
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

Keywords

wireless robotic inspection vehicles
NDE payloads
particle filter approach
nondestructive testing
robot dynamics
ultrasonic transducers
probability

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10.1063/1.3362357

1 Finished

UK Research Centre in Nondestructive Evaluation
Gachagan, A., Hayward, G. & Pierce, G.
EPSRC (Engineering and Physical Sciences Research Council)
1/04/08 → 31/03/14
Project: Research

Cite this

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title = "A probabilistic approach to robotic NDE inspection",

abstract = "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.",

keywords = "wireless robotic inspection vehicles, NDE payloads, particle filter approach, nondestructive testing , robot dynamics, ultrasonic transducers, probability",

author = "R. Summan and G. Dobie and J. Hensman and S.G. Pierce and K. Worden",

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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

IS - 1

M1 - 1999

T2 - Review of Progress in Quantitative NDE

Y2 - 26 July 2009 through 31 July 2009

ER -

A probabilistic approach to robotic NDE inspection

Abstract

Keywords

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Projects

UK Research Centre in Nondestructive Evaluation

Cite this