TY - JOUR
T1 - Application of ultrasonic guided waves to robotic occupancy grid mapping
AU - Tabatabaeipour, Morteza
AU - Trushkevych, Oksana
AU - Dobie, Gordon
AU - Edwards, Rachel S.
AU - McMillan, Ross
AU - MacLeod, Charles
AU - O'Leary, Richard
AU - Dixon, Steven
AU - Gachagan, Anthony
AU - Pierce, Stephen G.
PY - 2021/6/24
Y1 - 2021/6/24
N2 - This paper evaluates the benefits of using ultrasonic guided waves for the mapping of a structure, when implemented on a mobile magnetic robotic platform. It considers the specific problem of mapping geometric features using the guided ultrasonic waves, which enables the localisation of edges and/or the welded joints. Shear Horizontal (SH) guided waves generated by Electro-Magnetic Acoustic Transducers (EMATs) are used for mapping steel samples with a nominal thickness of 10 mm. A Bayesian mapping technique (Occupancy grid mapping) was used to map the boundaries of an irregular sample in a pseudo-pulse-echo mode. The principle is demonstrated in both simulation and laboratory-based experiments. It is shown that the proposed mapping algorithm successfully estimates the position of a sample's edges. Experimentally, a range accuracy of < 1.7 mm (1σ) was achieved on a 1 × 2 m sample using miniaturised EMATs operating at a wavelength of 22 mm.
AB - This paper evaluates the benefits of using ultrasonic guided waves for the mapping of a structure, when implemented on a mobile magnetic robotic platform. It considers the specific problem of mapping geometric features using the guided ultrasonic waves, which enables the localisation of edges and/or the welded joints. Shear Horizontal (SH) guided waves generated by Electro-Magnetic Acoustic Transducers (EMATs) are used for mapping steel samples with a nominal thickness of 10 mm. A Bayesian mapping technique (Occupancy grid mapping) was used to map the boundaries of an irregular sample in a pseudo-pulse-echo mode. The principle is demonstrated in both simulation and laboratory-based experiments. It is shown that the proposed mapping algorithm successfully estimates the position of a sample's edges. Experimentally, a range accuracy of < 1.7 mm (1σ) was achieved on a 1 × 2 m sample using miniaturised EMATs operating at a wavelength of 22 mm.
KW - automated non-destructive evaluation
KW - guided waves
KW - occupancy grid mapping
KW - shear horizontal waves
KW - ultrasonics
UR - https://www.sciencedirect.com/journal/mechanical-systems-and-signal-processing
U2 - 10.1016/j.ymssp.2021.108151
DO - 10.1016/j.ymssp.2021.108151
M3 - Article
VL - 163
JO - Mechanical Systems and Signal Processing
JF - Mechanical Systems and Signal Processing
SN - 0888-3270
M1 - 108151
ER -