Automatic ultrasonic robotic array

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

2 Citations (Scopus)

Abstract

A novel, autonomous reconfigurable ultrasonic phased array inspection robot for non-destructive evaluation (NDE) is presented. The robotic system significantly will reduce manual labor over current inspection regimes, as well as enabling inspection of inaccessible/hazardous areas such as those found in the nuclear and petrochemical industries. It will offer three quantitative benefits: improved inspection accuracy, improved safety and reduced inspection costs. The current major innovation is in embedding ultrasonic phased array technology into a small form-factor robotic vehicle, overcoming issues in ultrasonic coupling, miniaturized electronics and robot positioning. This paper presents an overview of the robot specification and system architecture along with details of a specific inspection scenario where the robot is required to inspect a saddle weld found in reheat bifurcation. This weld is formed from the intersection of two 60 mm thick steel pipes with diameters 500 and 300 mm. The robot will be capable of tracking the weld from either pipe, projecting an ultrasonic beam normal to the direction of travel. The design of a 2 MHz, 16 element embedded phased array controller is presented. A timing model of the controller details the throughput required to enable the robot to perform ultrasonic inspection while tracking the weld at 20 mm/s. The paper also considers robot positional estimation. The nature of the inspection prohibits the use of external positioning systems so the system is limited to on-board sensors, namely wheels encoders, a six axis inertial sensor and a surface feature tracking camera. The results section focuses on the characterization of inspection performance, driven in part by the ultrasonic phased array controller and robot positional estimation. A-Scans are presented to show the SNR of each array channel which was approximately 24 dB when measuring the back wall echo. It is shown that ultrasonic scan rate is limited by 802.11g wireless transmission from the robot to the host computer.
LanguageEnglish
Title of host publication2013 IEEE International Ultrasonics Symposium (IUS)
Place of PublicationPiscataway, N.J.
PublisherIEEE
ISBN (Print)978-1-4673-5685-5
DOIs
Publication statusPublished - 30 Jan 2014
EventIEEE Ultrasonics Symposium - Prague, Czech Republic
Duration: 22 Jul 201326 Jul 2013

Conference

ConferenceIEEE Ultrasonics Symposium
CountryCzech Republic
CityPrague
Period22/07/1326/07/13

Fingerprint

Robotics
Inspection
Ultrasonics
Robots
Welds
Controllers
Sensors
Steel pipe
Petrochemicals
Wheels
Electronic equipment
Innovation
Cameras
Pipe
Throughput
Personnel
Specifications
Costs
Industry

Keywords

  • inspection
  • arrays
  • mobile robots
  • acoustics
  • robot sensing systems

Cite this

Dobie, G., Galbraith, W., MacLeod, C. N., Summan, R., Pierce, S., & Gachagan, A. (2014). Automatic ultrasonic robotic array. In 2013 IEEE International Ultrasonics Symposium (IUS) Piscataway, N.J.: IEEE. https://doi.org/10.1109/ULTSYM.2013.0474
Dobie, Gordon ; Galbraith, Walter ; MacLeod, Charles Norman ; Summan, Rahul ; Pierce, Stephen ; Gachagan, Anthony. / Automatic ultrasonic robotic array. 2013 IEEE International Ultrasonics Symposium (IUS). Piscataway, N.J. : IEEE, 2014.
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title = "Automatic ultrasonic robotic array",
abstract = "A novel, autonomous reconfigurable ultrasonic phased array inspection robot for non-destructive evaluation (NDE) is presented. The robotic system significantly will reduce manual labor over current inspection regimes, as well as enabling inspection of inaccessible/hazardous areas such as those found in the nuclear and petrochemical industries. It will offer three quantitative benefits: improved inspection accuracy, improved safety and reduced inspection costs. The current major innovation is in embedding ultrasonic phased array technology into a small form-factor robotic vehicle, overcoming issues in ultrasonic coupling, miniaturized electronics and robot positioning. This paper presents an overview of the robot specification and system architecture along with details of a specific inspection scenario where the robot is required to inspect a saddle weld found in reheat bifurcation. This weld is formed from the intersection of two 60 mm thick steel pipes with diameters 500 and 300 mm. The robot will be capable of tracking the weld from either pipe, projecting an ultrasonic beam normal to the direction of travel. The design of a 2 MHz, 16 element embedded phased array controller is presented. A timing model of the controller details the throughput required to enable the robot to perform ultrasonic inspection while tracking the weld at 20 mm/s. The paper also considers robot positional estimation. The nature of the inspection prohibits the use of external positioning systems so the system is limited to on-board sensors, namely wheels encoders, a six axis inertial sensor and a surface feature tracking camera. The results section focuses on the characterization of inspection performance, driven in part by the ultrasonic phased array controller and robot positional estimation. A-Scans are presented to show the SNR of each array channel which was approximately 24 dB when measuring the back wall echo. It is shown that ultrasonic scan rate is limited by 802.11g wireless transmission from the robot to the host computer.",
keywords = "inspection, arrays, mobile robots, acoustics, robot sensing systems",
author = "Gordon Dobie and Walter Galbraith and MacLeod, {Charles Norman} and Rahul Summan and Stephen Pierce and Anthony Gachagan",
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Dobie, G, Galbraith, W, MacLeod, CN, Summan, R, Pierce, S & Gachagan, A 2014, Automatic ultrasonic robotic array. in 2013 IEEE International Ultrasonics Symposium (IUS). IEEE, Piscataway, N.J., IEEE Ultrasonics Symposium, Prague, Czech Republic, 22/07/13. https://doi.org/10.1109/ULTSYM.2013.0474

Automatic ultrasonic robotic array. / Dobie, Gordon; Galbraith, Walter; MacLeod, Charles Norman; Summan, Rahul; Pierce, Stephen; Gachagan, Anthony.

2013 IEEE International Ultrasonics Symposium (IUS). Piscataway, N.J. : IEEE, 2014.

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

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N2 - A novel, autonomous reconfigurable ultrasonic phased array inspection robot for non-destructive evaluation (NDE) is presented. The robotic system significantly will reduce manual labor over current inspection regimes, as well as enabling inspection of inaccessible/hazardous areas such as those found in the nuclear and petrochemical industries. It will offer three quantitative benefits: improved inspection accuracy, improved safety and reduced inspection costs. The current major innovation is in embedding ultrasonic phased array technology into a small form-factor robotic vehicle, overcoming issues in ultrasonic coupling, miniaturized electronics and robot positioning. This paper presents an overview of the robot specification and system architecture along with details of a specific inspection scenario where the robot is required to inspect a saddle weld found in reheat bifurcation. This weld is formed from the intersection of two 60 mm thick steel pipes with diameters 500 and 300 mm. The robot will be capable of tracking the weld from either pipe, projecting an ultrasonic beam normal to the direction of travel. The design of a 2 MHz, 16 element embedded phased array controller is presented. A timing model of the controller details the throughput required to enable the robot to perform ultrasonic inspection while tracking the weld at 20 mm/s. The paper also considers robot positional estimation. The nature of the inspection prohibits the use of external positioning systems so the system is limited to on-board sensors, namely wheels encoders, a six axis inertial sensor and a surface feature tracking camera. The results section focuses on the characterization of inspection performance, driven in part by the ultrasonic phased array controller and robot positional estimation. A-Scans are presented to show the SNR of each array channel which was approximately 24 dB when measuring the back wall echo. It is shown that ultrasonic scan rate is limited by 802.11g wireless transmission from the robot to the host computer.

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Dobie G, Galbraith W, MacLeod CN, Summan R, Pierce S, Gachagan A. Automatic ultrasonic robotic array. In 2013 IEEE International Ultrasonics Symposium (IUS). Piscataway, N.J.: IEEE. 2014 https://doi.org/10.1109/ULTSYM.2013.0474