Autonomous mobile robots for ultrasonic NDE

M. Friedrich, W. Galbraith, G. Hayward

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

6 Citations (Scopus)

Abstract

Robotic vehicles are becoming increasingly attractive for non-destructive evaluation (NDE) of engineering structures, particularly for those areas where access is difficult or too hazardous for human intervention. This paper describes the design philosophy and prototype evaluation of a team of heterogeneous miniature climbing robots, which perform a range of NDE tasks, including magnetic flux leakage, eddy-current, visual and ultrasonic inspection. A host computer is used for overall supervision and inter-vehicle communication is achieved using wireless links. Each autonomous robot is located in 3-D space by an ultrasonic positioning system in a listener-beacon configuration and is supplemented by data derived from optical wheel encoders and an on-board gyroscope. Results for non-contact ultrasonic inspection are presented, where the vehicle NDE payload comprises a pair of air coupled transducers, inclined at the appropriate angle to a test plate, for generation and reception of the A(0) Lamb wave. C-scan images are shown, using the vehicle and the local positioning system to provide relative positional information.
LanguageEnglish
Title of host publication2006 IEEE Ultrasonics symposium proceedings
Subtitle of host publicationvolumes 1-5
Place of PublicationNew York
PublisherIEEE
Pages902-905
Number of pages3
ISBN (Print)9781424402014
DOIs
Publication statusPublished - 2007
EventIEEE Ultrasonics Symposium 2006 - Vancouver, Canada
Duration: 2 Oct 20066 Oct 2006

Publication series

NameUltrasonics Symposium
PublisherIEEE
ISSN (Print)1051-0117

Conference

ConferenceIEEE Ultrasonics Symposium 2006
CountryCanada
CityVancouver
Period2/10/066/10/06

Fingerprint

Mobile robots
Ultrasonics
Inspection
Robots
Gyroscopes
Magnetic flux
Eddy currents
Surface waves
Telecommunication links
Transducers
Wheels
Robotics
Communication
Air

Keywords

  • autonomous
  • mobile robots
  • ultrasonic
  • nde

Cite this

Friedrich, M., Galbraith, W., & Hayward, G. (2007). Autonomous mobile robots for ultrasonic NDE. In 2006 IEEE Ultrasonics symposium proceedings: volumes 1-5 (pp. 902-905). (Ultrasonics Symposium). New York: IEEE. https://doi.org/10.1109/ULTSYM.2006.241
Friedrich, M. ; Galbraith, W. ; Hayward, G. / Autonomous mobile robots for ultrasonic NDE. 2006 IEEE Ultrasonics symposium proceedings: volumes 1-5. New York : IEEE, 2007. pp. 902-905 (Ultrasonics Symposium).
@inproceedings{1c8678d320b64cac832154536a9c8886,
title = "Autonomous mobile robots for ultrasonic NDE",
abstract = "Robotic vehicles are becoming increasingly attractive for non-destructive evaluation (NDE) of engineering structures, particularly for those areas where access is difficult or too hazardous for human intervention. This paper describes the design philosophy and prototype evaluation of a team of heterogeneous miniature climbing robots, which perform a range of NDE tasks, including magnetic flux leakage, eddy-current, visual and ultrasonic inspection. A host computer is used for overall supervision and inter-vehicle communication is achieved using wireless links. Each autonomous robot is located in 3-D space by an ultrasonic positioning system in a listener-beacon configuration and is supplemented by data derived from optical wheel encoders and an on-board gyroscope. Results for non-contact ultrasonic inspection are presented, where the vehicle NDE payload comprises a pair of air coupled transducers, inclined at the appropriate angle to a test plate, for generation and reception of the A(0) Lamb wave. C-scan images are shown, using the vehicle and the local positioning system to provide relative positional information.",
keywords = "autonomous, mobile robots, ultrasonic, nde",
author = "M. Friedrich and W. Galbraith and G. Hayward",
year = "2007",
doi = "10.1109/ULTSYM.2006.241",
language = "English",
isbn = "9781424402014",
series = "Ultrasonics Symposium",
publisher = "IEEE",
pages = "902--905",
booktitle = "2006 IEEE Ultrasonics symposium proceedings",

}

Friedrich, M, Galbraith, W & Hayward, G 2007, Autonomous mobile robots for ultrasonic NDE. in 2006 IEEE Ultrasonics symposium proceedings: volumes 1-5. Ultrasonics Symposium, IEEE, New York, pp. 902-905, IEEE Ultrasonics Symposium 2006, Vancouver, Canada, 2/10/06. https://doi.org/10.1109/ULTSYM.2006.241

Autonomous mobile robots for ultrasonic NDE. / Friedrich, M.; Galbraith, W.; Hayward, G.

2006 IEEE Ultrasonics symposium proceedings: volumes 1-5. New York : IEEE, 2007. p. 902-905 (Ultrasonics Symposium).

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

TY - GEN

T1 - Autonomous mobile robots for ultrasonic NDE

AU - Friedrich, M.

AU - Galbraith, W.

AU - Hayward, G.

PY - 2007

Y1 - 2007

N2 - Robotic vehicles are becoming increasingly attractive for non-destructive evaluation (NDE) of engineering structures, particularly for those areas where access is difficult or too hazardous for human intervention. This paper describes the design philosophy and prototype evaluation of a team of heterogeneous miniature climbing robots, which perform a range of NDE tasks, including magnetic flux leakage, eddy-current, visual and ultrasonic inspection. A host computer is used for overall supervision and inter-vehicle communication is achieved using wireless links. Each autonomous robot is located in 3-D space by an ultrasonic positioning system in a listener-beacon configuration and is supplemented by data derived from optical wheel encoders and an on-board gyroscope. Results for non-contact ultrasonic inspection are presented, where the vehicle NDE payload comprises a pair of air coupled transducers, inclined at the appropriate angle to a test plate, for generation and reception of the A(0) Lamb wave. C-scan images are shown, using the vehicle and the local positioning system to provide relative positional information.

AB - Robotic vehicles are becoming increasingly attractive for non-destructive evaluation (NDE) of engineering structures, particularly for those areas where access is difficult or too hazardous for human intervention. This paper describes the design philosophy and prototype evaluation of a team of heterogeneous miniature climbing robots, which perform a range of NDE tasks, including magnetic flux leakage, eddy-current, visual and ultrasonic inspection. A host computer is used for overall supervision and inter-vehicle communication is achieved using wireless links. Each autonomous robot is located in 3-D space by an ultrasonic positioning system in a listener-beacon configuration and is supplemented by data derived from optical wheel encoders and an on-board gyroscope. Results for non-contact ultrasonic inspection are presented, where the vehicle NDE payload comprises a pair of air coupled transducers, inclined at the appropriate angle to a test plate, for generation and reception of the A(0) Lamb wave. C-scan images are shown, using the vehicle and the local positioning system to provide relative positional information.

KW - autonomous

KW - mobile robots

KW - ultrasonic

KW - nde

UR - http://dx.doi.org/10.1109/ULTSYM.2006.241

U2 - 10.1109/ULTSYM.2006.241

DO - 10.1109/ULTSYM.2006.241

M3 - Conference contribution book

SN - 9781424402014

T3 - Ultrasonics Symposium

SP - 902

EP - 905

BT - 2006 IEEE Ultrasonics symposium proceedings

PB - IEEE

CY - New York

ER -

Friedrich M, Galbraith W, Hayward G. Autonomous mobile robots for ultrasonic NDE. In 2006 IEEE Ultrasonics symposium proceedings: volumes 1-5. New York: IEEE. 2007. p. 902-905. (Ultrasonics Symposium). https://doi.org/10.1109/ULTSYM.2006.241