This research investigates how collaborative mobile robotic systems can overcome longstanding challenges in NDE, specifically the reliance on precise fixturing, predefined
component placement, and tightly controlled environments. The overarching aim is to
develop inspection systems that maintain or exceed the performance of traditional fixed
setups while remaining suitable for shared human–robot workspaces. Through continuous
engagement with industrial partners, the work focuses on addressing realistic operational
constraints and aligning scientific advancements in system integration and control with
practical deployment needs.
The thesis addresses four core objectives: (1) evaluating the feasibility and performance
of mobile robotic platforms for high-value manufacturing environments; (2) developing a
flexible robotic NDE scanning methodology that reduces or eliminates the need for prior
part knowledge; (3) designing and integrating a novel collaborative robotic inspection
system that combines established phased-array ultrasonic testing (PAUT) techniques with
simultaneous force-position control and 3D vision–based autonomous path planning; and
(4) demonstrating a fully automated, human-collaborative mobile NDE system capable of
inspecting multiple component types.
Across these contributions, the research advances the concept of process-to-part
inspection, enabling robots to autonomously identify components, generate inspection
trajectories, and execute complete scans without strict placement requirements. A detailed
quantification of mobile manipulator performance provides the foundation for establishing measurement-science-based benchmarks, while the developed autonomous
scanning system demonstrates the feasibility of real-world deployment without relying on
fixed fixtures or deterministic part positioning.
Overall, this thesis presents a novel framework for intelligent, collaborative mobile NDE.
It demonstrates, the potential for fully automated process-to-part inspections using mobile
manipulators working safely alongside humans. The findings highlight the transformative
potential of such systems for the aerospace and wider high-value manufacturing sectors,
offering a pathway toward flexible, autonomous, and operator-independent inspection
technologies, while acknowledging that further qualification and standardisation activities
would be required for certified industrial deployment.