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| Naji, M. |
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| Motta, Antonella |
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| Aletan, Dirar |
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| Mohamed, Tarek |
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| Ertürk, Emre |
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| Taccardi, Nicola |
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| Kononenko, Denys |
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| Petrov, R. H. | Madrid |
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| Alshaaer, Mazen | Brussels |
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| Bih, L. |
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| Casati, R. |
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| Muller, Hermance |
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| Kočí, Jan | Prague |
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| Šuljagić, Marija |
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| Kalteremidou, Kalliopi-Artemi | Brussels |
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| Azam, Siraj |
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| Ospanova, Alyiya |
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| Blanpain, Bart |
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| Ali, M. A. |
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| Popa, V. |
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| Rančić, M. |
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| Ollier, Nadège |
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| Azevedo, Nuno Monteiro |
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| Landes, Michael |
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| Rignanese, Gian-Marco |
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Dobie, Gordon
University of Strathclyde
in Cooperation with on an Cooperation-Score of 37%
Topics
Publications (21/21 displayed)
- 2024CNN-based automated approach to crack-feature detection in steam cycle componentscitations
- 2023Flexible and automated robotic multi-pass arc welding
- 2023Application of machine learning techniques for defect detection, localisation, and sizing in ultrasonic testing of carbon fibre reinforced polymers
- 2023Mapping SEARCH capabilities to Spirit AeroSystems NDE and automation demand for composites
- 2023Tactile, orientation, and optical sensor fusion for tactile breast image mosaickingcitations
- 2023Driving towards flexible and automated robotic multi-pass arc welding
- 2022Automated bounding box annotation for NDT ultrasound defect detection
- 2022Multi-sensor electromagnetic inspection feasibility for aerospace composites surface defects
- 2021A cost-function driven adaptive welding framework for multi-pass robotic weldingcitations
- 2021Non-contact in-process ultrasonic screening of thin fusion welded jointscitations
- 2021Miniaturised SH EMATs for fast robotic screening of wall thinning in steel platescitations
- 2020Quantifying impacts on remote photogrammetric inspection using unmanned aerial vehiclescitations
- 2019Electromagnetic acoustic transducers for guided-wave based robotic inspection
- 2019Towards guided wave robotic NDT inspection
- 2018Machining-based coverage path planning for automated structural inspectioncitations
- 2017Assessment of corrosion under insulation and engineered temporary wraps using pulsed eddy-current techniques
- 2017An expert-systems approach to automatically determining flaw depth within candu pressure tubes
- 2016Robotic ultrasonic testing of AGR fuel claddingcitations
- 2016Conformable eddy current array deliverycitations
- 2014Automatic ultrasonic robotic arraycitations
- 2013The feasibility of synthetic aperture guided wave imaging to a mobile sensor platformcitations
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document
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.