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Lamb wave-based mapping of plate structures via frontier exploration.
Alvin Miranda1, Joshua Vander Hook2, Christoph Schaal3
1Department of Mechanical Engineering, California State University, Northridge, CA, USA.
Ultrasonics
|November 3, 2020
Summary
This study introduces an automated nondestructive testing (NDT) system using Lamb waves and mobile robots for aircraft inspection. The novel method enables autonomous mapping of structures, improving efficiency and feasibility for aerospace applications.
Area of Science:
- Aerospace Engineering
- Robotics
- Materials Science
Background:
- Advancements in manufacturing necessitate efficient nondestructive testing (NDT) for aerospace.
- Lamb wave-based methods are promising for large-scale structure inspection.
- Simultaneous Localization and Mapping (SLAM) research is rapidly advancing.
Purpose of the Study:
- To automate Lamb wave-based NDT using mobile robots for sensor positioning.
- To develop a generalized method for mapping plate structures via frontier exploration.
- To realize an autonomous SLAM-capable NDT system.
Main Methods:
- Utilizing scattered Lamb waves for mapping plate structures.
- Implementing a frontier exploration strategy for sensor placement.
- Evaluating performance through simulation and laboratory experiments.
Main Results:
- The proposed Lamb wave-based frontier exploration outperforms random exploration.
- Near-optimal performance was observed on an isotropic, square panel.
- Feasibility was confirmed through simulations and laboratory validation on complex structures.
Conclusions:
- Lamb wave-based frontier exploration is a feasible method for SLAM in NDT.
- The methodology demonstrates versatility on complex stiffened panels.
- This approach enables autonomous, efficient inspection of aerospace structures.
