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Strategies for guided acoustic wave inspection using mobile robots
Jie Zhang1, Xudong Niu1, Anthony J Croxford1
1Department of Mechanical Engineering, University of Bristol, Queens Building, University Walk, Bristol BS8 1TR, UK.
Proceedings. Mathematical, Physical, and Engineering Sciences
|March 11, 2022
Summary
Inspection robots using guided ultrasonic waves can continuously monitor large structures for defects. Simulations and experiments show that six strategically placed sensors minimize defect localization errors, even with uncertain robot positions.
Area of Science:
- Robotics and Automation
- Materials Science
- Non-Destructive Testing
Background:
- Traditional manual inspections of large-scale structures are labor-intensive and challenging for continuous monitoring.
- Automated inspection methods are needed to improve efficiency and reliability in structural health monitoring.
Purpose of the Study:
- To explore strategies for continuous, non-destructive monitoring of structures using multiple inspection robots.
- To investigate the impact of robot location uncertainty on defect detection and localization accuracy.
Main Methods:
- Utilizing guided ultrasonic waves for defect detection and localization by inspection robots.
- Employing receiver operating characteristic curves to define defect detection zones.
- Conducting Monte Carlo simulations to analyze the trade-off between the number of robots and localization accuracy.
- Experimental validation on an aluminum plate using a multi-sensor arrangement.
Main Results:
- Monte Carlo simulations revealed a compromise between the number of robots and defect location accuracy.
- Experimental results demonstrated that six measurements (pentagon with central point) yielded localization errors comparable to sensor location uncertainty.
- The proposed robotic inspection strategy effectively addresses challenges in continuous structural monitoring.
Conclusions:
- Robotic systems employing guided ultrasonic waves offer a viable solution for continuous structural health monitoring.
- Optimal sensor placement and simulation-based analysis are crucial for achieving high defect localization accuracy in uncertain environments.
- This approach enhances the reliability and efficiency of inspecting large-scale structures for defects like cracking and corrosion.
