A noncontact ultrasonic platform for structural inspection

Miniature robotic vehicles are receiving increasing attention for use in nondestructive testing (NDE) due to their attractiveness in terms of cost, safety, and their accessibility to areas where manual inspection is not practical. Conventional ultrasonic inspection requires the provision of a suitable coupling liquid between the probe and the structure under test. This necessitates either an on board reservoir or umbilical providing a constant flow of coupling fluid, neither of which are practical for a fleet of miniature robotic inspection vehicles. Air-coupled ultrasound offers the possibility of couplant-free ultrasonic inspection. This paper describes the sensing methodology, hardware platform and algorithms used to integrate an air-coupled ultrasonic inspection payload into a miniature robotic vehicle platform. The work takes account of the robot's inherent positional uncertainty when constructing an image of the test specimen from aggregated sensor measurements. This paper concludes with the results of an automatic inspection of a aluminium sample

Ultrasonic sensor platforms for non-destructive evaluation

Robotic vehicles are receiving increasing attention for use in Non-Destructive Evaluation (NDE), due to their attractiveness in terms of cost, safety and their accessibility to areas where manual inspection is not practical. A reconfigurable Lamb wave scanner, using autonomous robotic platforms is presented. The scanner is built from a fleet of wireless miniature robotic vehicles, each with a non-contact ultrasonic payload capable of generating the A0 Lamb wave mode in plate specimens. An embedded Kalman filter gives the robots a positional accuracy of 10mm. A computer simulator, to facilitate the design and assessment of the reconfigurable scanner, is also presented. Transducer behaviour has been simulated using a Linear Systems approximation (LS), with wave propagation in the structure modelled using the Local Interaction Simulation Approach (LISA). Integration of the LS and LISA approaches were validated for use in Lamb wave scanning by comparison with both analytical techniques and more computationally intensive commercial finite element/diference codes. Starting with fundamental dispersion data, the work goes on to describe the simulation of wave propagation and the subsequent interaction with artificial defects and plate boundaries. The computer simulator was used to evaluate several imaging techniques, including local inspection of the area under the robot and an extended method that emits an ultrasonic wave and listens for echos (B-Scan). These algorithms were implemented in the robotic platform and experimental results are presented. The Synthetic Aperture Focusing Technique (SAFT) was evaluated as a means of improving the fidelity of B-Scan data. It was found that a SAFT is only effective for transducers with reasonably wide beam divergence, necessitating small transducers with a width of approximately 5mm. Finally, an algorithm for robot localisation relative to plate sections was proposed and experimentally validated

Synthetic aperture guided wave imaging using a mobile sensor platform

This oral session at conference looks at synthetic aperture guided wave imaging using a mobile sensor platfor

Low-cost, multi-agent systems for planetary surface exploration

The use of off-the-shelf consumer electronics combined with top-down design methodologies have made small and inexpensive satellites, such as CubeSats, emerge as viable, low-cost and attractive space-based platforms that enable a range of new and exciting mission scenarios. In addition, to overcome some of the resource limitation issues encountered with these platforms, distributed architectures have emerged to enable complex tasks through the use of multiple low complexity units. The low-cost characteristics of such systems coupled with the distributed architecture allows for an increase in the size of the system beyond what would have been feasible with a monolithic system, hence widening the operational capabilities without significantly increasing the control complexity of the system. These ideas are not new for Earth orbiting devices, but excluding some distributed remote sensing architectures they are yet to be applied for the purpose of planetary exploration. Experience gained through large rovers demonstrates the value of in-situ exploration, which is however limited by the associated high-cost and risk. The loss of a rover can and has happened because of a number of possible failures: besides the hazards directly linked to the launch and journey to the target-body, hard landing and malfunctioning of parts are all threats to the success of the mission. To overcome these issues this paper introduces the concept of using off-the-shelf consumer electronics to deploy a low-cost multi-rover system for future planetary surface exploration. It is shown that such a system would significantly reduce the programmatic-risk of the mission (for example catastrophic failure of a single rover), while exploiting the inherent advantages of cooperative behaviour. These advantages are analysed with a particular emphasis put upon the guidance, navigation and control of such architectures using the method of artificial potential field. Laboratory tests on multi-agent robotic systems support the analysis. Principal features of the system are identified and the underlying advantages over a monolithic single-agent system highlighted

Simulation of ultrasonic lamb wave generation, propagation and detection for an air coupled robotic scanner

A computer simulator, to facilitate the design and assessment of a reconfigurable, air-coupled ultrasonic scanner is described and evaluated. The specific scanning system comprises a team of remote sensing agents, in the form of miniature robotic platforms that can reposition non-contact Lamb wave transducers over a plate type of structure, for the purpose of non-destructive evaluation (NDE). The overall objective is to implement reconfigurable array scanning, where transmission and reception are facilitated by different sensing agents which can be organised in a variety of pulse-echo and pitch-catch configurations, with guided waves used to generate data in the form of 2-D and 3-D images. The ability to reconfigure the scanner adaptively requires an understanding of the ultrasonic wave generation, its propagation and interaction with potential defects and boundaries. Transducer behaviour has been simulated using a linear systems approximation, with wave propagation in the structure modelled using the local interaction simulation approach (LISA). Integration of the linear systems and LISA approaches are validated for use in Lamb wave scanning by comparison with both analytic techniques and more computationally intensive commercial finite element/difference codes. Starting with fundamental dispersion data, the paper goes on to describe the simulation of wave propagation and the subsequent interaction with artificial defects and plate boundaries, before presenting a theoretical image obtained from a team of sensing agents based on the current generation of sensors and instrumentation

Wavelet analysis of poorly-focused ultrasonic signal of pressure tube inspection in nuclear industry

Pressure tube fabrication and installment challenges combined with natural sagging over time can produce issues with probe alignment for pressure tube inspection of the primary circuit of CANDU reactors. The ability to extract accurate defect depth information from poorly-focused ultrasonic signals would reduce additional inspection procedures, which leads to a significant time and cost saving. Currently, the defect depth measurement protocol is to simply calculate the time difference between the peaks of the echo signals from the tube surface and the defect from a single element probe focused at the back-wall depth. When alignment issues are present, incorrect focusing results in interference within the returning echo signal. This paper proposes a novel wavelet analysis method that employs the Haar wavelet to decompose the original poorly focused A-scan signal and reconstruct detailed information based on a selected high frequency component range within the bandwidth of the transducer. Compared to the original signal, the wavelet analysis method provides additional characteristic defect information and an improved estimate of defect depth with errors less than 5%

An expert-systems approach to automatically determining flaw depth within CANDU pressure tubes

Delayed Hydride Cracking (DHC) is a crack growth mechanism that occurs in zirconium alloys, including the pressure tubes of CANDU reactors. DHC is caused by hydrogen in solution in zirconium components being diffused to any flaws present, resulting in an increased concentration of hydrogen within these flaws. An increased hydrogen concentration can lead to brittleness, followed by cracking, in high-stress regions of a pressure tube. Regular in-service ultrasonic inspection of CANDU pressure tubes aim to locate and classify any flaws that pose a potential for DHC initiation. A common approach to inspection is the use of a bespoke tool containing multiple ultrasonic transducers to ensure that each point on the pressure tube is inspected from a minimum of three angles during a scan. All flaws from within the inspected pressure tubes must be characterized prior to restarting the reactor, thus the time-consuming analysis process lies on the critical outage path. This process is manually intensive and often requires a significant amount of expert knowledge. A modular system to automatically process outage data to provide decision support to analysts has been developed. This system saves time on the critical outage path while providing repeatable and explicable measurements. Part of the analysis process requires the depth of all flaws to be measured, which is often the most time consuming stage of the analysis process. This paper describes an approach that utilizes captured analysts knowledge to perform automatic flaw depth estimation