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Application of ultrasonic guided waves to robotic occupancy grid mapping
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Tabatabaeipour, Morteza, Trushkevych, Oksana, Dobie, Gordon, Edwards, R. S. (Rachel S.), McMillan, Ross, Macleod, Charles, O'Leary, Richard, Dixon, Steve M., Gachagan, Anthony and Pierce, Stephen G. (2022) Application of ultrasonic guided waves to robotic occupancy grid mapping. Mechanical Systems and Signal Processing, 163 . 108151. doi:10.1016/j.ymssp.2021.108151 ISSN 0888-3270.
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WRAP-application-ultrasonic-guided-waves-robotic-occupancy-grid-mapping-Edwards-2021.pdf - Accepted Version - Requires a PDF viewer. Available under License Creative Commons Attribution Non-commercial No Derivatives 4.0. Download (2317Kb) | Preview |
Official URL: http://dx.doi.org/10.1016/j.ymssp.2021.108151
Abstract
This paper evaluates the benefits of using ultrasonic guided waves for the mapping of a structure, when implemented on a mobile magnetic robotic platform. It considers the specific problem of mapping geometric features using the guided ultrasonic waves, which enables the localisation of edges and/or the welded joints. Shear Horizontal (SH) guided waves generated by Electro-Magnetic Acoustic Transducers (EMATs) are used for mapping steel samples with a nominal thickness of 10 mm. A Bayesian mapping technique (Occupancy grid mapping) was used to map the boundaries of an irregular sample in a pseudo-pulse-echo mode. The principle is demonstrated in both simulation and laboratory-based experiments. It is shown that the proposed mapping algorithm successfully estimates the position of a sample’s edges. Experimentally, a range accuracy of < 1.7 mm (1) was achieved on a 1 × 2 m sample using miniaturised EMATs operating at a wavelength of 22 mm.
Item Type: | Journal Article | |||||||||
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Subjects: | Q Science > QC Physics T Technology > TA Engineering (General). Civil engineering (General) T Technology > TJ Mechanical engineering and machinery |
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Divisions: | Faculty of Science, Engineering and Medicine > Science > Physics | |||||||||
Library of Congress Subject Headings (LCSH): | Wave mechanics, Ultrasonic testing, Robotics, Ultrasonics | |||||||||
Journal or Publication Title: | Mechanical Systems and Signal Processing | |||||||||
Publisher: | Academic Press | |||||||||
ISSN: | 0888-3270 | |||||||||
Official Date: | 15 January 2022 | |||||||||
Dates: |
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Volume: | 163 | |||||||||
Article Number: | 108151 | |||||||||
DOI: | 10.1016/j.ymssp.2021.108151 | |||||||||
Status: | Peer Reviewed | |||||||||
Publication Status: | Published | |||||||||
Access rights to Published version: | Restricted or Subscription Access | |||||||||
Date of first compliant deposit: | 7 July 2021 | |||||||||
Date of first compliant Open Access: | 24 June 2022 | |||||||||
RIOXX Funder/Project Grant: |
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