Abstract
Continuous non-destructive monitoring of large-scale structures is extremely challenging with traditional manual inspections. In this paper, we explore possible strategies that a collection of inspection robots could adopt to address this challenge. We envision the continuous inspection of a plate performed by multiple robots or a single robot that combines measurements from multiple locations. The robots use guided ultrasonic waves to interrogate a localized region for defects such as cracking or corrosion. In the detection stage, the receiver operating characteristic defines a detection zone in which a defect is thought to be present. In the localization stage, further measurements are made to locate the defect within this zone to a certain accuracy. We then address the question of what additional measurements are needed to achieve a given level of performance in the presence of uncertainty in robot locations? We explore this problem with Monte Carlo simulations that reveal the compromise between number of robots and performance in terms of defect location accuracy. In an experimental validation example on an aluminium plate, we show that six measurements arranged in a pentagon with a central measurement point leads to localization errors of similar magnitude to the uncertainty in sensor location.
Highlights
This paper takes the existence of small inspection robots as its starting point, and explores how they can be used for generic monitoring of a structure. This requires inspection strategies, methodologies and assessment procedures that can be integrated with the mobile robots for accurate defect detection and localization that is low cost and efficient. We investigate this problem by considering a network of robots, each with a single omnidirectional guided acoustic wave transducer
A methodology by which mobile robots can inspect large plate-like structures has been described
The process was divided into a detection stage and a defect localization stage
Summary
Structures such as buildings, bridges, tunnels, pipes and storage tanks must be routinely inspected to assess their structural integrity and reduce the probability of catastrophic failure [1]. Are typically large and access is often limited, both of which make these inspection tasks challenging. Many of these structures have geometries suitable for inspection using guided royalsocietypublishing.org/journal/rspa Proc.
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More From: Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences
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