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首页> 外文期刊>Mechanical systems and signal processing >Application of ultrasonic guided waves to robotic occupancy grid mapping
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Application of ultrasonic guided waves to robotic occupancy grid mapping

机译：超声波引导波在机器人占用网格映射中的应用

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摘要

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 (1σ) was achieved on a 1 × 2 m sample using miniaturised EMATs operating at a wavelength of 22 mm.
机译：本文在移动磁机平台上实现时，评估使用超声波引导波用于使用结构的映射。 它考虑了使用引导超声波映射几何特征的具体问题，这使得边缘和/或焊接接头的定位能够。 由电磁声换能器（Emats）产生的剪切水平（SH）导向波用于将标称厚度为10mm的绘制钢样品。 贝叶斯映射技术（占用网格映射）用于在伪脉冲回波模式下映射不规则样品的边界。 在模拟和基于实验室的实验中证明了原理。 结果表明，所提出的映射算法成功地估计了样本边缘的位置。 通过实验，使用以22mm的波长的小型化EMATS在1×2M样品上实现<1.7mm（1σ）的范围精度。

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  • 来源
    《Mechanical systems and signal processing》 |2022年第1期|108151.1-108151.15|共15页
  • 作者

    Morteza Tabatabaeipour; Oksana Trushkevych; Gordon Dobie; Rachel S. Edwards; Ross McMillan; Charles Macleod; Richard OLeary; Steve Dixon; Anthony Gachagan; Stephen G. Pierce;

  • 作者单位

    Centre for Ultrasonic Engineering Department of Electronic and Electrical Engineering University of Strathclyde Glasgow G1 1XW UK;

    Department of Physics University of Warwick Coventry CV4 7AL UK;

    Centre for Ultrasonic Engineering Department of Electronic and Electrical Engineering University of Strathclyde Glasgow G1 1XW UK;

    Department of Physics University of Warwick Coventry CV4 7AL UK;

    Centre for Ultrasonic Engineering Department of Electronic and Electrical Engineering University of Strathclyde Glasgow G1 1XW UK;

    Centre for Ultrasonic Engineering Department of Electronic and Electrical Engineering University of Strathclyde Glasgow G1 1XW UK;

    Centre for Ultrasonic Engineering Department of Electronic and Electrical Engineering University of Strathclyde Glasgow G1 1XW UK;

    Department of Physics University of Warwick Coventry CV4 7AL UK;

    Centre for Ultrasonic Engineering Department of Electronic and Electrical Engineering University of Strathclyde Glasgow G1 1XW UK;

    Centre for Ultrasonic Engineering Department of Electronic and Electrical Engineering University of Strathclyde Glasgow G1 1XW UK;

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  • 原文格式 PDF
  • 正文语种 eng
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  • 关键词

    Automated non-destructive evaluation; Guided waves; Occupancy grid mapping; Shear horizontal waves; Ultrasonics;

    机译：自动化的非破坏性评估;导波;占用网格映射;剪切水平波;超声波;

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