Inline Pipeline Inspection Using Hybrid Deep Learning Aided Endoscopic Laser Profiling

Mukherjee, Subrata; Zhang, Renrui; Alzuhiri, Mohand; Rao, V V R Maheswara; Удпа, Лалита; Deng, Yiming

doi:10.1007/s10921-022-00890-1

Cited by 9 publications

(2 citation statements)

References 35 publications

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“…In the energy sector, robotic NDE is crucial for assessing the health of power plant vessels. Robotic actuation devices, such as wall-climbing robots equipped with eddy current probes, play a critical role in inspecting non-compliant workspaces, including power plant boiler plates, liquid storage tanks, pipelines, and ship hulls 6 – 9 .…”

Section: Introductionmentioning

confidence: 99%

“…Synchronization of twin robot systems 17 and the development of inspection and repair robot crawlers for power plant boiler inspections 6 showcase progress in mobile platform systems. An in-line inspection system for cylindrical pipes, integrating endoscopic laser profiling and machine learning, addresses deformations within pipes 9 . Various imaging and reconstruction solutions include hyperspectral cameras for CFRP panel imaging using robot arms 18 , x-ray computed tomography for reference-free 3D scans to localize damages 19 , 20 , and the use of Structure from Motion techniques in robot arm environments 21 .…”

Section: Introductionmentioning

confidence: 99%

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Efficient data acquisition and reconstruction for air-coupled ultrasonic robotic NDE

Hamilton,

Karpenko,

Udpa

et al. 2024

Sci Rep

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Non-destructive evaluation of complex parts using surface scanning techniques, such as ultrasonic testing and eddy current testing, requires complex manipulation of such sensors to ensure quantitative results. A robotic arm may function as a complex manipulator for surface scanning, controlling the position and tilt between the probe and specimen’s surface. To ensure accuracy in probe manipulation, accurate geometric information of the specimen is required. This article explores a methodology that uses structured light for physical-to-virtual reconstruction, providing submillimeter scale and accurate surface geometries. Reconstruction aids in path planning through a novel ray-triangle intersection array algorithm, establishing movements for the NDE probe to orient itself on the specimen at a constant probe to specimen surface distance, or lift-off. The proposed technique is demonstrated and validated through experimental air-coupled ultrasonic inspection of automotive CFRP composite samples with simulated flaws such as interlaminar delamination. The proposed method employs guided waves and a pitch-catch configuration of air-coupled ultrasonic probes, enabling single-side access scans. A Fanuc 100ib robot arm was used to manipulate the ultrasonic probes along a sample reconstructed with a CR-Scan 01 structured light sensor. The probes were excited at 200khz from a SonoAir system, while also recovering defect vs background information synchronized with the probe’s orientation. Additionally, a framework for potential automation is proposed, with further details to be explored in future works.

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Section: Introductionmentioning

confidence: 99%