A feasability study on guided wave-based robotic mapping

Tabatabaeipour, Morteza and Trushkevych, Oksana and Dobie, Gordon and Edwards, Rachel S. and Dixon, Steven and MacLeod, Charles and Gachagan, Anthony and Pierce, S. Gareth (2019) A feasability study on guided wave-based robotic mapping. In: 2019 IEEE International Ultrasonics Symposium, 2019-10-06 - 2019-10-09, SECC.

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Ultrasonic guided wave imaging techniques have received much attention in recent years for fast screening of large structures. Here we explore the feasibility of Occupancy Grid Mapping (OGM) in order to construct a map of an unknown component for inspection. OGM is a well-established algorithm in robotics, but for the first time we are applying it to Shear Horizontal (SH) guided wave imaging. This approach, in contrast to some existing guided wave-based imaging techniques, would not require prior knowledge of an intact state of the sample. OGM works on the ranges obtained by the Time of Flight (ToF) of the received signals operating in pseudo-pulse-echo mode.


Tabatabaeipour, Morteza, Trushkevych, Oksana, Dobie, Gordon ORCID logoORCID: https://orcid.org/0000-0003-3972-5917, Edwards, Rachel S., Dixon, Steven, MacLeod, Charles ORCID logoORCID: https://orcid.org/0000-0003-4364-9769, Gachagan, Anthony ORCID logoORCID: https://orcid.org/0000-0002-9728-4120 and Pierce, S. Gareth ORCID logoORCID: https://orcid.org/0000-0003-0312-8766;