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With the development of materials science and technology, composite workpieces are increasingly used. This paper aims to discuss a non-destructive testing (NDT) solution for semi-enclosed composite workpieces. A dual-robot system with one robot that grips an irregular-shaped ultrasonic probe (tool) is established.

According to robotics, this paper defines the orientations of the discrete points coordinate frames in trajectory and proposes an orientation constraint rule between the tool coordinate frame and the scanning trajectory. A four-posture calibration method for calibrating the transformation relationship of the irregular-shaped tool frame relative to the robot flange frame is presented in detail.

Calibration and verification experiments were performed, and good-quality C-scan images were obtained by applying the constraint rule and the calibration method. Experimental results show that the calibration method used to determine the tool centre point (TCP) position is correct, effective and efficient; the TCP orientation constraint rule can ensure the extension pole of the irregular-shaped ultrasonic probe is parallel to the axis of the semi-enclosed cylindrical workpieces; and the ultrasonic transducer axis is perpendicular to the surface of the workpiece.

This paper proposes a constraint method for the posture of an irregular-shaped tool in this scheme. Theoretical foundations for the four-posture calibration method of the irregular-shaped tool for dual-robot-assisted ultrasonic NDT are presented in detail. This strategy has been successfully applied in the NDT experiment of semi-enclosed composite workpieces.

Examines a prototype robot which is being developed to carry out non‐destructive inspection maintenance and repair [IMR] of buildings and structures. Describes some of the areas where IMR is crucial i.e. bridges, tall buildings and petro‐chemical storage tanks and the variety of inspection tasks a robot would be required to carry out. Looks at the essential technologies to be considered for a successful inspection robot and outlines the areas of access and mobility, robot construction, control strategy and the external sensing systems it would need. Concludes that this prototype is capable of delivering single NDT packages and that in the future it is intended that the robot will be able to exchange its own NDT packages. Expresses some reservation about whether a free climbing version would be viable.

The purpose of this paper is to provide an insight on the use of robots in a range of industrial test and inspection applications.

Following a brief introduction, this discusses robotic test and inspection products and practices in the following applications: pipelines, storage tanks, bridges, marine uses, green energy generation and aerospace. Finally, concluding comments are drawn.

This shows that robotic test and inspection practices are being used in a wide range of applications across a diversity of industries. This reflects the many operational and economic benefits arising from their use which include the ability to automate certain laborious manual methods; operation in hazardous locations; uses in inaccessible environments such as within pipelines; the ability to deploy several different techniques simultaneously and thus detect multiple potential defects; reduced workforce costs; and, very often, more rapid testing and greater data acquisition rates than are possible with human operators.

This illustrates the increasingly important role played by robotic technologies in industrial test and inspection practices.

The need to examine the integrity of infrastructure in the rail industry in order to improve its reliability and reduce the chances of breakdown due to defects has brought about development of an inspection and diagnostic robot.

In this study, an inspection robot was designed for detecting crack, corrosion, missing clips and wear on rail track facilities. The robot is designed to use infrared and ultrasonic sensors for obstacles avoidance and crack detection, two 3D-profilometer for wear detection as well as cameras with high resolution to capture real time images and colour sensors for corrosion detection. The robot is also designed with cameras placed in front of it with colour sensors at each side to assist in the detection of corrosion in the rail track. The image processing capability of the robot will permit the analysis of the type and depth of the crack and corrosion captured in the track. The computer aided design and modeling of the robot was carried out using the Solidworks software version 2018 while the simulation of the proposed system was carried out in the MATLAB 2020b environment.

The results obtained present three frameworks for wear, corrosion and missing clips as well as crack detection. In addition, the design data for the development of the integrated robotic system is also presented in the work. The confusion matrix resulting from the simulation of the proposed system indicates significant sensitivity and accuracy of the system to the presence and detection of fault respectively. Hence, the work provides a design framework for detecting and analysing the presence of defects on the rail track.

The development and the implementation of the designed robot will bring about a more proactive way to monitor rail track conditions and detect rail track defects so that effort can be geared towards its restoration before it becomes a major problem thus increasing the rail network capacity and availability.

The novelty of this work is based on the fact that the system is designed to work autonomously to avoid obstacles and check for cracks, missing clips, wear and corrosion in the rail tracks with a system of integrated and coordinated components.