PAUT inspection of complex-shaped composite materials through six DOFs robotic manipulatorsThe requirement to increase inspection speeds for the non-destructive testing (NDT) of composite aerospace parts is common to many manufacturers. The prevalence of complex curved surfaces in the industry provides significant motivation for the use of six-axis robots for the deployment of NDT probes in these inspections. The IntACom project, developed by TWI Technology Centre (Wales) and supported by a number of major aerospace partners and the Welsh government, has produced a prototype robotic NDT system. The prototype system is capable of inspecting complex-geometry composite components with great time savings. Two six-axis robotic arms deploy end effectors carrying phased array ultrasonic testing (PAUT) probes. A simple-to-use graphical user interface (GUI) has been developed to control all aspects of the robotic inspection, from initial loading of part data, through scanning of the part to data analysis. The collaboration between TWI and the University of Strathclyde has boosted the establishment of new approaches for robotic tool-path generation, targeted to NDT inspections. Many unique features, such as the real-time B-scan for optimisation of PAUT settings and the external control of the robotic manipulators to allow returning to points of interest, increase the usefulness of the inspection process. This paper presents an overview of the project and of the research outcomes.

FMC

BackgroundThe Comparative Data Analysis Ontology (CDAO) is an ontology developed, as part of the EvoInfo and EvoIO groups supported by the National Evolutionary Synthesis Center, to provide semantic descriptions of data and transformations commonly found in the domain of phylogenetic analysis. The core concepts of the ontology enable the description of phylogenetic trees and associated character data matrices.ResultsUsing CDAO as the semantic back-end, we developed a triple-store, named CDAO-Store. CDAO-Store is a RDF-based store of phylogenetic data, including a complete import of TreeBASE. CDAO-Store provides a programmatic interface, in the form of web services, and a web-based front-end, to perform both user-defined as well as domain-specific queries; domain-specific queries include search for nearest common ancestors, minimum spanning clades, filter multiple trees in the store by size, author, taxa, tree identifier, algorithm or method. In addition, CDAO-Store provides a visualization front-end, called CDAO-Explorer, which can be used to view both character data matrices and trees extracted from the CDAO-Store. CDAO-Store provides import capabilities, enabling the addition of new data to the triple-store; files in PHYLIP, MEGA, , and NEXUS formats can be imported and their CDAO representations added to the triple-store.ConclusionsCDAO-Store is made up of a versatile and integrated set of tools to support phylogenetic analysis. To the best of our knowledge, CDAO-Store is the first semantically-aware repository of phylogenetic data with domain-specific querying capabilities. The portal to CDAO-Store is available at http://www.cs.nmsu.edu/~cdaostore.

Abstract. The requirement to increase inspection speeds for non-destructive testing (NDT) of composite aerospace parts is common to many manufacturers. The prevalence of complex curved surfaces in the industry provides significant motivation for the use of 6 axis robots for deployment of NDT probes in these inspections. A new system for robot deployed ultrasonic inspection of composite aerospace components is presented. The key novelty of the approach is through the accommodation of flexible robotic trajectory planning, coordinated with the NDT data acquisition. Using a flexible approach in MATLAB, the authors have developed a high level custom toolbox that utilizes external control of an industrial 6 axis manipulator to achieve complex path planning and provide synchronization of the employed ultrasonic phase array inspection system. The developed software maintains a high level approach to the robot programming, in order to ease the programming complexity for an NDT inspection operator. Crucially the approach provides a pathway for a conditional programming approach and the capability for multiple robot control (a significant limitation in many current off-line programming applications). Ultrasonic and experimental data has been collected for the validation of the inspection technique. The path trajectory generation for a large, curved carbon-fiber-reinforced polymer (CFRP) aerofoil component has been proven and is presented. The path error relative to a raster-scan tool-path, suitable for ultrasonic phased array inspection, has been measured to be within ± 2mm over the 1.6 m 2 area of the component surface.

No abstract