An aero-engine inspection continuum robot with tactile sensor based on EIT for exploration and navigation in unknown environment

Wang, Yaming; Ju, Feng; Cao, Yanfei; Yun, Yahui; Wang, Yaoyao; Bai, Dongming; Chen, Bai

doi:10.1109/aim.2019.8868485

Cited by 6 publications

(3 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Regarding the size issue, the robot structure can feasibly be miniaturised through the use of smaller spherical bearings, to a diameter of 12 mm. While most MISbased continuum robots require a smaller diameter, some applications have utilised robots of up to 12 mm [17,18], while applications such as airplane engine inspection and repairs, as well as for exploration, have used continuum robots with diameters between 12 and 25 mm [19][20][21][22]. Regarding the safety issue, as well as the interference issue, use of a current source switching circuit using a DEMUX and transistors is proposed to provide all the current required for all the optoelectronic sensors, thereby reducing overall power consumption in the robotic manipulator, and eliminating the possibility of interference between adjacent optoelectronic sensors.…”

Section: Discussionmentioning

confidence: 99%

Shape Sensing for Continuum Robotics Using Optoelectronic Sensors with Convex Reflectors

Osman,

Du,

Minton

et al. 2024

Electronics

View full text Add to dashboard Cite

Three-dimensional shape sensing in soft and continuum robotics is a crucial aspect for stable actuation and control in fields such as minimally invasive surgery, engine repairs and search and rescue operations, as the estimation of complex curvatures while using continuum robotic tools is required to manipulate through fragile paths. This challenge has been addressed using a range of different sensing techniques, for example, Fibre Bragg grating (FBG) technology, inertial measurement unit (IMU) sensor networks, or stretch sensors. Previously, an optics-based method using optoelectronic sensors was explored, offering a simple and cost-effective solution for shape sensing in a flexible tendon-actuated manipulator in two orientations. This was based on proximity-modulated angle estimation and has been the basis for the shape sensing method addressed in this paper. The improved and miniaturised technique demonstrated in this paper is based on the use of a convex shaped reflector with optoelectronic sensors integrated into a tendon-actuated robotic manipulator. Upgraded sensing capability is achieved using optimisation of the convex reflector shape in terms of sensor range and resolution, and improved calibration is achieved through the integration of spherical bearings for friction-free motion. Shape estimation is achieved in two orientations upon calibration of sensors, with a maximum Root-Mean-Square Error (RMS) of 3.37°.

show abstract

Section: Discussionmentioning

confidence: 99%

Shape Sensing for Continuum Robotics Using Optoelectronic Sensors with Convex Reflectors

Osman,

Du,

Minton

et al. 2024

Electronics

View full text Add to dashboard Cite

show abstract

“…Upon contact with humans, they are able to sense the contact as well as absorb the shock from the collision. A soft dome structure was introduced in [ 69 , 70 ] to detect an object in front of a robot. This structure contains an array of piezoresistive tactile sensors, which upon contact change their resistance.…”

Section: Classificationmentioning

confidence: 99%

Sensing of Continuum Robots: A Review

Sincak,

Prada,

Miková

et al. 2024

Sensors

View full text Add to dashboard Cite

The field of continuum robotics is rapidly developing. The development of new kinematic structures, locomotion principles and control strategies is driving the development of new types of sensors and sensing methodologies. The sensing in continuum robots can be divided into shape perception and environment perception. The environment perception is focusing on sensing the interactions between the robot and environment. These sensors are often embedded on an outer layer of the robots, so the interactions can be detected. The shape perception is sensing the robot’s shape using various principles. There are three main groups of sensors that use the properties of electricity, magnetism and optics to measure the shape of the continuum robots. The sensors based on measuring the properties of electricity are often based on measuring the electrical resistance or capacitance of the flexible sensor. Sensors based on magnetism use properties of permanent magnets or coils that are attached to the robot. Their magnetic field, flux or other properties are then tracked, and shape reconstruction can be performed. The last group of sensors is mostly based on leveraging the properties of traveling light through optical fibers. There are multiple objectives of this work. Objective number one is to clearly categorize the sensors and make a clear distinction between them. Objective number two is to determine the trend and progress of the sensors used in continuum robotics. And finally, the third objective is to define the challenges that the researchers are currently facing. The challenges of sensing the shape or the interaction with the environment of continuum robots are currently in the miniaturization of existing sensors and the development of novel sensing methods.

show abstract

“…In the field of nick damage detection in rotating 3D blade-like structural elements, Buezas et al [19] employed genetic algorithms (GAs) to implement multi-layer detection. Advancements in continuum robotics have enabled researchers, as mentioned in references [20,21], to design snake-like robots capable of autonomously exploring the intricate inner spaces of gas turbines. Morini et al [22] conducted a specialized study on compressor fouling, addressing associated issues and potential solutions.…”

Section: Introductionmentioning

confidence: 99%

Automatic Defect Detection of Jet Engine Turbine and Compressor Blade Surface Coatings Using a Deep Learning-Based Algorithm

Zubayer,

Zhang,

Liu

et al. 2024

Coatings

View full text Add to dashboard Cite

The application of additive manufacturing (AM) in the aerospace industry has led to the production of very complex parts like jet engine components, including turbine and compressor blades, that are difficult to manufacture using any other conventional manufacturing process but can be manufactured using the AM process. However, defects like nicks, surface irregularities, and edge imperfections can arise during the production process, potentivally affecting the operational integrity and safety of jet engines. Aiming at the problems of poor accuracy and below-standard efficiency in existing methodologies, this study introduces a deep learning approach using the You Only Look Once version 8 (YOLOv8) algorithm to detect surface, nick, and edge defects on jet engine turbine and compressor blades. The proposed method achieves high accuracy and speed, making it a practical solution for detecting surface defects in AM turbine and compressor blade specimens, particularly in the context of quality control and surface treatment processes in AM. The experimental findings confirmed that, in comparison to earlier automatic defect recognition procedures, the YOLOv8 model effectively detected nicks, edge defects, and surface defects in the turbine and compressor blade dataset, attaining an elevated level of accuracy in defect detection, reaching up to 99.5% in just 280 s.

show abstract

An aero-engine inspection continuum robot with tactile sensor based on EIT for exploration and navigation in unknown environment

Cited by 6 publications

References 11 publications

Shape Sensing for Continuum Robotics Using Optoelectronic Sensors with Convex Reflectors

Shape Sensing for Continuum Robotics Using Optoelectronic Sensors with Convex Reflectors

Sensing of Continuum Robots: A Review

Automatic Defect Detection of Jet Engine Turbine and Compressor Blade Surface Coatings Using a Deep Learning-Based Algorithm

Contact Info

Product

Resources

About