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  <doc>
    <id>61638</id>
    <completedYear/>
    <publishedYear>2024</publishedYear>
    <thesisYearAccepted/>
    <language>eng</language>
    <pageFirst>1</pageFirst>
    <pageLast>9</pageLast>
    <pageNumber/>
    <edition/>
    <issue/>
    <volume/>
    <type>conferenceobject</type>
    <publisherName>NDT.net</publisherName>
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    <title language="eng">Automated self-adjustment of array probe with a robotic ultrasonic test system</title>
    <abstract language="eng">Ultrasonic testing of objects with complex geometries often requires the use of a robotic arm to position the probe perpendicular to the local surface. Using immersion makes it possible to test these objects with standard ultrasonic linear array probes. Here, the probe positions and orientations provided by the robot are used for merging the locally acquired image data into a 3D-reconstruction. The quality of this reconstruction is highly dependent on the alignment of the position of the physical probe with the position used in the digital model. For common industrial tools, the tool center point (TCP) is usually acquired using geometric features of the tools. However, for ultrasonic arrays in immersion, there is a water standoff between the probe and the test object, therefore the TCP is in free space in front of the array and cannot be acquired with the common method. To overcome this challenge, we propose a method that allows the robotic ultrasonic system to automatically self-adjust the position and orientation of the ultrasonic probe using a test block made of steel with defined geometric features as a target for referencing. For each of the six degrees of freedom, a scan and adjustment routine are established using the data based on the actual ultrasound characteristics of the probe. Given a coarse pre-definition of the tool position and the known target test block, minimal human interaction is required to supervise the adjustment method, leading to higher quality reconstructions than with manual adjustment.</abstract>
    <parentTitle language="eng">Proceedings of the 20th World Conference on Non-Destructive Testing (WCNDT 2024), 27-31 May 2024 in Incheon, South Korea (WCNDT 2024)</parentTitle>
    <identifier type="issn">1435-4934</identifier>
    <identifier type="url">https://www.ndt.net/search/docs.php3?id=30309</identifier>
    <identifier type="urn">urn:nbn:de:kobv:b43-616387</identifier>
    <enrichment key="eventName">20th World Conference On Non-Destructive Testing (WCNDT 2024)</enrichment>
    <enrichment key="eventPlace">Incheon, South Korea</enrichment>
    <enrichment key="eventStart">27.05.2024</enrichment>
    <enrichment key="eventEnd">31.05.2024</enrichment>
    <enrichment key="opus.source">publish</enrichment>
    <licence>Creative Commons - CC BY - Namensnennung 4.0 International</licence>
    <author>Christian Hassenstein</author>
    <author>Philipp Daniel Hirsch</author>
    <author>Jonas Wassermann</author>
    <author>Thomas Heckel</author>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Testing</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Automation</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>NDT 4.0</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Robotics</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Ultrasonic</value>
    </subject>
    <collection role="ddc" number="620">Ingenieurwissenschaften und zugeordnete Tätigkeiten</collection>
    <collection role="institutes" number="">8 Zerstörungsfreie Prüfung</collection>
    <collection role="institutes" number="">8.4 Akustische und elektromagnetische Verfahren</collection>
    <collection role="institutes" number="">8.3 Thermografische Verfahren</collection>
    <collection role="themenfelder" number="">Material</collection>
    <collection role="themenfelder" number="">Degradationsmechanismen</collection>
    <collection role="fulltextaccess" number="">Datei für die Öffentlichkeit verfügbar ("Open Access")</collection>
    <collection role="literaturgattung" number="">Graue Literatur</collection>
    <collection role="unnumberedseries" number="">Wissenschaftliche Artikel der BAM</collection>
    <thesisPublisher>Bundesanstalt für Materialforschung und -prüfung (BAM)</thesisPublisher>
    <file>https://opus4.kobv.de/opus4-bam/files/61638/A20231101-2010_E_fromNDTnet.pdf</file>
  </doc>
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