As far as the research on metrology and surface mapping approaches was regarded, a new robotic arm was procured for the ultrasonic laboratory of the Department of Engineering of the University of Palermo, and an optical metrology system was integrated with it. Thus, a mathematical framework for adaptive and incremental 3D reconstruction of specimens, suitable to be used with robot-manipulated optical 3D scanners, was developed.
This action investigated the requirements for the robotisation of various inspection techniques. A generalised bisection method for optimum ultrasonic ray tracing in multi-layered structures was produced in this context. The performance of different root-finding methods for the solution of ultrasonic ray tracing was investigated. A phase of this action focused on characterising the dependence of signal amplitude from generation source position in laser-based ultrasonic inspections. Furthermore, the sensitivity of an interferometry instrument as a function of the focusing lens and laser-head position was investigated. A complex geometry sample was inspected with different robotised techniques (immersion ultrasonic pulse-echo, through-transmission air-coupled inspection, through-transmission and pulse-echo laser-based inspections).
The action developed software modules for simulation, control, acquisition and data analysis. A novel framework that enables fully autonomous single-pass geometric and volumetric inspection of complex parts using one single robotised sensor was conceptualised and implemented. The developed approach is scalable to different problem sizes, spanning from inspection of relatively small parts (e.g. through industrial robotic arms) to land surface mapping (e.g. through drones). It allows the progressive construction of the digital model of a part surface throughout the inspection process. The framework autonomously confines the inspection into the region of interest, where the part under inspection is detectable.
This action focused on factors that are currently slowing down the establishment of smart manufacturing, with particular emphasis on integrated quality assessment. This work package was proposed as an important collaboration opportunity between the researcher and other researchers in the disciplinary fields. Unfortunately, due to the delays caused by the contingent COVID-19 pandemic, this phase could not be developed to its full extent. Nevertheless, this action reviewed the state-of-the-art, paving the way for future investigations.
This action has generated four peer-reviewed journal publications and six contributions to international conferences. Outreach activities included participation in two European Research nights and public engagement activities for schools.
