Project's technical objectives
To design a robot head with a though impact-resistant chassis able to incorporate the imaging sensors:
- Offering multi-sensor of flexibility and customisation options.
- its basic configuration will be lightweight (less than 30 kilos)
- Incorporating a laser sensor in order to identify and follow the geometry of the inspection area.
To develop the central software interface able to command and control the robotic arm enabling seamless operation of the disparate robotic parts with capabilities ranging from simple tele-operation to fully autonomous operation.
To develop an advanced image processing toolbox incorporated in a man-machine interface that:
- will provide pre-processing algorithms (denoising, filtering, edge preserving, regularisation etc) for improving the information context of the acquired images.
- will provide graphical tools for image processing, analysis and visualisation.
- will offer combined thermographic inspection of large areas through a novel mosaic representation that will be achieved with spatial transformations and advanced image registration techniques.
- combines the inspection capabilities of the three imaging subsystems by developing an image fusion technique based on the wavelet transform.
- is capable of detecting automatically different types of defects in the composite surfaces through the development of an integrated pattern recognition system (minimum detected lateral size:3mm)
- will accomplish a depth estimation for the detected defect areas (maximum detected depth: 2 mm for the minimum detected lateral size of defect).