Mobile robotic sensors for environmental monitoring using gaussian markov random field
- Authors: Nguyen, Linh , Kodagoda, Sarath , Ranasinghe, Ravindra , Dissanayake, Gamini
- Date: 2021
- Type: Text , Journal article
- Relation: Robotica Vol. 39, no. 5 (2021), p. 862-884
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- Description: This paper addresses the issue of monitoring spatial environmental phenomena of interest utilizing information collected by a network of mobile, wireless, and noisy sensors that can take discrete measurements as they navigate through the environment. It is proposed to employ Gaussian Markov random field (GMRF) represented on an irregular discrete lattice by using the stochastic partial differential equations method to model the physical spatial field. It then derives a GMRF-based approach to effectively predict the field at unmeasured locations, given available observations, in both centralized and distributed manners. Furthermore, a novel but efficient optimality criterion is then proposed to design centralized and distributed adaptive sampling strategies for the mobile robotic sensors to find the most informative sampling paths in taking future measurements. By taking advantage of conditional independence property in the GMRF, the adaptive sampling optimization problem is proven to be resolved in a deterministic time. The effectiveness of the proposed approach is compared and demonstrated using pre-published data sets with appealing results. Copyright © The Author(s), 2020. Published by Cambridge University Press.
A solution to the inverse pulsed eddy current problem enabling 3D profiling
- Authors: Ulapane, Nalika , Nguyen, Linh , Miro, Jaime Valls , Dissanayake, Gamini
- Date: 2017
- Type: Text , Conference proceedings
- Relation: 2018 13th IEEE Conference on Industrial Electronics and Applications (ICIEA); Wuhan, China; 31 May 2018 - 02 June 2018 p. 1267-1272
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- Description: When a Pulsed Eddy Current (PEC) sensor assesses a metallic surface (i.e., a wall of finite thickness), the inverse problem involves quantification of the geometry and material properties of the wall. Once a PEC sensor is calibrated for a particular material, and the material under test happens to be considerably homogeneous, the inverse problem reduces to quantification of geometry alone. The state-of-the-art in the industry produces a quantification of this geometry only in the form of average wall thickness remaining underneath the sensor footprint, and produces a 2.5D map containing wall thickness information. Therefore, this paper contributes by proposing a solution that can jointly estimate the remaining wall thickness as well as lift-off (i.e., offset from the sensor to the surface of healthy material), in order to advance PEC sensing outputs by enabling estimation of wall condition in 3D. Since PEC maps are used as inputs for stress calculation and remaining life prediction of certain infrastructure like critical pipes, 3D profiles may become a richer form of input for such applications than 2.5D maps. Since PEC sensing is commonly used to assess ferromagnetic materials, this paper focuses on similar materials as well. The solution is demonstrated in simulation alone and future work should focus on experimental implementations.
Design of a lock-in amplifier integrated with a coil system for eddy-current non-destructive inspection
- Authors: Munoz, Fredy , Miro, Jaime Valls , Dissanayake, Gamini , Ulapane, Nalika , Nguyen, Linh
- Date: 2017
- Type: Text , Conference proceedings
- Relation: 12th IEEE Conference on Industrial Electronics and Applications (ICIEA); Siem Reap, Cambodia; 18-20 June 2017 p. 1948-1953
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- Description: Eddy-current non-destructive inspections of conductive components are of great interest in several industries including civil infrastructure and the mining industry. In this work, we have used a driver-pickup coil system as the probe to carry out inspection of ferromagnetic plates. The specific geometric configuration of the probe generates weak electric signals that are buried in a noisy environment. In order to detect these weak signals, we have designed and implemented a lock-in amplifier as part of the signal processing technique to increase the signal-to-noise ratio and also improve the sensitivity of the probe. We have used Comsol as a finite element method (FEM) to design the probe and conducted experiments with the probe and the lock-in amplifier. The experimental results, which are in agreement with the FEM results, indicate that the designed probe along with a lock-in amplifier can potentially be used to estimate the thickness of thin plates.
Designing a pulsed eddy current sensing set-up for cast iron thickness assessment
- Authors: Ulapane, Nalika , Nguyen, Linh , Miro, Jaime Valls , Alempijevic, Alen , Dissanayake, Gamini
- Date: 2017
- Type: Text , Conference proceedings
- Relation: 2017 12th IEEE Conference on Industrial Electronics and Applications (ICIEA); Siem Reap, Cambodia; 18-20 June 2017 p. 901-906
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- Description: Pulsed Eddy Current (PEC) sensors possess proven functionality in measuring ferromagnetic material thickness. However, most commercial PEC service providers as well as researchers have investigated and claim functionality of sensors on homogeneous structural steels (steel grade Q235 for example). In this paper, we present design steps for a PEC sensing set-up to measure thickness of cast iron, which is unlike steel, is a highly inhomogeneous and non-linear ferromagnetic material. The setup includes a PEC sensor, sensor excitation and reception circuits, and a unique signal processing method. The signal processing method yields a signal feature which behaves as a function of thickness. The signal feature has a desirable characteristic of being lowly influenced by lift-off. Experimental results show that the set-up is usable for Non-destructive Evaluation (NDE) applications such as cast iron water pipe assessment.
Improved signal interpretation for cast iron thickness assessment based on pulsed eddy current sensing
- Authors: Nguyen, Linh , Ulapane, Nalika , Miro, Jaime Valls , Dissanayake, Gamini , Munoz, Fredy
- Date: 2017
- Type: Text , Conference proceedings
- Relation: 2017 12th IEEE Conference on Industrial Electronics and Applications (ICIEA); Siem Reap, Cambodia; 18-20 June 2017 p. 2005-2010
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- Description: This paper presents a novel signal processing approach for computing thickness of ferromagnetic cast iron material, widely employed in older infrastructure such as water mains or bridges. Measurements are gathered from a Pulsed Eddy Current (PEC) based sensor placed on top of the material, with unknown lift-off, as commonly used during non-destructive testing (NDT). The approach takes advantage of an analytical logarithmic model proposed in the literature for the decaying voltage induced at the PEC sensor pick-up coil. An increasingly more accurate and robust algorithm is proven here by means of an Adaptive Least Square Fitting Line (ALSFL) recursive strategy, suitable to recognize the most linear part of the sensor's logarithmic output voltage for subsequent gradient computation, from which thickness is then derived. Moreover, efficiency is also gained as processing can be carried out on only one decaying voltage signal, unlike averaging over multiple measurements as is usually done in the literature. Importantly, the new signal processing methodology demonstrates highest accuracies at the lower thicknesses, a circumstance most relevant to NDT evaluation. Experiments that verify the proposed method in real-world thickness assessment of cast iron material are presented and compared with current practices, showing promising results.