The structure and defects recognition algorithm of an aircraft surface defects inspection robot

Author

Zhiwei, Xing ; Muhua, Chen ; Qingji, Gao

Author_Institution

Inst. of Aviation Autom., Civil Aviation Univ. of China, Tianjin, China

fYear

2009

fDate

22-24 June 2009

Firstpage

740

Lastpage

745

Abstract

The architecture and trajectory tracing control of a climbing robot used for aircraft surface defects inspection are provided in this paper. The robot has been designed with cruciform structure and equipped with jointed legs and suction cup that allow it maneuver over the surface of an aircraft exterior. To enhance the tracing precision and motion stability of the robot, a TLC(trajectory linearization control) control scheme is adopted. And a rivet´s cracks identification algorithm is proposed according to the character of the cracks from a rivet on the surface of aircraft. A star vector algorithm is adopted to extract the feature of rivet with crack defects. And the fuzzy-SVM based algorithm is used to classify the different crack defect around the rivets. The validity of the control scheme and crack defects recognition algorithm is verified by simulation and experiment result.

Keywords

aircraft; fuzzy set theory; mobile robots; motion control; position control; support vector machines; TLC; aircraft surface defects inspection robot; defects recognition algorithm; fuzzy SVM; fuzzy support vector machine; motion stability; rivet cracks identification algorithm; structure recognition algorithm; trajectory linearization control; trajectory tracing control; Aerospace control; Aircraft; Climbing robots; Feature extraction; Inspection; Leg; Legged locomotion; Motion control; Stability; Surface cracks;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation, 2009. ICIA '09. International Conference on

Conference_Location

Zhuhai, Macau

Print_ISBN

978-1-4244-3607-1

Electronic_ISBN

978-1-4244-3608-8

Type

conf

DOI

10.1109/ICINFA.2009.5205019

Filename

5205019