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Non-destructive testing (NDT) plays a critical role in controlling the structural integrity (therefore the quality) of aeronautical parts, during fabrication as well as during maintenance. Eddy current (EC) testing is one of the most used NDT techniques in the aerospace industry. However, EC testing is still mainly performed by human operators and reliability as well as repeatability is not always...
This paper presents a method to model and reproduce cyclic trajectories captured from human demonstrations. Heuristic algorithms are used to determine the general type of pattern, its parameters, and its kinematic profile. The pattern is described independently of the shape of the surface on which it is demonstrated. Key pattern points are identified based on changes in direction and velocity, and...
Accurate visual servoing depends extensively on the quality of pose estimation. Sensor fusion provides a solution to improve accuracy and robustness of pose estimation. This paper introduces sensor fusion methods using two cameras to reduce the inaccuracy of pose estimation. Simulation results are reported to verify the efficiency of the proposed methods.
This paper provides a new method for modeling, clustering, and generalizing complex pseudo-periodic motions in a Robot Programming by Demonstration (PbD) framework. Relevant features of the trajectories are extracted by applying a linear mapping off the surface part using Moving Window Principal Component Analysis. A Hidden Markov Model is used for segmentation and temporal clustering of feature data...
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