Automatic Fracture Characterization Using Tactile and Proximity Optical Sensing

被引:8
作者
Palermo, Francesca [1 ]
Konstantinova, Jelizaveta [1 ,2 ]
Althoefer, Kaspar [1 ,3 ]
Poslad, Stefan [1 ]
Farkhatdinov, Ildar [1 ,3 ,4 ]
机构
[1] Queen Mary Univ London, Sch Elect Engn & Comp Sci, London, England
[2] Ocado Technol, Robot Res, London, England
[3] Alan Turing Inst, Programme Artificial Intelligence, London, England
[4] Imperial Coll Sci Technol & Med, Dept Bioengn, London, England
来源
FRONTIERS IN ROBOTICS AND AI | 2020年 / 7卷
基金
英国工程与自然科学研究理事会;
关键词
sensing; haptic exploration; crack recognition; extreme environment; optical sensing; fiber-optics; SENSOR; SIGNALS; USKIN; SKIN; SOFT;
D O I
10.3389/frobt.2020.513004
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
This paper demonstrates how tactile and proximity sensing can be used to perform automatic mechanical fractures detection (surface cracks). For this purpose, a custom-designed integrated tactile and proximity sensor has been implemented. With the help of fiber optics, the sensor measures the deformation of its body, when interacting with the physical environment, and the distance to the environment's objects. This sensor slides across different surfaces and records data which are then analyzed to detect and classify fractures and other mechanical features. The proposed method implements machine learning techniques (handcrafted features, and state of the art classification algorithms). An average crack detection accuracy of similar to 94% and width classification accuracy of similar to 80% is achieved. Kruskal-Wallis results (p < 0.001) indicate statistically significant differences among results obtained when analysing only integrated deformation measurements, only proximity measurements and both deformation and proximity data. A real-time classification method has been implemented for online classification of explored surfaces. In contrast to previous techniques, which mainly rely on visual modality, the proposed approach based on optical fibers might be more suitable for operation in extreme environments (such as nuclear facilities) where radiation may damage electronic components of commonly employed sensing devices, such as standard force sensors based on strain gauges and video cameras.
引用
收藏
页数:15
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