ロボットアームとニューラルレンダリングによる超音波レーザースキャンの自動化
3D Neural Rendering for Automated Ultrasonic Laser Scans
6自由度ロボットアームで試験片を回転させながらレーザードップラー振動計で2Dスキャンし、複素数値の波動場を再構成するNeRF改良モデル(complex-nerfacto)を提案。欠陥検出に有効な表面波動場再構成を実現した。
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著者: Thomas Pierson, Matthew Mitchell, Kira Perna, Anand Iyer, Eric Flynn, Adam Wachtor
分類: cs.CV, cs.RO, physics.app-ph
原文アブストラクト
Laser doppler vibrometer (LDV) scans can be used to detect defects and cracks in manufactured parts before they are deployed. This work presents a method for reconstructing the steady-state surface wavefield of a three-dimensional part by combining automated robotic manipulation with neural rendering. A six-degree-of-freedom (6-DOF) robotic manipulator (UFactory xArm6) with an embedded piezoelectric transducer presented an acoustically excited test article to a stationary LDV at a sequence of known orientations, yielding a set of complex-valued 2D scans with poses derived analytically from the arm kinematics rather than from image-based pose estimation. These scans were used to train a novel complex-nerfacto model, a modified Neural Radiance Field (NeRF) pipeline that replaces the standard three-channel RGB output head with a two-channel output. Complex-nerfacto represents the real and imaginary velocity components of a wavefield, preserving the complex measurement without quantization. Reconstructions of a welded aluminum cylinder and a welded T-bracket were evaluated against measured scans using Z-normalized cross-correlation (ZNCC). The complex-valued pipeline achieved a mean ZNCC of 0.60 at held-out viewing angles, compared with 0.28 for a baseline RGB nerfacto model trained on rendered images of the same data. The resulting surface wavefield reconstructions supported defect detection and characterization on complex components. We identify geometry reconstruction from sparse LDV scans as the remaining obstacle to practical deployment.