Robotic Imaging System · 2020. 12. 18. · EN ISO 19232 - Image quality of X-Ray systems Wire pair D13 (50µm) resolved Measured using: Widepix 1x5 MPX3 CdTe (1 mm) Tube @ 120kVp

Robotic Imaging System

Radalytica a.s.

March 6, 2020 Radalytica a.s. | Robotic Imaging System

Radalytica a.s.• Deep knowledge of radiation imaging• In-house advanced imaging and robotics R&D• Mechanical design• Software development

• Labs in Prague• Production in Olomouc

EU and Czech Gov. funded projectsVR for NDTFullSPECT 3D

IrradionThyroPIX

Collaborations

Maastricht Uni.SONOTECUniversal Robots

TWICTU

WHAT WE DO

Radalytica is the leading provider of robotic imaging solutions

for non-destructive testing. Our mission is to deliver top-class,

easy to use 2D and 3D robotic imaging system (RIS).

Our services are based on state-of-the-art imaging

technologies such as air-coupled ultrasound, photon counting

X-ray imaging detectors, computed tomography and more to

improve client’s quality control.



TECHNOLOGY

We develop advanced robotics technology to control multiple

robots integrated in a single imaging system. The system can

inspect advanced composite materials with complex curvatures

using air-coupled ultrasound probes and/or X-rays. The new

generation of X-ray imaging detectors provides unprecedented

image quality that helps eg. identifying impurities in materials and

products, bubbles, cracks, foreign objects, misalignments, etc. It

has a wide range of applications in aerospace, automotive,

healthcare, laboratories and many other industries, all at

micrometric level in 2D or even 3D image.


ROBOTIC IMAGING SYSTEM

RIS is modular with several imaging options such as spectral X-ray, computed tomography, ultrasound,

thermography and so on. It is a powerful platform, yet easy to customize and combine several imaging

techniques.

In classical X-ray imaging systems, both the X-ray tube and the detector are fixed or more only in a

limited range of directions (left, right, up, down). Hence, it is not easy, or even possible, to inspect

selected areas of larger structures, especially when they have complex shapes. Contrary to the classical

X-ray imaging setups, the robotic system gives nearly absolute flexibility of viewing angles. Therefore,

robots allow „looking“ with X-rays from a different perspective to localize the defects easier, faster and

better. RIS makes the X-ray inspection as easy as visual control.


ROBOTIC IMAGING SYSTEM

RIS supports air-coupled ultrasound to inspect advanced composite materials. The robotic arms offer

high degrees of freedom in following the complex curvature on both sides of the inspected object.

Therefore, it is suitable for shaped samples such as aircraft fuselage, wings, propeller blades, etc.

Moreover, the robots allow measuring 3D images using computed tomography or tomosynthesis in

region of interest of a large object. These are commonly used methods in X-ray inspection, but with

limited applicability on large objects. Robots overcome this limit. The robotic imaging system could be

used in quality control labs or built into production lines.


ADVANTAGES OF THE ROBOTIC IMAGING SYSTEMS:

- Modular: combination of imaging methods

- Total freedom of X-ray viewing angles

- Flexibility regarding size and shape of samples

- Air-coupled ultrasound scan of complex curvatures

- Extendible to 3D by Computed Tomography and Tomosythesis

- High resolution of 50 µm in large area scans

- Online and real time inspection

- Automatic repetitive inspection

- Easy programming or intuitive manual handling using 3D Mouse Move

- Possibility to integrate into production lines or stand-alone flexible lab systems or portable systems

Industrial fully digital X-ray imaging systems and CT machines have limits on sample size.

Limits of common X-ray systems – sample size


X-ray source

ROBOTIC IMAGING SYSTEM:- Consist from 2 collaborative robots equipped with imaging system.- Robots are moving around the sample by precise synchronized movement.- Sample is always exactly between them.- Manipulability of robots allow 3D scan from each side of sample.

X-ray detector

Sample X-ray image



ROBOTIC SYSTEM: free collaborative movement in 6 axes


Easy real time inspection with3D MOUSE MOVE

3D Mouse Move is a plugin for SpaceMouse that allows controlling

the systems collaborative arms in real time and in any arbitrary

direction or rotation. Simply, once you shift and tilt the

SpaceMouse, the robot tool will follow the same tilt and shift.

Users position the robots are out of the operator‘s reach, 3D

Mouse Move replicates the same intuitive experience. Such cases

happen if the robots are inside another room or within inaccessible

areas by the operator, which is the case for RIS due to radiation

safety. 3D Mouse Move can be used to teach the robots during

programming or controlling them real-time to perform tasks.

ROBOTIC IMAGING SYSTEM- Imaging system can be composed by:

Imaging system: X-ray Ultrasonic (UT) Combination X-ray & UT

Robot 1 (transmitter)

X-ray tube Air-coupled ultrasonic transmitter(SONOTEC GmbH)

X-ray tube & Ultrasonic transmitter

Robot 2 (detection)

Photon counting detector(Advacam s.r.o.)

Air-coupled ultrasonic receiver(SONOTEC GmbH)

Photon counting detector & Ultrasonic receiver


X-rays

X-ray image with parallax

Honeycomb structures commonly used in aerospace industry

X-rays

X-ray image with no parallax

X-ray imaging of ordered structures

Regular X-ray images suffer from parallax distortion – object parts seen from an angle.

Robots allow simulating a parallel beam!


X-ray Module: Parallel scan


Note: X-Ray Image with with parallax effect.

X-ray Module: Parallel scan


Note: X-Ray Image without parallax eliminated by robots movements. Structure defects are visible.


ROBOTIC IMAGING SYSTEM: X-Ray vs. UT



Honeycomb sandwich panel with artificial defects in skin-to-honeycomb connection. On the left: UT scan, right: X-ray scan. Both scans show the artificial circular inserts simulating disconnection of the honeycomb from the skin. The X-ray can detect all insert sizes. UT detects inserts at level of ~4 cells.



Composite with impact damage - delamination. left: UT scan, middle: X-ray scan, right: combined UT+X-ray. In this case is the defect perfectly detected with UT. The X-ray image again reveals orientation of fibre bundles.

X-ray comparison with UT on sample CRFP


Photo of the CRFP Combination X-ray & UTUTX-ray

Photo of the CRFP sample damaged by an impact show punch through the composite.

The X-ray scan and the UT scan. Both UT and X-rays easily detect the heavily damaged area. However, only UT detects also the delaminated layers in the vicinity of the impact. Combined UT (red color) and X-ray images (luminosity). Single image shows delaminations, cracks, fibre bundles and even the paint markers on the sample surface.

X-ray Module: parallax scan of wing


Composite wing inspection


Composite wing inspection


Foreign object detection

A cloth left inside composite wing


ROBOTIC IMAGING SYSTEM: X-ray Module - complex shapes



ROBOTIC IMAGING SYSTEM: X-ray Module - complex shapes

Samples of X-ray Images: carbon fibre bike frame



Sample of X-ray computed tomography: CFRP


EN ISO 19232 - Image quality of X-Ray systems

Wire pair D13 (50µm) resolved

Measured using:

Widepix 1x5 MPX3 CdTe (1 mm)Tube @ 120kVp

Note: EN ISO 19232 require minimum 20%, our system has almost 60% = better image quality


EN ISO 17636-2 – Non-destructive testing of welds

- To maintain good flow sensitivity, the X-Ray tube voltageshould be as low as possible and SNRn in the digitalImage should be as high as possible.

- Recommended maximum values of X-Ray tube voltage versus Penetrated thickness.

Note: High sensitivity of our detector allow use lower energy


EN ISO 17636-2 – Non-destructive testing of welds

Note: Robot flexibility help fulfil requirements ISO 17636-2 regarding position, angles, distances.


Sample of X-ray image: Welds






Following samples of X-ray images proof capabilities high resolution X-Ray image at low energies, due to advanced photon counting detector Widepix 1x5 MPX3 CdTe.

Samples of X-ray Images: Coral fish


Samples of X-ray Images: Poppy head


Samples of X-ray Images: Seed pod


Samples of X-ray Images: Chilli pepper pod


Signed

Vincent van Gogh

La Crau with Montmajourin the backgroud

~1888




Documents

Robotic Imaging System · 2020. 12. 18. · EN ISO 19232 - Image quality of X-Ray systems Wire pair D13 (50µm) resolved Measured using: Widepix 1x5 MPX3 CdTe (1 mm) Tube @ 120kVp