HD Shape Tether for Autonomous Non-Destructive Inspection Tools

Non-destructive testing and evaluation methods on complex structures for US Naval applications are challenging and labor intensive. Luna Innovations, teaming with the Electric Power Research Institute (EPRI) and Robotic Technologies of Tennessee (RTT), will develop a 3D position and orientation measurement system using Luna’s unique fiber optic HD-Shape technology for autonomous inspection tools. The system will be agnostic to the non-destructive sensor platform and only requires a single reference point for an entire inspection process. It is superior to existing positional systems since it does not depend on multiple encoders that require physical contact with the surface and suffer from error stack-up as the system traverses. In addition, the system does not require precision GPS or line-of-sight. A secondary benefit of HD-Shape is that positional data along the entire length of the tether can be used to identify potential entanglement points in low access or dangerous scenarios and allow for an autonomous system to avoid becoming stuck or damaged. Luna will collaborate with the Navy and commercial partners to identify the placement of an HD-Shape sensor on robotic non-destructive inspection tool systems. The HD-Shape sensor will integrate into existing platforms utilizing a standardized protocol. Luna has already demonstrated this capability with manual inspection tools by converting HD-Shape 3D position and orientation data to incremental and absolute encoder inputs on a legacy manual inspection system. A completed field system will be capable of positional accuracies and measurement rates better than typical encoder systems. As the system develops it can be coupled to other technologies that use human-in-the-loop feedback like augmented or virtual reality tools. This is especially useful for increasingly complex structures and inspection methods. To achieve the overall goals, during Phase I, Luna demonstrated a rugged HD-Shape prototype with a semi-autonomous inspection robot. The system also demonstrated the capability of being integrated into an existing semi-autonomous inspection system. During Phase II, Luna will continue developing the system for integration into a robotic inspection system with longer lengths up to 50 m. The completed system will be tested in relevant and operational environments. Phase III will transition the system to Navy acquisition programs for qualification as well as commercial sales.