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<p>This research is motivated by structural health monitoring (SHM) and non-destructive testing and evaluation (NDTE) methods to inform preservation efforts. This paper presents an acoustic monitoring SHM method, deemed tap testing, which is used to detect signs of deterioration in structural surfaces by nondestructive means. The system is set up on a mobile robot titled Brutus. This research seeks to improve deployment of this ground vehicle by a vision system enhanced by Augmented Reality (AR) tools. A new AR control interface is developed for wireless control of driving, steering, and tap testing actuation with distance sensor feedback to fully inform the user while reducing the previously necessary equipment load of a handheld controller and device to display sensor data. The sensor-AR communication pipeline is created to inform on vehicle proximity to the test surface. The aim of the main body of work was to create a mixed reality interface for the Microsoft HoloLens 2 (HL2), thus improving the cooperation between operator and robot. The HoloLens is a head mounted display (HMD) AR device that operates via see-through display. A mixed reality application created with Unity enables informed control of Brutus. The results of the reported experiments indicate that augmenting a control panel with critical information collected from sensors in real-time enables high level control for SHM applications without distracting the operator’s focus. </p>

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Augmented reality for enhanced robot controllability in structural tap testing

  • 期刊论文

  • 发表日期：

    2025年6月29日

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  • Elijah Wyckoff,
  • Marlan Ball,
  • John-Wesley Hanson,
  • Ronan Reza,
  • Eric Olaguir,
  • Fernando Moreu

摘要

This research is motivated by structural health monitoring (SHM) and non-destructive testing and evaluation (NDTE) methods to inform preservation efforts. This paper presents an acoustic monitoring SHM method, deemed tap testing, which is used to detect signs of deterioration in structural surfaces by nondestructive means. The system is set up on a mobile robot titled Brutus. This research seeks to improve deployment of this ground vehicle by a vision system enhanced by Augmented Reality (AR) tools. A new AR control interface is developed for wireless control of driving, steering, and tap testing actuation with distance sensor feedback to fully inform the user while reducing the previously necessary equipment load of a handheld controller and device to display sensor data. The sensor-AR communication pipeline is created to inform on vehicle proximity to the test surface. The aim of the main body of work was to create a mixed reality interface for the Microsoft HoloLens 2 (HL2), thus improving the cooperation between operator and robot. The HoloLens is a head mounted display (HMD) AR device that operates via see-through display. A mixed reality application created with Unity enables informed control of Brutus. The results of the reported experiments indicate that augmenting a control panel with critical information collected from sensors in real-time enables high level control for SHM applications without distracting the operator’s focus.