自主空中非破坏性检测：在无结构环境中使用商用四旋翼进行超声波检查
Autonomous Aerial Non-Destructive Testing: Ultrasound Inspection with a Commercial Quadrotor in an Unstructured Environment
AI总结：
本文提出了一种基于商用四旋翼的自主非破坏性检测系统，通过实时控制架构实现接触式超声波检查，在无结构工业环境中完成自主检测任务。
摘要：
本文提出了一种集成的控制和软件架构，使有可能实现首次完全自主的接触式非破坏性检测（NDT）。为了使商用多旋翼能够自主运行，我们开发了一个实时框架，直接与其机载传感器套件接口。该架构具有多速率控制方案：低级控制以200 Hz执行，力估计以100 Hz执行，而顺应滤波器和轨迹规划器以50 Hz执行，最终向内部飞行控制器提供加速度和偏航率命令。我们通过在配备超声波载荷的Flyability Elios 3四旋翼上的物理实验验证了该系统。仅依靠机载传感，该无人机能够在无结构、工业类环境中实现自主NDT测量。这项工作展示了将现成平台改装为自主物理交互的可能性，为安全、接触式检查危险和狭窄基础设施铺平了道路。
英文摘要：
This work presents an integrated control and software architecture that enables arguably the first fully autonomous, contact-based non-destructive testing (NDT) using a commercial multirotor originally restricted to remotely-piloted operations. To allow autonomous operation with an off-the-shelf platform, we developed a real-time framework that interfaces directly with its onboard sensor suite. The architecture features a multi-rate control scheme: low-level control is executed at 200 Hz, force estimation at 100 Hz, while an admittance filter and trajectory planner operate at 50 Hz, ultimately supplying acceleration and yaw rate commands to the internal flight controller. We validate the system through physical experiments on a Flyability Elios 3 quadrotor equipped with an ultrasound payload. Relying exclusively on onboard sensing, the vehicle successfully performs autonomous NDT measurements within an unstructured, industrial-like environment. This work demonstrates the viability of retrofitting off-the-shelf platforms for autonomous physical interaction, paving the way for safe, contact-based inspection of hazardous and confined infrastructure.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
