摘要: This report summarizes the development of a robotic system designed to assistaircraft inspectors by remotely deploying nondestructive inspection (NDI) sensors and acquiring, processing, and storing inspection data. Carnegie Mellon... 展开 This report summarizes the development of a robotic system designed to assistaircraft inspectors by remotely deploying nondestructive inspection (NDI) sensors and acquiring, processing, and storing inspection data. Carnegie Mellon University studied the task of aircraft inspection, compiled the functional requirements for an automated system to inspect skin fastener rows, and developed a conceptual design of an inspection robot. During the final phase of development, emphasis was placed on the enhancement of the robot's navigational system through automated recognition of image features captured by the navigatioin cameras. Outstanding development issues includes: (1) reducing the weight of the robot so that it is more comfortable to life and position on the aircraft; (2) improving the mechanical reliability and speed of the system; (3) minimizing the scratching of the skin surface by the suction cups and eddy-current sensors; (4) reduction or elimination of the umbilical cable; and (5) automation of the manually controlled operations. To commercialize the technology, a new mechanical system would need to be designed and built incorporating the lessons of this work. Further integration of the software system with additional human-computer interaction features would also be required to simplify operation by the end user. 收起