Dual-Robot Spherical Alignment for Nondestructive Imaging
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Solution Overview
Problem
Existing non-destructive evaluation systems face challenges in efficiently aligning radiation sources and detectors for comprehensive imaging of large or bulky objects, often requiring manual trial-and-error and lacking flexibility in positioning due to rigid mechanical setups.
Innovation Solution
A dual-robotic arm system with a control unit that utilizes a spherical coordinate system to automatically align a radiation source and detector based on user input, enabling precise positioning and orientation through concentric imaginary spheres, allowing for independent movement and alignment of the robotic arms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual trial-and-error alignment methods are used, then the system is simpler to operate, but the alignment precision and efficiency deteriorate
Solution Approach 1:
A spherical coordinate system is introduced as an intermediary mathematical framework to define and control the positions of the radiation source and detector. This abstract coordinate system serves as a mediator between the physical components and the control system, enabling precise alignment through mathematical calculations rather than manual trial-and-error adjustments.
Solution Approach 2:
The patent replaces manual mechanical alignment operations with an automated computational control system. The control system uses the spherical coordinate system to calculate and automatically adjust the positions of the radiation source and detector, substituting human-operated mechanical adjustments with automated computational control to achieve higher precision.
2Adaptability or versatility
If rigid mechanical setups are used, then the device structure is simpler, but the positioning flexibility deteriorates
Solution Approach 1:
The patent employs dynamic positioning capabilities where the radiation source and detector can be independently moved to various positions on spherical surfaces. The system transitions from static rigid mechanical mounts to dynamic positioning systems that can adjust coordinates in real-time based on the spherical coordinate definitions, enabling flexible imaging from multiple angles.
Solution Approach 2:
The patent introduces spherical coordinates (radial distance, polar angle, azimuthal angle) as an additional dimensional framework for positioning. This moves beyond simple linear or planar positioning to three-dimensional spherical positioning, allowing the radiation source and detector to access positions in multiple dimensions around the object being imaged.
3Reliability
If comprehensive multi-angle imaging is performed, then the evaluation completeness improves, but the time required deteriorates
Solution Approach 1:
The spherical coordinate system is pre-configured with defined positions and trajectories for the radiation source and detector. Before actual imaging begins, the complete set of imaging positions and angles is planned and stored in the control system, allowing the system to efficiently execute the imaging sequence without real-time decision-making delays.
Solution Approach 2:
The system maintains continuous imaging action by smoothly transitioning the radiation source and detector between predefined spherical coordinate positions. The automated control system ensures uninterrupted data acquisition as components move between angles, eliminating idle time between measurements and maintaining continuous useful action throughout the imaging process.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Facilitates efficient and precise non-destructive evaluation of objects from multiple angles and perspectives, reducing manual intervention and enhancing imaging capabilities by providing twelve degrees of freedom for comprehensive imaging.
Implementation Method 1
a radiation source configured to emit radiation
Implementation Method 2
a radiation detector configured to measure the radiation emitted by the radiation source
Data Source
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AI summary
A system for non-destructive evaluation of an object uses a spherical coordinate system to control two robotic arms. In some examples, the system includes a radiation source coupled to one robotic arm, a radiation detector coupled to the other robotic arm; and a control unit configured to determine, based on input, a first position located on a first surface of a first sphere within the spherical coordinate system; determine, based on the input, a second position located on a second surface of a second sphere within the spherical coordinate system, wherein the second position is located opposite a midpoint of the spherical coordinate system from the first position; and control a motion of the source robotic arm and the detector robotic arm such that the radiation source and the radiation detector move to different ones of the first position and the second position.