Design and Manufacture of an Optimised Side-Shifted PPM EMAT Array for Use in Mobile Robotic Localisation.

Guided wave Electro Magnetic Acoustic Transducers (EMATs) offer an elegant method for structural inspection and localisation relative to geometric features, such as welds. This paper presents a Lorentz force EMAT construction framework, where a numerical model has been developed for optimising Printed Circuit Board (PCB) coil parameters as well as a methodology for optimising magnet array parameters to a user's needs. This framework was validated experimentally to show its effectiveness through comparison to an industry built EMAT. The framework was then used to design and manufacture a Side-Shifted Unidirectional Periodic Permanent Magnet (PPM) EMAT for use on a mobile robotic system, which uses guided waves for ranging to build internal maps of a given subject, identifying welded sections, defects and other structural elements. The unidirectional transducer setup was shown to operate in simulation and was then manufactured to compare to the bidirectional transmitter and two-receiver configurations on a localisation system. The unidirectional setup was shown to have clear benefits over the bidirectional setup for mapping an unknown environment using guided waves as there were no dead spots of mapping where signal direction could not be interpreted. Additionally, overall package size was significantly reduced, which in turn allows more measurements to be taken within confined spaces and increases robotic crawler mobility.

Single-mode Lamb wave excitation at high-frequency-thickness products using a conventional linear array transducer.

Lamb wave excitation at high-frequency-thickness products offers a potential solution for high-resolution guided wave testing. The method is attractive for crack imaging and corrosion mapping, especially in hidden locations where direct access is limited. However, multiple modes may propagate, complicating signal interpretation, which is undesirable. In this work, a systematic approach is presented, in an effort to determine the influence of the key parameters related to single higher order Lamb wave mode excitation using a conventional linear array transducer. Specifically, a linear time delay law is used to enhance the targeted mode, while the array's length, pitch and apodisation profile remain to be optimally selected. First, an analytical solution is derived based on modal analysis. This provides a natural decomposition of the amplitude of a guided wave mode into the product of the response of a single element and the excitation spectrum. Then, a key observation is made, associating the excitation spectrum to the directivity function for bulk wave phased array steering. This allows the application of well-established phased array analysis tools to guided wave phased array excitation. In light of this fact, minimisation of the spectrum's bandwidth, elimination of the grating lobes and derivation of an apodisation profile are performed, to enhance the purity of the targeted mode. Finally, experiments conducted on an aluminium plate verify the above theoretical results. The Full Matrix is acquired, and all signals are reconstructed synthetically.