Logo image
Back
A robotic ultrasonic pulse velocity inspection method for concrete structures
Conference proceeding

A robotic ultrasonic pulse velocity inspection method for concrete structures

Ali Ghadimzadeh Alamdari, Arvin Ebrahimkhanlou and Ivan Bartoli
Proceedings of SPIE, the international society for optical engineering, v Health Monitoring of Structural and Biological Systems, 139510H
16 Apr 2026
DOI: https://doi.org/10.1117/12.3091084

Abstract

This study presents a robotic approach for ultrasonic pulse velocity (UPV) evaluation of reinforced concrete structures. As civil infrastructure ages, there is an urgent need to automate nondestructive evaluation methods. To this end, a robotic arm is used to automate the placement of UPV transducers on concrete surfaces, ensuring precise and repeatable sensor positioning with consistent contact pressure. The system utilizes point cloud acquisition and surface normal estimation to maintain perpendicular probe placement during scanning. Motion simulations and trajectory planning were performed using the Robotic Operating System (ROS) simulation suite, Gazebo. Synchronized robotic positioning and ultrasonic acquisition enabled spatial mapping of time-of-flight (ToF) and signal amplitude. Arrival times were detected u sing t he Akaike Information Criterion (AIC), while amplitudes were extracted via Hilbert envelope analysis. Validation UPV experiments were conducted with a Universal Robot (UR3e) on a two-foot-square, four inches thick reinforced concrete slab. One-sided and two-sided configurations were investigated, with the latter employing a second transducer mounted on the opposite face of the slab. Results show strong agreement between measured and analytically predicted ToF and amplitude profiles, with deviations attributed t o t he position o f reinforcements. Heatmap visualizations demonstrate the robotic platform’s ability to resolve spatial variations in thickness and attenuation across the scanned domain. This work highlights the feasibility of integrating robotic control, ultrasonic sensing, and signal processing for automated concrete inspection, laying the groundwork for autonomous quality control of 3D-printed and condition assessment of existing concrete structures.

Metrics

1 Record Views

Details

Logo image