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A. Technical objectives

Introduction of adaptive robotic inspection techniques for complex composite parts.
To increase the availability and usability of the inspection systems by endowing the work cell with assistive functionalities such as:
1. Manual guidance, if the operator wants to retest a specific zone, the human can manually guide
• the robot to the target position while the robot holds the tool, compensates the gravity and controls the force exerted on the contact point.
• 2. To allow automatic repositioning of the inspection tool in points of interest, to allow adapting the scan plan when necessary.
• 3. To facilitate part programming by the introduction of part pose identification mechanisms.

2. To implement safeguarding mechanisms according to ISO 10218 including force and speed-separation monitoring to guarantee the safe collaboration between robot and human workers without physical barriers.
3. Development of novel ultrasonic techniques based on the potential of ultrasonic guided waves, suitable for the ultrasonic inspection of parts with difficult access and for the remote inspection of zones, as a first full field scan technique to derive the major defects.

B. Industrial objectives

Improvement of inspection process quality by:
1. Ensuring accurate and repeatable ultrasonic inspection tool positioning and trajectory control.
2. The use of novel guided wave UT inspection method
Reduction of inspection cycle times up to 40 %, depending on the part complexity and dimensions,
3. To set-up an industrial demonstrator at a TRL6 level to validate the solution and show the potential of the hybrid work cell concept proposed. It will be implemented at TEKNIKER facilities.
4. To demonstrate the potential of Human Robot Collaboration paradigm as a feasible solution for inspection operations in Aircraft industry.