Automated methods for ultrasonic

scanning path generation

Presented by Michel Brassard, TD NDE

Co-Authors : Loïc Séguin-Charbonneau, Julien Walter Centre technologique en aérospatiale

Gabriel Cormier, TDNDE
CAD2UT

• Fully automated path generation for

various geometries
Path
Programming • Generating scan plan based on the
part’s geometry, not technicians’
Challenges experience

• Efficient scan plans: full coverage,

minimum number of passes

• Part should be easily recognizable by

the inspector on 2D C-scans
Meshing &
Surface
Flattening

From 3D to
2D & vice Conformal map is used
preserves angles & local
versa shape and directions
The flattening is used for path generation and
saved in a textured OBJ file

Texture OBJ
• Each vertex has 3D & 2D
Coordinates (u,v)
• Allows to transfer uv
coordinate to instrument
 • Several methods have been
developed as not one single
Path method can do all
geometries.
Generation
• Based on mathematical
parameters such as maximum
curvature, maximum
direction, edges they
proposed scanning paths

• They are applied either on the

2D or 3D surface according to
the method used.
How to compute indexation? D

Worst cast scenario:

• probe moves along flattest
direction Z

• maximum curvature direction

parallel to probe length

Simple beam model

r

The reflected beam must cover 𝜆

0.443 ( 𝑧 +𝑟 )
at least half the active aperture √ 𝐷2 − 𝜆2
Define the UT parameters
Rectangular, circular or linear PA
Type of probes
Diameter or Aperture
Set-ups

Medium Speed of Sound

Overlap required between passes

Overshoot of the parts

Minimum acceptable index value

Cloud points resolution
Methods available
• Raster Scan
• Minimum curvature path in 2D and 3D
• Sweep
• Edge Following
2D raster method Scan

Start on the
flat mesh
Scan direction
is the
“longest”
direction
Index based
on curvature

Index
 Minimum curvature 2D or 3D
Scan follows the principal
direction of minimum curvature
along the surface
Scan lines follow the flattest
directly
Minimum Curvature 2D or 3D
Scan follows the principal direction of minimum curvature along the
surface
Sweep Method
Generates curve on the 2D mesh a scan line in a highly curved region. generates an initial
scan line using the principal direction of least curvature on the 2D mesh. This line is
swept across to fully cover the part.
Edge (Side)
Following
• Developed for long and thin parts
and for components with
nonparallel radii
• Uses longest side as starting
point outside boundary
• Side is swept across using
curvature rules
Side/Rdius
interpolating path
• For long and narrow part with
non-parallel radii
• Segment the mesh faces based
on principal curvature
• Extract flat regions and radii
regions
Path
Program
Generation
A point cloud is generated. A POSE
matrix describing a position and
an orientation in 3D space for
each point is used.
Example exported to a robot simulation, a
programming software or directly to a controller
Improvements and work to do
• Add manual tools to edit paths
• Select areas to be inspected
• Add Curved Phased Array probes
Thank you!

Questions?

Michel Brassard
mbrassard@tdnde.com