Publications by authors named "Rob Worley"
An acoustic method for simultaneous condition detection, localization, and classification in air-filled pipes is proposed. The contribution of this work is threefold: (1) a microphone array is used to extend the usable acoustic frequency range to estimate the reflection coefficient from blockages and lateral connections; (2) a robust regularization method of sparse representation based on a wavelet basis function is adapted to reduce the background noise in acoustical data; and (3) the wavelet components are used to localize and classify the condition of the pipe. The microphone array and sparse representation method enhance the acoustical signal reflected from blockages and lateral connections and suppress unwanted higher-order modes.
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- Robots inspecting water pipes need to accurately determine their location for navigation and identifying faults.
- A new method enhances the robot's trajectory estimation using acoustic field measurements, which can also be applied to other sensing methods like magnetic fields.
- Experiments show that this technique reduces location estimation errors by 39% compared to traditional methods, improving efficiency in maintaining aging pipe systems.