GNSS-Based Narrow-Angle UV Camera Targeting: Case Study of a Low-Cost MAD Robot.

One of the key challenges in Multi-Spectral Automatic Diagnostic (MAD) robot design is the precise targeting of narrow-angle cameras on a specific part of the equipment. The paper shows that a low-cost MAD robot, whose navigation system is based on open-source ArduRover firmware and a pair of low-cost Ublox F9P GNSS receivers, can inspect the 8 × 4 degree ultraviolet camera bounding the targeting error within 0.5 degrees.