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In order to meet the increasing demand of non-destructive testing (NDT) in engineering practice, a continuous terahertz NDT platform based on linear scanning has been developed, with a center frequency of 154 GHz and a bandwidth of 56 GHz. This system combines frequency modulation continuous wave (FMCW) radar technology with a continuous scanning structure, as well as a data acquisition platform to provide a non-contact detection method; this is highly efficient and compensates for the shortcomings of traditional methods such as microwave, X-ray, ultrasonic, and others in safety inspection and special detection. In addition, a signal processing method of spectral refinement and correction is proposed in this paper for accurate thickness measurement. The results show that the method has a high accuracy for ABS, PVC, and ceramic matrix composites. By extracting the characteristic parameters, the detection and imaging of prefabricated defects, such as debonding and bubbles in composite materials, have been successfully achieved. This helps to evaluate the internal state of the inspected object more intuitively and further meets the requirements of industrial NDT. [ABSTRACT FROM AUTHOR]

Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations. [ABSTRACT FROM AUTHOR]