This paper presents the utilization of advanced methodologies in aerial manipulation to address meaningful industrial applications and develop versatile ultrasonic Non-Destructive Testing (NDT) technologies with aerial robots. The primary objectives of this work are to enable multi-point measurements through sliding without re-approaching the work surface, and facilitate the representation of material thickness with B and C scans via dynamic scanning in arbitrary directions (i.e. omnidirections). To accomplish these objectives, a payload that can slide in omnidirections (here we call the omni-sliding payload) is designed for an over-actuated aerial vehicle, ensuring truly omnidirectional sliding mobility while exerting consistent forces in contact with a flat work surface. The omni-sliding payload is equipped with an omniwheel-based active end-effector and an Electro Magnetic Acoustic Transducer (EMAT). Furthermore, to ensure successful development of the designed payload and integration with the aerial vehicle, a comprehensive studying on contact conditions and system dynamics during active sliding is presented, and the derived system constraints are later used as guidelines for the hardware development and control setting. The proposed methods are validated through experiments, encompassing both the wall-sliding task and dynamic scanning for Ultrasonic Testing (UT), employing the aerial platform - Voliro T.

翻译：本文提出利用空中操作的高级方法论，解决具有实际意义的工业应用问题，并开发基于空中机器人的多功能超声无损检测（NDT）技术。本研究的主要目标包括：通过滑移实现多点测量而无需重新接近工件表面，以及通过任意方向（即全方向）的动态扫描，以B扫描和C扫描形式表征材料厚度。为实现上述目标，本文为过驱动飞行器设计了一种可全向滑移的载荷（称为全向滑移载荷），确保在接触平面工件表面时具备真正的全向滑移机动性，同时施加恒定接触力。该全向滑移载荷配备基于全向轮的主动末端执行器及电磁声换能器（EMAT）。此外，为确保所设计载荷的成功研制及其与飞行器的集成，本文对主动滑移过程中的接触条件与系统动力学进行了全面研究，并将推导出的系统约束作为硬件开发与控制参数设置的指导准则。通过包含壁面滑移任务与动态超声检测（UT）扫描在内的实验，本文基于Voliro T型空中平台验证了所提方法的有效性。