Document Type


Publication Date

Spring 2015


This senior design project utilized an ultrasonic immersion robot to collect ultrasonic data that was then used to generate three dimensional images. Ultrasonic waves provide a means to evaluate the interior of an object without damaging it. The robot, controlled by a LinuxCNC program, is used to collect data points over a pre-programed area and resolution. The data points consist of the x and y coordinates and ultrasonic amplitudes corresponding to depths. Matlab scripts were written that process the collected data and create images and videos depicting the surfaces and features of the scanned object. During the course of two semesters the group members returned functionality to the robot system and the ultrasonic system and created the post image processing scripts. These systems were used successfully to create three dimensional images and videos of a key, a steel plate and an aluminum plate for presentation.