Defect classification is an important issue in ultrasonic non-destructive evaluation. A layered multi-class support vector machine (LMSVM) classification system, which combines multiple SVM classifiers through a layered architecture, is proposed in this paper. The proposed LMSVM classification system is applied to the classification of welding defects from ultrasonic test signals. The measured ultrasonic defect echo signals are first decomposed into wavelet coefficients by the wavelet packet transform. The energy of the wavelet coefficients at different frequency channels are used to construct the feature vectors. The bees algorithm (BA) is then used for feature selection and SVM parameter optimisation for the LMSVM classification system. The BA-based feature selection optimises the energy feature vectors. The optimised feature vectors are input to the LMSVM classification system for training and testing. Experimental results of classifying welding defects demonstrate that the proposed technique is highly robust, precise and reliable for ultrasonic defect classification.

Various signal processing techniques have been used for the enhancement of defect detection and defect characterisation. Cross-correlation, filtering, autoregressive analysis, deconvolution, neural network, wavelet transform and sparse signal representations have all been applied in attempts to analyse ultrasonic signals. In ultrasonic nondestructive evaluation (NDE) applications, a large number of materials have multilayered structures. NDE of multilayered structures leads to some specific problems, such as penetration, echo overlap, high attenuation and low signal-to-noise ratio. The signals recorded from a multilayered structure are a class of very special signals comprised of limited echoes. Such signals can be assumed to have a sparse representation in a proper signal dictionary. Recently, a number of digital signal processing techniques have been developed by exploiting the sparse constraint. This paper presents a review of research to date, showing the up-to-date developments of signal processing techniques made in ultrasonic NDE. A few typical ultrasonic signal processing techniques used for NDE of multilayered structures are elaborated. The practical applications and limitations of different signal processing methods in ultrasonic NDE of multilayered structures are analysed.

The conventional calibration methods based on a perspective camera model are not suitable for the underground camera with two-layer glasses, which is specially designed for explosion proof and dust removal in a coal mine. Underground camera modeling and calibration algorithms are urgently needed to improve the precision and reliability of underground visual measurement systems. This article presents a novel geometrically driven underground camera calibration algorithm for a boom-type roadheader. The underground camera model is established under coplanarity constraints, considering explicitly the impact of refraction triggered by the two-layer glasses and deriving the geometrical relationship of equivalent collinearity equations. On this basis, we perform parameters calibration based on a geometrically driven calibration model, which are 2D–2D correspondences between the image points and object coordinates of the planar target. A hybrid Levenberg–Marqurdt (LM) and particle swarm optimization (PSO) algorithm is further proposed in terms of the dynamic combination of the LM and PSO, which optimizes the underground camera calibration results by minimizing the error of the nonlinear underground camera model. The experimental results demonstrate that the pose errors caused by the two-layer glass refraction are well corrected by the proposed method. The accuracy of the cutting-head pose estimation has increased by 55.73%, meeting the requirements of underground excavations.

The efficiency of automatic underground tunneling is significantly depends on the localization accuracy and reliable for the Boom-type roadheader. In comparison with other underground equipment positioning methods, vision-based measurement has gained attention for its advantages of non-contact and no accumulated error. However, the harsh underground environment, especially the geometric errors brought by the vibration of the machine body to the underground camera model, has a certain influence on the accuracy and stability for the vision-based underground localization. In this paper, a laser beams-based localization methods for the machine body of Boom-type roadheader is presented, which can tackle the dense-dust, low illumination environment with the stray lights interference. Taking mining vibration into consideration, an underground camera non-uniform blur model that incorporate the two-layer glasses refraction effect was established to eliminate vibration errors. The blur model explicitly reveals the change of imaging optical path under the influence of vibration and double layer explosion-proof glass. On the basis of this, the underground laser beams extraction and positioning are presents, which is with well environmental adaptability, and the improved 2P3L (two-points-three-lines) localization model from line correspondences are developed. Experimental evaluation are designed to verify the performance of the proposed method, and the deblurring algorithm is investigated and evaluated. The results show that the proposed methods is effective to restore the blurred laser beams image that caused by the vibration, and can meet the precision need of roadheader body localization for roadway construction in coal mine.