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| Main Authors: | , , , , , , |
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| Format: | Recurso digital |
| Language: | |
| Published: |
Zenodo
2025
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| Online Access: | https://doi.org/10.5281/zenodo.19221704 |
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Table of Contents:
- <div> <div> <div> <p>This report presents the development of a robotic scanning system designed for non-invasive diagnostics using X-ray fluorescence (XRF) scanning. Special attention is paid to robotic path planning (or robotic arm path planning), 3D spatial mapping, and user-guided interaction. The report aligns with the objectives and technical guidelines of WP1 of the CHANGES project, as outlined in Deliverable D1.1 - Technical Report on Multimodal Diagnostic Design. WP1 aims to develop advanced and sustainable diagnostic methodologies for cultural heritage science by integrating multimodal instrumentation and automation in the analysis of material composition, stratigraphy, and degradation phenomena on artifacts and cultural heritage.</p> <p>In this context, the developed robotic system complements the objectives of WP1 by enabling precise and repeatable scanner positioning in complex three-dimensional geometries, such as those found in artworks and artifacts, typically characterized by irregular concavities, convexities, and protuberances, as well as shape, surface, and material deformations. The system's key components (motion planning with collision detection, surface-constrained path generation on spherical geometries, and a customizable user interface for scanning configuration) create a dynamic framework for the implementation of diagnostic tools such as XRF, but also – potentially - hyperspectral and multispectral imaging, FTIR, etc.</p> <p>The report presented here highlights the contribution of the robotic arm to improving the accuracy, adaptability and automation of cultural heritage diagnostics. Furthermore, the continued development of the graphical interface for scan planning and rescan targeting aligns with WP1's emphasis on usability and field implementation, offering intuitive control over diagnostic procedures for non-expert users in museum or conservation environments.</p> </div> </div> </div>