Hammering sound analysis for infrastructure inspection by leg robot

Since the beginning of industrial age, more plants were founded in order to serve the demand of the growing economic. Along with more bridges were built to connect different cities together in order for a more convenience transportation. As years passed by, all of those facilities have become old which mean regular maintenance is required. This project, inspection robot, started several years ago with the objective of deliver the new way of inspection and maintenance to the industrial field. The first prototype robot is called ASTERISK, a six limbs robot. ASTERISK's capabilities include walking on ceiling underside, climbing up and down stairs and ladders, tightrope walk, and, of course, walk on rough terrains. The objective of this paper is to implement the audio analysis technique which will be used to inspect bolts in the steel structures. The inspection task is to do the Hammering test then the sound will be recorded by computer. Afterward, the audio data will be analyzed by the analyzing unit in order to tell whether the bolt is tighten or loosen. In this paper, we will discuss the hammering test strategy, audio analyzing methodology and the result of the experiment.