RadalyX: Portable Multimodal Robotic Scanner

Robotic Computed Tomography (CT) is establishing itself as a versatile and transformative tool in non-destructive inspection. Robots not only facilitate upscaling CT measurements for large objects but also offer the flexibility of diverse scanning trajectories, making advanced inspection of regions of interest possible. Our portable scanner RadalyX design eliminates the need for objects to "go to the CT machine"; instead, the CT machine "comes to the object," significantly enhancing usability in aerospace, space, and other demanding fields [1]. This mobility broadens the spectrum of object sizes that can be inspected while enabling the use of smaller, more precise robots even for scans of regions-of-interest of very large structures. This paper presents such capability. and case studies demonstrating the portability of the system, including the inspection of a damaged aircraft, and discuss installation procedures and new robot position calibration methods. We will also showcase recent improvements in scanning strategies, image reconstruction, and the integration of multimodal imaging techniques, providing a glimpse into the future of portable robotic inspection.