Deliverable 1.1 Robo Scan

Deliverable 1.1 of the DISCOVER project (HORIZON-CL4-2023-TWIN-TRANSITION 01-11-101129909) outlines the selection, testing, and integration of a Ground Penetrating Radar (GPR) sensor into the autonomous robotic system "Oliwall" for non-destructive inspection of building elements. A Proceeq GP8800 radar was chosen for its compact size, wireless connectivity, and high-resolution capabilities, allowing inspection up to 40 cm deep. Initial testing, both in real buildings and laboratory specimens, confirmed the sensor's effectiveness in identifying internal elements in concrete, masonry, drywall, and soil. The deliverable also presents the development of a mounting system for the sensor on a robotic arm, enabling flexible scanning across a wide range of surfaces. Extensive field and lab experiments supported the creation of a comprehensive GPR data acquisition methodology, including scanning strategies for walls, floors, ceilings, columns, masonry, and soil. Detailed procedures are defined for standard and high-resolution scans, 3D imaging, and material identification (e.g., rebar, voids, plastic or metal pipes), with considerations for sampling density, calibration, and signal interpretation. Key challenges addressed include surface coupling, structural complexity, access limitations, and potential signal interference. Recommendations emphasize best practices for consistent data acquisition, such as maintaining antenna contact, spacing scans appropriately, and performing pre-inspection planning. This deliverable lays the technical foundation for reliable, autonomous GPR-based structural analysis in the broader DISCOVER project framework focused on circular construction and digitalized inspection.