{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,22]],"date-time":"2026-06-22T04:43:17Z","timestamp":1782103397772,"version":"3.54.5"},"reference-count":30,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2026,1,15]],"date-time":"2026-01-15T00:00:00Z","timestamp":1768435200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"},{"start":{"date-parts":[[2026,1,15]],"date-time":"2026-01-15T00:00:00Z","timestamp":1768435200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Journal of Field Robotics"],"published-print":{"date-parts":[[2026,6]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:p>This study presents a holistically integrated multi\u2010sensor control system for vehicle\u2010mounted tunnel lining inspection, seamlessly combining Automated Track Vehicle (ATV) technology with robotic\u2010arm posture tracking within a synergistic framework. The system achieves automated velocity regulation and millimeter\u2010level positioning accuracy, significantly enhancing inspection efficiency and operational safety. Key innovations include: (1) a coupled kinematic\/dynamic model of the vehicle\u2010arm system to capture motion coupling effects; (2) an optimized feedback control architecture incorporating an Auto\u2010Disturbance Rejection Controller (ADRC) with detailed design, tuning, and stability analysis; (3) real\u2010time data transmission via industrial Ethernet and the Modbus\/TCP protocol (with average latency 1.54\u2009ms, \u2264\u20092\u2009ms); (4) a multi\u2010sensor fusion logic based on extended Kalman filter (EKF) for dynamic posture correction. Experimental validation confirms that the system maintains a dynamic deviation of \u2264\u20098\u2009mm\/s at operational speeds of 1\u20135\u2009km\/h, keeps the antenna\u2010to\u2010lining distance at 100\u2009\u00b1\u200920\u2009mm, and ensures Ground Penetrating Radar (GPR) signal integrity at standoff distances \u2264\u20090.25\u2009m. This research establishes a robust technological foundation for next\u2010generation autonomous tunnel inspection systems and represents a significant advancement in the robustness of non\u2010destructive testing methodologies for critical infrastructure.<\/jats:p>","DOI":"10.1002\/rob.70164","type":"journal-article","created":{"date-parts":[[2026,1,15]],"date-time":"2026-01-15T08:31:17Z","timestamp":1768465877000},"page":"2693-2714","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Design of a Multi\u2010Sensor Integrated Control System for Vehicle\u2010Mounted Tunnel Lining Inspection With Real\u2010Time Velocity and Posture Tracking"],"prefix":"10.1002","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9517-756X","authenticated-orcid":false,"given":"Yang","family":"Lei","sequence":"first","affiliation":[{"name":"Infrastructure Inspection Research Institute China Academy of Railway Sciences Group Co. 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