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International Letters of Chemistry, Physics and Astronomy
Volume 55

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Design and Control of MIRA: A Lightweight Climbing Robot for Ship Inspection

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Abstract:

The inspection of marine vessels is currently per-formed manually. Inspectors use tools (e.g. cameras and devices for non-destructive testing) to detect damaged areas, cracks, and corrosion in large cargo holds, tanks, and other parts of a ship. Due to the size and complex geometry of most ships, ship inspection is time-consuming and expensive. The EU-funded project INCASS develops concepts for a marine inspection robotic assistant system to improve and automate ship inspections. In this paper, we introduce our magnetic wall–climbing robot: Marine Inspection Robotic Assistant (MIRA). This semi-autonomous lightweight system is able to climb a vessels steel frame to deliver on-line visual inspection data. In addition, we describe the design of the robot and its building subsystems as well as its hardware and software components.

Info:

Periodical:
International Letters of Chemistry, Physics and Astronomy (Volume 55)
Pages:
128-135
DOI:
10.18052/www.scipress.com/ILCPA.55.128
Citation:
M. Ahmed et al., "Design and Control of MIRA: A Lightweight Climbing Robot for Ship Inspection", International Letters of Chemistry, Physics and Astronomy, Vol. 55, pp. 128-135, 2015
Online since:
Jul 2015
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References:

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