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

Ahmed, Mohammed; Eich, Markus; Bernhard, Felix

doi:10.18052/www.scipress.com/ILCPA.55.128

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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:

https://doi.org/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:

July 2015

Authors:

Mohammed Ahmed, Markus Eich, Felix Bernhard

Keywords:

Magnetic Crawlers, Maritime Robotics, Wheeled Robots

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Distribution:

Open Access

This work is licensed under a
Creative Commons Attribution 4.0 International License

References:

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Cited By:

[1] W. Song, H. Jiang, T. Wang, D. Ji, S. Zhu, "Design of permanent magnetic wheel-type adhesion-locomotion system for water-jetting wall-climbing robot", Advances in Mechanical Engineering, Vol. 10, p. 168781401878737, 2018

DOI: https://doi.org/10.1177/1687814018787378

[2] F. Bonnin-Pascual, A. Ortiz, "On the use of robots and vision technologies for the inspection of vessels: A survey on recent advances", Ocean Engineering, Vol. 190, p. 106420, 2019

DOI: https://doi.org/10.1016/j.oceaneng.2019.106420

[3] P. Gierlak, K. Kurc, D. Szybicki, "Mobile crawler robot vibration analysis in the contexts of motion speed selection", Journal of Vibroengineering, Vol. 19, p. 2403, 2017

DOI: https://doi.org/10.21595/jve.2017.18142

[4] M. Muthugala, A. Le, E. Cruz, M. Rajesh Elara, P. Veerajagadheswar, M. Kumar, "A Self-Organizing Fuzzy Logic Classifier for Benchmarking Robot-Aided Blasting of Ship Hulls", Sensors, Vol. 20, p. 3215, 2020

DOI: https://doi.org/10.3390/s20113215

[5] F. Shah, T. Gaggero, M. Gaiotti, C. Rizzo, "Condition assessment of ship structure using robot assisted 3D-reconstruction", Ship Technology Research, p. 1, 2021

DOI: https://doi.org/10.1080/09377255.2021.1872219

[6] A. Wang, S. Park, M. Noh, Y. Park, "Conceptual design of magnetic force control system using wedge mechanism", AIP Advances, Vol. 11, p. 035125, 2021

DOI: https://doi.org/10.1063/9.0000115

[7] A. Papadimitriou, G. Andrikopoulos, G. Nikolakopoulos, "On the Optimal Adhesion Control of a Vortex Climbing Robot", Journal of Intelligent & Robotic Systems, Vol. 102, 2021

DOI: https://doi.org/10.1007/s10846-021-01420-3

[8] F. Shah, T. Gaggero, M. Gaiotti, C. Rizzo, "Condition assessment of ship structure using robot assisted 3D-reconstruction", Ship Technology Research, Vol. 68, p. 129, 2021

DOI: https://doi.org/10.1080/09377255.2021.1872219

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