Paper Titles in Periodical
International Letters of Chemistry, Physics and Astronomy
Volume 55

Subscribe

Subscribe to our Newsletter and get informed about new publication regulary and special discounts for subscribers!

ILCPA > Volume 55 > Design and Control of MIRA: A Lightweight Climbing...
Design and Control of MIRA: A Lightweight Climbing Robot for Ship Inspection
< Back to Volume

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

Full Text PDF

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
Export:
RIS, BibTeX, Text
Distribution:
Open Access

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

References:

[1] K. Tanneberger and A. Grasso, MINOAS Deliverable (D1): Definition of the Inspection Plan / Definition of Acceptance Criteria, http: /minoasproject. eu/excibition/Publications/PDF/D1. pdf, 2011. [On-line]. Available: http: /minoasproject. eu/excibition/Publications/PDF/ D1. pdf.

[2] M. Eich, F. Bonnin-Pascual, E. Garcia-Fidalgo, A. Ortiz, G. Bruzzone, Y. Koveos, and F. Kirchner, A Robot Application to Marine Vessel Inspection, Journal of Field Robotics, vol. 31, no. 2, p.319–341, (2014).

DOI: https://doi.org/10.1002/rob.21498

[3] A. Ortiz, F. Bonnin-Pascual, and E. Garcia-Fidalgo, On the Use of UAVs for Vessel Inspection Assistance, in Proceedings of the 1st Workshop on Research, Education and Development on Unmanned Aerial Systems, Seville (Spain), Nov 30th - Dec 1st, 2011, p.71.

[4] F. Ortiz Albertoand Bonnin-Pascual, E. Garcia-Fidalgo, and J. P. Bel-tran, A Control Software Architecture for Autonomous Unmanned Vehicles Inspired in Generic Components (I), in Proc. 19th Mediter-ranean Conf. Control and Automation, (2011).

DOI: https://doi.org/10.1109/med.2011.5983136

[5] M. Bibuli, G. Bruzzone, G. Bruzzone, M. Caccia, M. Giacopelli, A. Petitti, and E. Spirandelli, MARC: Magnetic Autonomous Robotic Crawler Development and Exploitation in the MINOAS Project, in Proc. 11th International Conference on Computer and IT Applications in the Maritime Industries, COMPIT 2012, 2012. [Online]. Available: http: /www. ssi. tu-harburg. de/doc/webseiten dokumente/compit/dokumente/Proceeding Compit2012 Liege. pdf.

[6] L. P. Kalra, J. Guf, and M. Meng, A Wall Climbing Robot for Oil Tank Inspection, in Proceedings of the International Conference on Robotics and Biomimetics (ROBIO), 2006, p.1523–1528.

DOI: https://doi.org/10.1109/robio.2006.340155

[7] L. Christensen, N. Fischer, S. Kroffke, J. Lemburg, and R. Ahlers, Cost-Effective Autonomous Robots for Ballast Water Tank Inspection, Journal of Ship Production and Design, vol. 27, no. 3, p.127–136, (2011).

[8] ROTIS2, ROTISII: Publishable Final Activity Report, http: /cordis. europa. eu/documents/ documentlibrary/124772341EN6. pdf, [Date of access: 10/12/2012]. [Online]. Available: http: /cordis. europa. eu/documents/documentlibrary/124772341EN6. pdf.

[9] M. Hildebrandt, C. Gaudig, L. Christensen, S. Natarajan, P. M. Paran-hos, and J. Albiez, Two years of Experiments with the AUV Dagon -a Versatile Vehicle for High Precision Visual Mapping and Algorithm Evaluation, in Proceedings of IEEE/OES Autonomous Underwater Vehicles. IEEE/OES Autonomous Underwater Vehicles (AUV-2012), September 24-27, Southampton, United Kingdom. o.A., (2012).

DOI: https://doi.org/10.1109/auv.2012.6380722

[10] M. Eich and T. Vogele, Design and Control of a Lightweight Magnetic Climbing Robot for Vessel Inspection, in Proc. 19th Mediterranean Conf. Control and Automation, (2011).

DOI: https://doi.org/10.1109/med.2011.5983075

[11] Roboclaw 2x5A Motor Controller, http: /www. orionrobotics. com/ Roboclaw-2x5A-Motor-Controller p.270. html..

[12] gumstix Robotics Development Kit (RoboVero), https: /store. gumstix. com/index. php/products/504/..

[13] gumstix Overo AirSTORM COM, https: /store. gumstix. com/index. php/products/266..

[14] Linaro Ubuntu Linux kernel and build for embedded ARM, http: / www. linaro. org..

[15] S. Cousins, Exponential growth of ros [ros topics], Robotics Automa-tion Magazine, IEEE, vol. 18, no. 1, p.19–20, March (2011).

DOI: https://doi.org/10.1109/mra.2010.940147

[16] Inspection Capabilities for Enhanced Ship Safety (INCASS) project, http: /www. incass. eu..

Show More Hide