| Titre : | Development and navigation of a mobile robot for floating production storage and offloading ship hull inspection |
| Auteurs : | Menegaldo, Luciano Luporini, Auteur ; Ferreira, Gustavo Andre Nunes, Auteur ; Santos, Melquisedec Francisco, Auteur |
| Type de document : | Article : texte imprimé |
| Dans : | IEEE transactions on industrial electronics (Vol. 56 N° 9, Septembre 2009) |
| Article en page(s) : | pp. 3717-3722 |
| Note générale : | Génie électrique |
| Langues : | Anglais |
| Index. décimale : | 621 (Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie) |
| Tags : | Mobile robot Floating production storage Offloading platforms |
| Résumé : | This paper describes the current development status of a mobile robot designed to inspect the outer surface of large oil ship hulls and floating production storage and offloading platforms. These vessels require a detailed inspection program, using several nondestructive testing techniques. A robotic crawler designed to perform such inspections is presented here. Locomotion over the hull is provided through magnetic tracks, and the system is controlled by two networked PCs and a set of custom hardware devices to drive motors, video cameras, ultrasound, inertial platform, and other devices. Navigation algorithm uses an extended-Kalman-filter (EKF) sensor-fusion formulation, integrating odometry and inertial sensors. It was shown that the inertial navigation errors can be decreased by selecting appropriate Q and R matrices in the EKF formulation. |
| DEWEY : | 621 |
| ISSN : | 0278-0046 |
| En ligne : | http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?isnumber=5200775&arnumber=5130123&count=54&index=47 |
