Development and navigation of a mobile robot for floating production storage and offloading ship hull inspection / Menegaldo, Luciano Luporini in IEEE transactions on industrial electronics, Vol. 56 N° 9 (Septembre 2009)  

Public ISBD [article]  inIEEE transactions on industrial electronics > Vol. 56 N° 9 (Septembre 2009) . - pp. 3717-3722 Titre : Development and navigation of a mobile robot for floating production storage and offloading ship hull inspection Type de document : texte imprimé Auteurs : Menegaldo, Luciano Luporini, Auteur ; Ferreira, Gustavo Andre Nunes, Auteur ; Santos, Melquisedec Francisco, Auteur Article en page(s) : pp. 3717-3722 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Mobile robot Floating production storage Offloading platforms Index. décimale : 621 Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie 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 [...] [article] Development and navigation of a mobile robot for floating production storage and offloading ship hull inspection [texte imprimé] / Menegaldo, Luciano Luporini, Auteur ; Ferreira, Gustavo Andre Nunes, Auteur ; Santos, Melquisedec Francisco, Auteur . - pp. 3717-3722. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 56 N° 9 (Septembre 2009) . - pp. 3717-3722 Mots-clés : Mobile robot Floating production storage Offloading platforms Index. décimale : 621 Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie 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 [...]

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