Climbing Robot for Underwater Inspection of Constructions

Abstract

The paper describes an underwater climbing robot for inspection of underwater constructions. It contains an overview of the design and technical parameters of the robot. The technological module for inspection is considered Peculiarities of underwater application and different transport modes of robot's motion to initial working position are presented. Experimental characteristics of the transport and technological modules are given. Control and diagnostic systems are discussed.

Climbing Robots with Adaptive Grippers for Construction

“…Main attention allocates on fuzzy approach to control system development. The problem of information real time processing by using special suggested algorithm based on fuzzy logic and Weight Associative Rule Processor (WARP) intended for mobile WCR is developed [24][25][26]. Some results are discussed concerning with intelligent control system development as well motion planning system in the unstructured environments with sudden moving and fixed obstacles.…”

“…Necessity of Autonomous Wall Climbing Robot (AWCR) development can dictate by expediency of some applications in extreme environments, such as inspection, underwater WCR for shallow water, or fire-fighting WCR [15][16][17][18][19][20][21][25][26].…”

“…The problem like above solved by various ways, including application of artificial intelligent. The elements of artificial intelligent behavior are necessary also to satisfy WCR motion on unstructured or dynamically changing environment, such as some special situations, for example, firefighting, or decontamination of the wall surfaces [13][14][15][16][17][18][19][20][21][22][23][24], or for inspection of underwater constructions [25][26][27][28].…”