Controlling tracking trajectory of a robotic vehicle for inspection of underwater structures

Ferreira, Cristiano Zacarrias; Cardoso, Reginaldo; Meza, Magno Enrique Mendoza; Ávila, Juan Pablo Julca

doi:10.1016/j.oceaneng.2017.12.032

Cited by 29 publications

(13 citation statements)

References 4 publications

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“…a Alicia VTX Robot ( http://www.robotic.diees.unict.it/robots/alicia_vtx/alicia_vtx.htm ). b SeaRobotics’ HullBUG (Ferreira et al 2013 ). c Hulltimo Robot (HULLTIMO, https://services.crmservice.eu/raiminisite?a=FEY9pLHXWFV1XHUy5r0nDqOUKD6w3VRLkQkSahxnWjg= ).…”

Section: Adhesion Technologies In Underwater Cleaning Robotsmentioning

confidence: 99%

“…Compared with the vacuum adsorption technology, the thrust adsorption is greatly improved and no pressure leakage problem occurs. Unlike magnetic adsorption technology, robots designed with thrust adsorption technology can be applied to almost all ship shell materials (Ferreira et al 2013 ).…”

Section: Adhesion Technologies In Underwater Cleaning Robotsmentioning

confidence: 99%

“…Ferreira et al ( 2013 ) developed an underwater robot in the Federal University of ABC, which is used to survey the hull and marine structures, as shown in Figure 13a . The robot uses six thrusters to achieve 6-DOF free-swimming in the water and uses two powered tracks to make it crawl on the surface of the ship.…”

Section: Adhesion Technologies In Underwater Cleaning Robotsmentioning

confidence: 99%

See 2 more Smart Citations

Review of Underwater Ship Hull Cleaning Technologies

Song

Cui

2020

J. Marine. Sci. Appl.

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This paper presents a comprehensive review and analysis of ship hull cleaning technologies. Various cleaning methods and devices applied to dry-dock cleaning and underwater cleaning are introduced in detail, including rotary brushes, high-pressure and cavitation water jet technology, ultrasonic technology, and laser cleaning technology. The application of underwater robot technology in ship cleaning not only frees divers from engaging in heavy work but also creates safe and efficient industrial products. Damage to the underlying coating of the ship caused by the underwater cleaning operation can be minimized by optimizing the working process of the underwater cleaning robot. With regard to the adhesion technology mainly used in underwater robots, an overview of recent developments in permanent magnet and electromagnetic adhesion, negative pressure force adhesion, thrust force adhesion, and biologically inspired adhesion is provided. Through the analysis and comparison of current underwater robot products, this paper predicts that major changes in the application of artificial intelligence and multirobot cooperation, as well as optimization and combination of various technologies in underwater cleaning robots, could be expected to further lead to breakthroughs in developing next-generation robots for underwater cleaning.

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Section: Adhesion Technologies In Underwater Cleaning Robotsmentioning

confidence: 99%

Section: Adhesion Technologies In Underwater Cleaning Robotsmentioning

confidence: 99%

Section: Adhesion Technologies In Underwater Cleaning Robotsmentioning

confidence: 99%

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Review of Underwater Ship Hull Cleaning Technologies

Song

Cui

2020

J. Marine. Sci. Appl.

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“…There are many robust control strategies applied to these unmanned maritime vehicles. An H ∞ robust mixed sensitivity approach is applied to an autonomous underwater vehicle in [6], an H 2 robust control approach is applied to an autonomous underwater vehicle (AUV) characterized by output disturbances and time delay in [7], a nonlinear robust control is applied to other unmanned maritime vehicle for hull ship inspection in [8], and another modified robust control algorithm for an USV is proposed in [9].…”

Section: Introductionmentioning

confidence: 99%

Robust Control and Fuzzy Logic Guidance for an Unmanned Surface Vehicle

Huayna-Aguilar

Cutipa-Luque²,

Yanyachi³

2020

IJACSA

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This work deals with guidance and control of an unmanned surface vehicle which has the mission to monitor autonomously the water quality condition in Peruvian sea onshore. The vehicle is a catamaran class with two slender bodies propelled by two electric thrusts in differential and common modes in order to maneuver in surge and in yaw directions. A multivariable control approach is proposed in order to control these two variables and a fuzzy logic-based guidance tracks predefined trajectories at the sea surface. The conjunction between robust control and guidance algorithms is validated numerically and the results show good stability and performance despite the presence of disturbance, noise sensors and model uncertainties.

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“…This robot could complete complex movements, but its body drive system was too complicated, the cost was high, and the speed was difficult to control [23]. Mano Yuki et al [24], a scholar from Chuo University of Japan designed a peristaltic robot for underwater pipeline inspection [25] and studied its control system for contraction forces [26]. Kamata et al [27] developed a pneumatic peristaltic pipe robot for long-distance pipe inspection, but this robot could not pass elbows or straight tubes with inclination angles.…”

Section: Introductionmentioning

confidence: 99%

Research on Passing Ability and Climbing Performance of Pipeline Plugging Robots in Curved Pipelines

Yan

Wang

et al. 2020

IEEE Access

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To repair leaking pipelines for oil, natural gas and other dangerous media, a kind of pipeline sealing robot is proposed. The device is mainly divided into a robot drive unit, connection unit, and blocking unit. The robot drive unit is used to pull the blocking unit, allowing it to move in the pipeline. The connection unit is used to connect the robot drive unit and the blocking unit. The blocking unit is used to complete the repair at the leakage point. When the robot operates, the drive unit drags the blocking device to the pipeline leakage location, and the front camera can detect the size and shape of the leakage hole. The sealing unit is located at the leakage point, an airbag is inflated, and the adhesive in it is used to seal and repair the leak. Two performance indices (climbing performance and curve passing performance) are evaluated when the robot drive unit is walking. A 3D model of the robot is established, and the performance index of the robot is simulated and analyzed using virtual prototype technology. An experimental platform is built for verification. The conclusions are as follows: (1) A spring with a 13 N/mm rigidity yielded the best performance, and the robot could crawl up a 37° slope. (2) When the deflection angle of the driving wheel was set to 30°, the robot could smoothly pass a bend with a radius of curvature of 500 mm. Thus, the robot performance met the design requirements.

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Controlling tracking trajectory of a robotic vehicle for inspection of underwater structures

Cited by 29 publications

References 4 publications

Review of Underwater Ship Hull Cleaning Technologies

Review of Underwater Ship Hull Cleaning Technologies

Robust Control and Fuzzy Logic Guidance for an Unmanned Surface Vehicle

Research on Passing Ability and Climbing Performance of Pipeline Plugging Robots in Curved Pipelines

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