Effective technology for underwater hull and infrastructure inspection

Newsome, Sean; Rodocker, Jesse

doi:10.23919/oceans.2009.5422355

Cited by 6 publications

(2 citation statements)

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“…This is a free-floating vehicle which is able to take paint-thickness measurements of the underwater hull using a specific probe. The Little Benthic Crawler (Newsome and Rodocker, 2009) is another remotely operated robot equipped with a camera suitable for vessel visual inspection. This is a commercial 2-piece robot consisting of a 5-thruster ROV and a removable 4-wheel drive crawler skid assembly.…”

Section: Robotic Platforms Devised For Vessel Hull Inspectionmentioning

confidence: 99%

On the use of robots and vision technologies for the inspection of vessels: A survey on recent advances

Bonnín-Pascual¹,

Ortiz²

2019

Ocean Engineering

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Vessels are widely used for transporting goods around the world. All cargo vessels are affected by two main defective situations, namely cracks and corrosion. To prevent major damage/accidents, intensive inspection schemes must be carried out periodically, identifying the affected plates for a subsequent repair/replacement. These inspections are performed at a great cost due to the arrangements that allow human inspectors to reach any point of the vessel structure while guaranteeing their physical integrity and respecting all the stipulated safety measures. Technological advances can provide alternatives to facilitate the vessel inspection and reduce the associated cost. This paper surveys approaches which can contribute to the reengineering process of vessel visual inspection focusing on two main aspects: robotic platforms which can be used for the visual inspection of vessels, and computer vision algorithms for the detection of cracks and/or corrosion in images. The different approaches found in the literature are reviewed and classified regarding their key features, what allows identifying the main trends which are being applied so far and those which could mean an improvement in the current visual inspection.

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Section: Robotic Platforms Devised For Vessel Hull Inspectionmentioning

confidence: 99%

On the use of robots and vision technologies for the inspection of vessels: A survey on recent advances

Bonnín-Pascual¹,

Ortiz²

2019

Ocean Engineering

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“…The majority of the existing approaches make use of underwater vehicles to inspect the submerged part of the hull. Some of them are based on the use of Remotely Operated Vehicles (ROV) (see for example [18,24]), while other approaches are based on the use of Autonomous Underwater Vehicles (AUV) which estimate their position with regard to the vessel hull using different devices and/or techniques. Apart from solutions based on free-floating AUVs (see for example [12,26]), in this group we can also find some approaches of hull-crawling vehicles which are attached to the hull by means of suction (see [1,23]).…”

Section: Introductionmentioning

confidence: 99%

A reconfigurable framework to turn a MAV into an effective tool for vessel inspection

Bonnín-Pascual¹,

Ortiz²,

Garcia-Fidalgo³

et al. 2019

Robotics and Computer-Integrated Manufacturing

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Vessels constitute one of the most cost effective ways of transporting goods around the world. Despite the efforts, maritime accidents still occur, with catastrophic consequences. For this reason, vessels are submitted to periodical inspections for the early detection of cracks and corrosion. These inspections are nowadays carried out at a great cost. In order to contribute to make ship inspections safer and more cost-efficiently, this paper presents a novel framework to turn a Micro-Aerial Vehicle (MAV) into a flying camera that can virtually teleport the human surveyor through the different structures of the vessel hull. The system architecture has been developed to be reconfigurable so that it can fit different sensor suites able to supply a proper state estimation, being at the same time compatible with the payload capacity of the aerial platform and the operational conditions. The control software has been designed following the Supervised Autonomy paradigm, so that it is in charge of safety related issues such as collision avoidance, while the surveyor, within the main control loop, is supposed to supply motion commands while he/she is concentrated on the inspection at hand. In this paper, we report on an extensive evaluation of the platform capabilities and usability, both under laboratory conditions and on board a real vessel, during a field inspection campaign.

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Testing the Control Architecture of a Micro-Aerial Vehicle for Visual Inspection of Vessels

Bonnín-Pascual

Ortiz

Garcia-Fidalgo

et al. 2017

ROBOT 2017: Third Iberian Robotics Conference

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Effective technology for underwater hull and infrastructure inspection

Cited by 6 publications

References 0 publications

On the use of robots and vision technologies for the inspection of vessels: A survey on recent advances

On the use of robots and vision technologies for the inspection of vessels: A survey on recent advances

A reconfigurable framework to turn a MAV into an effective tool for vessel inspection

Testing the Control Architecture of a Micro-Aerial Vehicle for Visual Inspection of Vessels

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