Robotic system for off-shore infrastructure monitoring
Robotic system for off-shore infrastructure monitoring
- New search for: Ciszewski, Michał
- New search for: Mitka, Łukasz
- New search for: Kohut, Piotr
- New search for: Buratowski, Tomasz
- New search for: Giergiel, Mariusz
- New search for: Ciszewski, Michał
- New search for: Mitka, Łukasz
- New search for: Kohut, Piotr
- New search for: Buratowski, Tomasz
- New search for: Giergiel, Mariusz
In this paper, a novel modular reconfigurable mobile inspection robotic system is presented. The system consists of two underwater robotic platforms, including a tracked mobile robot for moving on rough terrain and a remotely operated vehicle robot for free underwater operation. Applications of the system include structural monitoring of off-shore infrastructure made of steel, concrete or other materials. The system is equipped with a 3D sonar, high-definition cameras and laser sensors to navigate underwater and locate structural defects. Mathematical models of the tracked robot are derived for operation underwater. Operation and verification of the ROV vision system is shown. The system sensing equipment is capable of performing simultaneous localisation and mapping tasks, thus an algorithm for navigation and localisation of defects based on sensor fusion is proposed and discussed.
Document information
Robotic system for off-shore infrastructure monitoring
Journal of Marine Engineering & Technology ; 16 , 4 ; 310-318
2017-02-02
9 pages
Article (Journal)
Electronic Resource
English
Similar titles
Sea-Shore Interface Robotic Design
| NTIS | 2014
A Robotic System for Off-Shore Plants Decommissioning
| British Library Conference Proceedings | 2005
A flexible autonomous robotic observatory infrastructure for bentho-pelagic monitoring
| BASE | 2020
Design of Infrastructure Robotic Systems
| Wiley | 2024