Design and control of MIRA: A lightweight climbing robot for ship inspection

Ahmed, Mohammed, Eich, Markus, & Bernhard, Felix (2015) Design and control of MIRA: A lightweight climbing robot for ship inspection. In World Symposium on Mechatronics Engineering & Applied Physics (WSMEAP), 11-13 June 2015, Sousse, Tunesia.

Abstract

The inspection of marine vessels is currently performed manually. Inspectors use tools (e.g. cameras and devices for non-destructive testing) to detect damaged areas, cracks, and corrosion in large cargo holds, tanks, and other parts of a ship. Due to the size and complex geometry of most ships, ship inspection is time-consuming and expensive. The EU-funded project INCASS develops concepts for a marine inspection robotic assistant system to improve and automate ship inspections. In this paper, we introduce our magnetic wall–climbing robot: Marine Inspection Robotic Assistant (MIRA). This semiautonomous lightweight system is able to climb a vessels steel frame to deliver on-line visual inspection data. In addition, we describe the design of the robot and its building subsystems as well as its hardware and software components.

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ID Code: 83990
Item Type: Conference Paper
Refereed: Yes
Additional URLs:
Divisions: Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2015 [Please consult the author]
Deposited On: 12 May 2015 00:42
Last Modified: 19 Dec 2015 06:41

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