Design and Control of MIRA: a Lightweight Climbing Robot for Ship Inspection
Mohammed Ahmed, Markus Eich, Felix Bernhard
In World Symposium on Mechatronics Engineering & Applied Physics (WSMEAP2014), (ICME-2014), 18.6.-20.6.2014, Sousse, IEEE, pages 58-62, Jun/2014.
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.
maritime robotics, wheeled robots, magnetic crawlers