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.

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.

Keywords :

maritime robotics, wheeled robots, magnetic crawlers

last updated 28.02.2023
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