Advertisement

CRAS (Climbing Robot for Autonomous InSpection): The Challenges of a High-Temperature Tank

  • Nicolas DalmedicoEmail author
  • Higor Barbosa Santos
  • Juliano Scholz Slongo
  • Marco Antônio Simões Teixeira
  • Piatan Sfair Palar
  • Vinicius Vargas Terres
  • André Schneider de Oliveira
  • Lúcia Valéria Ramos de Arruda
  • Flávio Neves Júnior
  • Julio Endress Ramos
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1093)

Abstract

This paper introduces the mobile robot CRAS (Climbing Robot for Autonomous inSpection) for autonomous NDT inspection of weld beads from industrial super-duplex steel vessels. The surfaces to be inspected are under high temperature (80 \(^\circ \)C–135 \(^\circ \)C) and the inspection is based on ultrasound. CRAS presents magnetic wheels as adhesion method and a perception system able to identify and follow weld beads. This paper approaches some current challenges for such inspection mainly due high temperatures and adopted solutions as well as future steps of CRAS development.

Keywords

Autonomous mobile robot High temperature Magnetic adhesion Weld inspection 

References

  1. 1.
    Carvalho, A., Rebello, J., Souza, M., Sagrilo, L., Soares, S.: Reliability of non-destructive test techniques in the inspection of pipelines used in the oil industry. Int. J. Press. Vessels Pip. 85(11), 745–751 (2008)CrossRefGoogle Scholar
  2. 2.
    Eich, M., Vögele, T.: Design and control of a lightweight magnetic climbing robot for vessel inspection. In: 2011 19th Mediterranean Conference on Control and Automation (MED), pp. 1200–1205. IEEE (2011)Google Scholar
  3. 3.
  4. 4.
    Espinoza, R.V., de Oliveira, A.S., de Arruda, L.V.R., Junior, F.N.: Adhesion loss prediction of a climbing robot through magnetic field analysis by artificial neural networks. In: 22nd International Congress of Mechanical Engineering, pp. 3–7 (2013)Google Scholar
  5. 5.
    Espinoza, R.V., de Oliveira, A.S., de Arruda, L.V.R., Junior, F.N.: Navigation stabilization system of a magnetic adherence-based climbing robot. J. Intell. Robot. Syst. 78(1), 65–81 (2015)CrossRefGoogle Scholar
  6. 6.
    Olympus: High temperature ultrasonic testing, February 2018. https://www.olympus-ims.com/en/applications/high-temperature-ultrasonic-testing/
  7. 7.
    Rosa, A.B., Gnoatto, R.: Reprojeto e construção de protótipo de um robô de inspeção de cordões de solda em superfícies metálicas verticais e esféricas (segunda geração). B.S. thesis, Universidade Tecnológica Federal do Paraná (2015)Google Scholar
  8. 8.
    Rovani, A.: Desenvolvimento do protótipo de um robô para inspeção de cordões de solda em superfícies metálicas verticais. Industrial mechanical engineering - monograph, Federal University of Technology - Paraná (2013)Google Scholar
  9. 9.
    Santos, H.B., Teixeira, M.A.S., de Oliveira, A.S., de Arruda, L.V.R., Neves-Jr, F.: Quasi-omnidirectional fuzzy control of a climbing robot for inspection tasks. J. Intell. Robot. Syst. 91(2), 333–347 (2018)CrossRefGoogle Scholar
  10. 10.
    Schmidt, D., Berns, K.: Climbing robots for maintenance and inspections of vertical structures - a survey of design aspects and technologies. Robot. Auton. Syst. 61(12), 1288–1305 (2013)CrossRefGoogle Scholar
  11. 11.
    Siegwart, R., Nourbakhsh, I.R., Scaramuzza, D.: Introduction to Autonomous Mobile Robots. MIT Press, Cambridge (2011)Google Scholar
  12. 12.
    Tavakoli, M., Viegas, C., Marques, L., Pires, J.N., De Almeida, A.T.: OmniClimbers: omni-directional magnetic wheeled climbing robots for inspection of ferromagnetic structures. Robot. Auton. Syst. 61(9), 997–1007 (2013)CrossRefGoogle Scholar
  13. 13.
    Teixeira, M.A.S., Santos, H.B., Dalmedico, N., de Arruda, L.V.R., Neves-Jr, F., de Oliveira, A.S.: Intelligent environment recognition and prediction for NDT inspection through autonomous climbing robot. J. Intell. Robot. Syst. 92, 1–20 (2018)CrossRefGoogle Scholar
  14. 14.
    Toolboxes, T.: AST inspection savings using in-service robotics, March 2016. http://www.ttoolboxes.com/training/CourseDocuments/37/ASTInspectionSavingsUsingInServiceRobotics.pdf
  15. 15.
    da Veiga, R.S., de Oliveira, A.S., de Arruda, L.V.R., Junior, F.N.: Localization and navigation of a climbing robot inside a LPG spherical tank based on dual-LIDAR scanning of weld beads. In: Robot Operating System (ROS), pp. 161–184. Springer (2016)Google Scholar

Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Nicolas Dalmedico
    • 1
    Email author
  • Higor Barbosa Santos
    • 1
    • 2
  • Juliano Scholz Slongo
    • 1
    • 2
  • Marco Antônio Simões Teixeira
    • 1
    • 2
  • Piatan Sfair Palar
    • 1
    • 2
  • Vinicius Vargas Terres
    • 1
    • 2
  • André Schneider de Oliveira
    • 1
    • 2
  • Lúcia Valéria Ramos de Arruda
    • 1
    • 2
  • Flávio Neves Júnior
    • 1
    • 2
  • Julio Endress Ramos
    • 2
  1. 1.Universidade Tecnológica Federal do Paraná (UTFPR)CuritibaBrazil
  2. 2.CENPES/PetrobrasRio de JaneiroBrazil

Personalised recommendations