TY - GEN
T1 - Non-destructive inspection in industrial equipment using robotic mobile manipulation
AU - Maurtua, Iñaki
AU - Susperregi, Loreto
AU - Ansuategui, Ander
AU - Fernández, Ane
AU - Ibarguren, Aitor
AU - Molina, Jorge
AU - Tubio, Carlos
AU - Villasante, Cristobal
AU - Felsch, Torsten
AU - Pérez, Carmen
AU - Rodriguez, Jorge R.
AU - Ghrissi, Meftah
N1 - Publisher Copyright:
© 2016 Author(s).
PY - 2016/5/31
Y1 - 2016/5/31
N2 - MAINBOT project has developed service robots based applications to autonomously execute inspection tasks in extensive industrial plants in equipment that is arranged horizontally (using ground robots) or vertically (climbing robots). The industrial objective has been to provide a means to help measuring several physical parameters in multiple points by autonomous robots, able to navigate and climb structures, handling non-destructive testing sensors. MAINBOT has validated the solutions in two solar thermal plants (cylindrical-parabolic collectors and central tower), that are very demanding from mobile manipulation point of view mainly due to the extension (e.g. a thermal solar plant of 50Mw, with 400 hectares, 400.000 mirrors, 180 km of absorber tubes, 140m height tower), the variability of conditions (outdoor, day-night), safety requirements, etc. Once the technology was validated in simulation, the system was deployed in real setups and different validation tests carried out. In this paper two of the achievements related with the ground mobile inspection system are presented: (1) Autonomous navigation localization and planning algorithms to manage navigation in huge extensions and (2) Non-Destructive Inspection operations: thermography based detection algorithms to provide automatic inspection abilities to the robots.
AB - MAINBOT project has developed service robots based applications to autonomously execute inspection tasks in extensive industrial plants in equipment that is arranged horizontally (using ground robots) or vertically (climbing robots). The industrial objective has been to provide a means to help measuring several physical parameters in multiple points by autonomous robots, able to navigate and climb structures, handling non-destructive testing sensors. MAINBOT has validated the solutions in two solar thermal plants (cylindrical-parabolic collectors and central tower), that are very demanding from mobile manipulation point of view mainly due to the extension (e.g. a thermal solar plant of 50Mw, with 400 hectares, 400.000 mirrors, 180 km of absorber tubes, 140m height tower), the variability of conditions (outdoor, day-night), safety requirements, etc. Once the technology was validated in simulation, the system was deployed in real setups and different validation tests carried out. In this paper two of the achievements related with the ground mobile inspection system are presented: (1) Autonomous navigation localization and planning algorithms to manage navigation in huge extensions and (2) Non-Destructive Inspection operations: thermography based detection algorithms to provide automatic inspection abilities to the robots.
UR - https://www.scopus.com/pages/publications/84984586834
U2 - 10.1063/1.4949223
DO - 10.1063/1.4949223
M3 - Conference contribution
AN - SCOPUS:84984586834
T3 - AIP Conference Proceedings
BT - SolarPACES 2015
A2 - Rajpaul, Vikesh
A2 - Richter, Christoph
PB - American Institute of Physics Inc.
T2 - 21st International Conference on Concentrating Solar Power and Chemical Energy Systems, SolarPACES 2015
Y2 - 13 October 2015 through 16 October 2015
ER -
