Non-destructive inspection in industrial equipment using robotic mobile manipulation

Iñaki Maurtua; Loreto Susperregi; Ander Ansuategui; Ane Fernández; Aitor Ibarguren; Jorge Molina; Carlos Tubio; Cristobal Villasante; Torsten Felsch; Carmen Pérez; Jorge R. Rodriguez; Meftah Ghrissi

doi:10.1063/1.4949223

Non-destructive inspection in industrial equipment using robotic mobile manipulation

Iñaki Maurtua
, Loreto Susperregi
, Ander Ansuategui
, Ane Fernández
, Aitor Ibarguren
, Jorge Molina
, Carlos Tubio
, Cristobal Villasante
, Torsten Felsch
, Carmen Pérez
, Jorge R. Rodriguez
, Meftah Ghrissi

TEKNIKER
Fraunhofer Institute for Factory Operation and Automation
Tecnatom S.A.
TORRESOL Energy
Robosoft

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

3 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	SolarPACES 2015
Subtítulo de la publicación alojada	International Conference on Concentrating Solar Power and Chemical Energy Systems
Editores	Vikesh Rajpaul, Christoph Richter
Editorial	American Institute of Physics Inc.
ISBN (versión digital)	9780735413863
DOI	https://doi.org/10.1063/1.4949223
Estado	Publicada - 31 may 2016
Publicado de forma externa	Sí
Evento	21st International Conference on Concentrating Solar Power and Chemical Energy Systems, SolarPACES 2015 - Cape Town, Sudáfrica Duración: 13 oct 2015 → 16 oct 2015

Serie de la publicación

Nombre	AIP Conference Proceedings
Volumen	1734
ISSN (versión impresa)	0094-243X
ISSN (versión digital)	1551-7616

Conferencia

Conferencia	21st International Conference on Concentrating Solar Power and Chemical Energy Systems, SolarPACES 2015
País/Territorio	Sudáfrica
Ciudad	Cape Town
Período	13/10/15 → 16/10/15

ODS de las Naciones Unidas

Este resultado contribuye a los siguientes Objetivos de Desarrollo Sostenible

ODS 7: Energía asequible y no contaminante

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10.1063/1.4949223

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Maurtua, I., Susperregi, L., Ansuategui, A., Fernández, A., Ibarguren, A., Molina, J., Tubio, C., Villasante, C., Felsch, T., Pérez, C., Rodriguez, J. R., & Ghrissi, M. (2016). Non-destructive inspection in industrial equipment using robotic mobile manipulation. En V. Rajpaul, & C. Richter (Eds.), SolarPACES 2015: International Conference on Concentrating Solar Power and Chemical Energy Systems Artículo 130013 (AIP Conference Proceedings; Vol. 1734). American Institute of Physics Inc.. https://doi.org/10.1063/1.4949223

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title = "Non-destructive inspection in industrial equipment using robotic mobile manipulation",

abstract = "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.",

author = "I{\~n}aki Maurtua and Loreto Susperregi and Ander Ansuategui and Ane Fern{\'a}ndez and Aitor Ibarguren and Jorge Molina and Carlos Tubio and Cristobal Villasante and Torsten Felsch and Carmen P{\'e}rez and Rodriguez, \{Jorge R.\} and Meftah Ghrissi",

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year = "2016",

month = may,

day = "31",

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Maurtua, I, Susperregi, L, Ansuategui, A, Fernández, A, Ibarguren, A, Molina, J, Tubio, C, Villasante, C, Felsch, T, Pérez, C, Rodriguez, JR & Ghrissi, M 2016, Non-destructive inspection in industrial equipment using robotic mobile manipulation. En V Rajpaul & C Richter (eds.), SolarPACES 2015: International Conference on Concentrating Solar Power and Chemical Energy Systems., 130013, AIP Conference Proceedings, vol. 1734, American Institute of Physics Inc., 21st International Conference on Concentrating Solar Power and Chemical Energy Systems, SolarPACES 2015, Cape Town, Sudáfrica, 13/10/15. https://doi.org/10.1063/1.4949223

Non-destructive inspection in industrial equipment using robotic mobile manipulation. / Maurtua, Iñaki; Susperregi, Loreto; Ansuategui, Ander et al.
SolarPACES 2015: International Conference on Concentrating Solar Power and Chemical Energy Systems. ed. / Vikesh Rajpaul; Christoph Richter. American Institute of Physics Inc., 2016. 130013 (AIP Conference Proceedings; Vol. 1734).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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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

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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.

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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

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ER -

Maurtua I, Susperregi L, Ansuategui A, Fernández A, Ibarguren A, Molina J et al. Non-destructive inspection in industrial equipment using robotic mobile manipulation. En Rajpaul V, Richter C, editores, SolarPACES 2015: International Conference on Concentrating Solar Power and Chemical Energy Systems. American Institute of Physics Inc. 2016. 130013. (AIP Conference Proceedings). doi: 10.1063/1.4949223

Non-destructive inspection in industrial equipment using robotic mobile manipulation

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