leonidas drikos (glafcos-marine) brussels 2012 minoas project m arine in spection r o botic a...
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Leonidas Drikos Leonidas Drikos (Glafcos-Marine)(Glafcos-Marine)
Brussels 2012
MINOAS ProjectMARINE INSPECTION ROBOTIC ASSISTANT SYSTEM
Brussels 2012
Real Work Difficulty Endmost Goal Objective name Project Activities directly
relevant to the achievement of the objective
Proof of Concept indicator
for close-up inspections, the
inspector is required to be set in a ‘reach of a
hand’ distance from the surface under
inspection
a more expedite inspection procedure, as the surveyor is relieved from the burden of covering long distances at the stage of visual survey of the vessel
Facilitation of the visual inspection stage by use of remotely operated robots
Development of fast deployable robotic platforms with advanced image grabbing equipment
Provision of high quality images of different sections of a vessel, using remote robot operation. Both the UAV and the lightweight crawler have the ability to grab and transmit or store onboard the relative images
the withdrawal of human personnel from hazardous areas, as there is no need for the surveyor to enter the hold or climb on staging with large height
Withdrawal of human personnel from hazardous areas
Development of robotic platforms with high locomotion abilities
Tele-operation of robotic platforms. D6 provides a more elaborate description of the platforms, while D3 provides a description of the overall Architecture
MINOAS Achievements
Brussels 2012
Real Work Difficulty
Endmost Goal Objective name Project Activities directly
relevant to the achievement of the objective
Proof of Concept indicator
for close-up inspections, the
inspector is required to be set in a ‘reach
of a hand’ distance from the surface
under inspection
the incorporation of advanced
technological means will abolish the need
for extensive staging and other
temporary arrangements traditionally
required, thus minimizing the costs
of the overall inspection procedure
Abolishment of the need for extensive staging and other
temporary arrangements
Area and task specific robotic
platform implementation
Successful operation of robotic platforms with the high locomotion abilities
(climbing robots). Description of test results under D7 and video material from lab tests
and field trialsApplication research opportunity for the field of networking
and robotics
Adjustment of known methods and techniques for robot control
and intercommunicati
on and implementation
Successful communication between the robots and the
local station as proven by the lab tests and the field trials
(D7)
the modularity of the platform proposed by
MINOAS will reduce the overall
inspection cost for a specific vessel as it
provides a repeatability
property to the inspection
Reduce of the overall inspection cost due to robotic
platforms’ reusability
Technical adequacy and performance
evaluation cost generation
benchmarking and Business
analysis
Potential financial benefits for shipowners are examined under the case-study driven
analysis (D11). Revenues and cost correspondence between traditional and
MINOAS will require more statistical data from on
longer periods of validation/use
MINOAS Achievements
Brussels 2012
Real Work Difficulty
Endmost Goal Objective name Project Activities directly relevant to the achievement of the objective
Proof of Concept indicator
the specifications set up from the Classes
are interpreted differently by
different human inspectors operating in different countries.
The qualitative results produced
during each inspection procedure
are based upon estimation rather than measurable
quantities.
a more systematic inspection methodology, that will lead to minimization of the inspection time
Reengineering of the inspection process
Analysis and assessment of the tasks required during a vessel inspection development of the corresponding system architecture and evaluation of the proposed scheme
Positive verification, during the trials, that remotely operated robots can efficiently perform inspection tasks. (field trials description)
Minimization of the overall time of inspection
Development of robotic platforms with the ability to operate in parallel, under supervision from a hierarchical point
Coordination and parallel operation of robotic platforms onboard a vessel. (field trials description)
the increase of the inspection quality, which will increase the safe operating conditions of the vessels and prolong their life-cycle
Increase of vessel’s safe operating condition by enhancement of the inspection quality
High accuracy measurements via the use of state of the art equipment and development of robotic platforms that provide close up inspection abilities
Measurements are at least as good as the ones obtained by humans according to the requirements of the Classes. (field trials results)
Inspection quality enhancement via on line data processing and analysis
Development of the required processing algorithms for data processing
The operation of image processing algorithms extracts potential areas of corrosion or pitting and extraction of statistical data
MINOAS Achievements
Brussels 2012
Real Work Difficulty
Endmost Goal Objective name
Project Activities directly relevant to the achievement of the objective
Proof of Concept indicator
the specifications set up from the
Classes are interpreted
differently by different human
inspectors operating in
different countries. The qualitative
results produced during each inspection
procedure are based upon
estimation rather than measurable
quantities.
the increase of the inspection quality, which will increase the safe operating conditions of the vessels and prolong their life-cycle
Construction of a vessel’s inspection historical annex
Development of a database for the storage of the collected data
Deployment of a dedicated database that hosts data extracted from the measurements. ROS architecture realized under WP2
the minimization of trade costs due to the vessels increased lifecycle and operational time
Trade cost minimization
Technical adequacy and performance evaluation
Comparison of time needed for a conventional inspection versus inspection conducted with the aid of robots. Quantifiable vs. qualitative performance description in the following
the increase of the environmental protection through the elevation of the inspection quality
Increase of the environmental protection
Inspection procedures benchmarking and leveraging
At least neutral impact on the environment, given the principle of ‘at least as good as traditional procedures’ imposed by Classification Societies.
MINOAS Achievements
• Development of robotic platforms– Lightweight crawler – Marker unit– Magnetic climber and robotic arm for UT– UAV Quad-copter– Underwater ROV
Brussels 2012
MINOAS Platforms
• Lightweight crawler – Marker unit– high operational speed– fast deployment– to offer close-up
Brussels 2012
• 1x core platform used• investigation on wheel /
adhesion properties (4 -5 design concepts and realization)
MINOAS Platforms
• Magnetic Climber and robotic arm with UT tools – lower operational speed– Surface preparation and UT measurement
Brussels 2012
• MARC:– 2x core platforms tested – investigation on adhesion
properties & transition between planes with angle
• UT Arm:– 2x prototypes developed– optimization on automation of
operation & reliability of measurement
MINOAS Platforms
• UAV Quad -copter– high operational speed– fast deployment– to offer first visual impression
Brussels 2012
• 2x body platforms developed
• numerous sensors implemented for self-localization: distance from ground, laser scanner for surroundings, cameras
• flight control algorithms for manual operation & automatic (through waypoints)
MINOAS Platforms
• Underwater ROV – lower operational speed– fast deployment– visual assessment & or collect UTM
in underwater internal areas (ballast tanks)
Brussels 2012
• 1x core platform used (commercial)
• development of control algorithms (hovering, maintain levitation)
• static arm + frame for UTM extraction
MINOAS Platforms
• Auxiliary equipment development– Image Processing algorithms and software tools– Localizations system – Surveyor Assistance tools– Ultrasonic Measurement system for A-Scan measurement
–Hardware board–Detection Algorithm - Software
– Tools for ultrasonic coupling on rough, irregular surfaces and contactless through water investigation
Brussels 2012
MINOAS Auxiliary Equipment
Brussels 2012extraction of corrosion crack identification
MINOAS Auxiliary Equipment
• MINOAS localization methodology (many conventional methods e.g. GPS not applicable on ships)
• PTU + laser beam, tracking high energy LED
Brussels 2012
MINOAS Auxiliary Equipment
• MINOAS operation assistance tools: real time feed video through goggles
Brussels 2012
MINOAS Auxiliary Equipment
• MINOAS custom developed electronics board for UTM extraction, UT probe & bubbler methodology (UTM extraction through water-line, surpasses nominal UTM operation).
• Provision of A-Scan, reliable measurement
Brussels 2012
MINOAS Auxiliary Equipment
• Previous results have been extensively tested:• In-house laboratory test-beds• 2x rounds of field trials in VARNA shipyards (Dolphin)
Brussels 2012
MINOAS validation / testing
Brussels 2012
MINOAS Expertise
• Level of expertise and achievements was acknowledged by:
– Guests from Posidonia even from early stages (201)– Brussels Innovation Convention– EuroNews Invitation– Vast amount of scientific publications, conferences &
workshops
Brussels 2012
MINOAS Expertise
Posidonia 2010
Posidonia 2012
Brussels 2012
MINOAS Expertise
Brussels Innovation Convention
Italian Minister of Education visit
MED 2011 Corfu
MINOAS ExpertiseEuroNews Invitation
• Extensive work by Classes & maritime partners, investigating applicability, distance from market, conflicts with existing regulation• D8 & D9 have documented the results and their acceptance by
the Classification Societies• operations have shown the proof-of-concept and benefits (cost
efficient, less labor/human risks), with at least the same quality• surveyors have expressed their interest in utilizing the
technologies through interviews
• Market analysis & demand examined under the Business Cases• viability of investment for introduction to the market• market need is present
Brussels 2012
Inspection Leverage
• Technical results have brought closer robotic technologies have brought closer robotic technologies to a new application (are ready for implementation)
• Proof-of-conceptProof-of-concept provided, yet platforms not in the commercial form• additional intelligence, level of automation, robustness under
varying conditions/marine environment
• Communication bridge Communication bridge has been established between maritime requirements & technology specification extraction
• Research has produced new scientific resultsnew scientific results• Market implementation Market implementation has been analyzed, opportunities
identified and means of market penetration (implementation scenarios)
Brussels 2012
Conclusion