Development of a novel crawler based robot for mooring chain climbing

Conference paper

Dissanayake, M, Howlader, MOF, Sattar, TP, Gan, T and Pinson, I (2017). Development of a novel crawler based robot for mooring chain climbing. 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR). Porto, Portugal 11 - 13 Sep 2017 Singapore World Scientific Publishing.
AuthorsDissanayake, M, Howlader, MOF, Sattar, TP, Gan, T and Pinson, I
TypeConference paper
Abstract

Mooring systems experience high tidal waves, storms and harsh environmental conditions. Therefore, ensuring the integrity of mooring chain is important. The aim of the work reported in this paper is to develop a robotic system that performs in-service non-destructive testing of mooring chains. The inspection system is an autonomous device that operates in air as well as underwater. The permanent magnet adhesion crawler robot developed can climb mooring chains at a speed of 42cm/minute with a pay load of 50N. FEA study of the magnetic adhesion module, structural analysis, prototyping and testing of the robot is presented in this paper.

Year2017
JournalHuman-Centric Robotics: proc. of 20th Internatonal Conference on CLAWAR 2017
PublisherWorld Scientific Publishing
Accepted author manuscript
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Open
Publication dates
Print11 Sep 2017
Publication process dates
Deposited07 Dec 2017
Accepted26 May 2017
ISBN9789813231030
Place of publicationSingapore
LicenseCC BY-NC
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Sattar, TP, Howlader, MOF and Dudley, S (2016). Development of a Wall Climbing Robotic Ground Penetrating Radar System for Inspection of Vertical Concrete Structures. International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering. 10 (8), pp. 1346-1352.
Deployment of laser cutting head with wall climbing robot for nuclear decommissioning
Sattar, TP, Hilton, P and Howlader, MOF (2016). Deployment of laser cutting head with wall climbing robot for nuclear decommissioning. 19th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2016). London 12 - 14 Sep 2016 World Scientific Publishing.
Safeguarding Safety Critical Infrastructure with Mobile Robot Inspectors , Opportunities and Challenges
Sattar, TP (2016). Safeguarding Safety Critical Infrastructure with Mobile Robot Inspectors , Opportunities and Challenges. International Conference on Sustainable Vital Technologies in Engineering and Informatics, BUE ACE1 2016. Cairo, Egypt 07 - 09 Nov 2016
Numerical fitting-based likelihood calculation to speed up the particle filter
Li, T, Sun, S, Corchado, JM, Sattar, TP and Si, S (2016). Numerical fitting-based likelihood calculation to speed up the particle filter. International Journal of Adaptive Control and Signal Processing. 30 (11), pp. 1583-1602. https://doi.org/10.1002/acs.2656
Non-destructive testing and condition monitoring with mobile wall climbing and swimming robots
Sattar, TP (2014). Non-destructive testing and condition monitoring with mobile wall climbing and swimming robots. 11th International Conference on Condition Monitoring and Machinery Failure Prevention Technologies (CM 2014/MFPT 2014). Manchester, UK 10 - 12 Jun 2014 British Institute of Non-Destructive Testing (BINDT).
Comparison of MUSIC and ESPRIT DOA Estimation algorithms for Wireless Communications
Oumar, O A, Siyau, M F and Sattar, T. (2012). Comparison of MUSIC and ESPRIT DOA Estimation algorithms for Wireless Communications. The First International Conference on Future Generation Communication Technologies. London 12 - 14 Dec 2012