Amphibious Robot For Weld Inspection Inside Floating Production Oil Storage Tanks

Conference paper

Sattar, TP, Leon-Rodriguez, HE, Shang, J, Gan, T and Lagonikas, A (2006). Amphibious Robot For Weld Inspection Inside Floating Production Oil Storage Tanks. 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Brussels, Belgium 12 - 14 Sep 2006 pp. 533-540
AuthorsSattar, TP, Leon-Rodriguez, HE, Shang, J, Gan, T and Lagonikas, A
TypeConference paper
Abstract

An amphibious and mobile robotic inspection system
is described that has been developed to test welds located inside a floating production storage oil tank (FPSO tank). The robot has
been designed to operate both in air and while submerged in oil
to test welds on structural strengthening plates and tank walls. It
operates in air when the tank has been emptied with only a few
inches of product remaining on the floor. In this case the robot
moves on the floor of the tank and inspects welds on the bottom
of the strengthening plates and the floor. The robot operates in a liquid by swimming down from a manhole in the roof of the tank and settling on the floor in the vicinity of a test area. In both air and liquid, ultrasonic sensors profile the surrounding
strengthening plates and tank walls and guide the robot
autonomously along the welds. A Cartesian scanning arm
mounted on the robot scans the welds with an ACFM probe and
performs non-destructive testing (NDT) after the robot has been
positioned correctly.

Year2006
JournalProceedings of the 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
Accepted author manuscript
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Publication dates
Print12 Sep 2006
Publication process dates
Deposited03 Jan 2019
Page range533-540
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https://openresearch.lsbu.ac.uk/item/87qwv

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Accepted author manuscript
66. CLAWAR 2006-Amphibious robot for weld.pdf
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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