A magnetically adhering wall climbing wall robot to perform continuous welding of long seams and non destructively test the welds on the hull of a container ship

Conference paper

Sattar, T, Alaoui, M, Chen, S and Bridge, B (2001). A magnetically adhering wall climbing wall robot to perform continuous welding of long seams and non destructively test the welds on the hull of a container ship. 8th IEEE Conference on Mechatronics and Machine Vision in Practice, M2VIP2001. Hong Kong, China 27 - 29 Aug 2001 pp. 408-414
AuthorsSattar, T, Alaoui, M, Chen, S and Bridge, B
TypeConference paper
Abstract

Abstract-- The paper describes the development of a
wall-climbing robot designed to carry a 7 DOF serial
link robot arm of mass 22 kg to a maximum height of
thirty metres on the outside surfaces of the hull of a
container ship. The arm has been specially designed to
perform remote inspection tasks. It deploys ultrasonic
probes using force control and task error minimising
control to perform pulse echo and Time-Of-FlightDiffraction (TOFD) defect detection. The climbing robot is required to move on flat as well as curved surfaces and to step over 40 mm ridges that are formed by welding together steel plates of different thickness. The robot is currently being developed further to
perform combined welding and monitoring of weld
quality operations.

Year2001
Accepted author manuscript
License
Publication dates
Print27 Aug 2001
Publication process dates
Deposited19 Dec 2018
Accepted27 Aug 2001
ISBN962-442-191-9
Page range408-414
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https://openresearch.lsbu.ac.uk/item/87v31

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Accepted author manuscript
2001 ShipHull-Inspector.pdf
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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