Underwater crawler system with magnetic wheels for ship hull inspection
| dc.contributor.author | Kua, Lin Dun | |
| dc.date.accessioned | 2021-04-23T01:51:59Z | |
| dc.date.available | 2021-04-23T01:51:59Z | |
| dc.date.issued | 2017-06 | |
| dc.description.abstract | Magnetic crawler for ship hull inspection is a robotic solution aims to replace human operatorin order to save time and cost, and reduce human risk when the inspection is taken at hazards condition like the deep sea. Others solution uses vacuum, thruster and ballast are also implemented and both carries own advantages and complexity. The magnetic crawler is easier to control as it involves less degree of freedom. In order to make the inspection process more smoothly and complete, the crawler was designed to operate autonomously rather than remotely. However, to control the crawler to move autonomously was not easy, it required a PID controller and integrated with some sensors to make it work and move in straight line.PID controller is a closed loop controller which calculates the error value of current state from the set point and make the output closed to the set point or minimize the error by calculation with proportional, integral and derivative terms. Therefore, a dual magnetic wheels crawler is designed, hoping to increase the efficiency and reliability of ship hull inspection.By doing so, the path planning would be much easier for the crawler to operate autonomously. Besides, the wheels were designed with least weight and more stable to provide sufficient adhesion while preventing vibration which will affect the quality of the image when camera attached to the crawler. After PID parameters were tuned correctly, the crawler can operate autonomously throughout the ship hull, enable the camera attached on it to capture the image at every location for image stitching. | en_US |
| dc.identifier.uri | http://hdl.handle.net/123456789/13089 | |
| dc.language.iso | en | en_US |
| dc.subject.lcsh | Magnetics | |
| dc.title | Underwater crawler system with magnetic wheels for ship hull inspection | en_US |
| dc.type | Other | en_US |
Files
License bundle
1 - 1 of 1
Loading...
- Name:
- license.txt
- Size:
- 1.71 KB
- Format:
- Item-specific license agreed upon to submission
- Description: