PRE2024 3 Group5

Random Ideas and General Notes

TRIDENT (Tactical Robotic Inspection & Detection for Enhanced Nautical-hull Testing

Tasks for this week:

• Sensors - Luuk
• State of the art drones - Anh
• Regulations - Simon
• Cable management - Anton
• Future robot design - Luca
  

Todo:

- problem statement and objectives

1. Problem: ships cant be fully inspected while in the open ocean during transit.
2. Objective: make a system that would allow to inspect the hull of the ship while in transit and forward the information to the relevant people.

- who are the users

1. Ship companies
2. Ship manufacturers

- what do they require

1. Reliability
2. Precision
3. Accuracy
4. Budget friendly
5. Crack and corrosion detection (defect detection in general)

- approach, milestones and deliverables

1. Approach:
   1. Research the software and sensors that are used to detect hull defects
   2. Calculating the physical properties of the systems
   3. Design 2 robots - the guide robots and the sensor robot
   4. Create a prototype of the sensor robot.
2. MIlestones:
3. Deliverables:

- who is doing what

- state of the art (25 papers)

Group Members

Name	Student ID	Department	Email
Anton Veshnyakov	1866508	Electrical Engineering	a.veshnyakov@student.tue.nl
Luuk Kool	1883542	Electrical Engineering	l.j.c.kool@student.tue.nl
Anh That Tuan Ton	1816209	Electrical Engineering	a.ton.that.tuan.anh@student.tue.nl
Luca Rutz	1781294	Electrical Engineering	l.d.rutz@student.tue.nl
Simon van Valkengoed	1881361	Electrical Engineering	s.h.v.valkengoed@student.tue.nl

Problem Statement

Inspecting the hull of a ship is a critical step in insuring the safety and operability of a sip, be it a small fishing boat or a giant ocean crossing cargo ship. Traditionally, those inspections were done using divers. As technology progressed, the role of hull inspections shifted from humans to ROVs (Remotely Operated Vehicles) and other autonomous robotic systems. However, currently the available solutions operate primarily while the ship is in the shallow waters of a port or while it is already docked. This means, that if a ship incurred some damage, it will be discovered relatively late in its journey, which in turn will delay the repairs and keep the ship docked for longer than necessary. Our system aims to make the discovery of possible faults in advance, while the ship is still at sea, allowing for faster turn around time and potentially reduced ecological impact.

Objectives

In order to demonstrate that the system is feasible, usable, and needed, the following steps will be taken:

• Explore the current use of divers and ROVs to carry out hull inspections.
• Explore the what types of sensors are used for defect discovery.
• The impact of delayed defect discovery on the turn around time of a ship.
• The impact of keeping a ship in port on the local ecology.
• Build a scaled prototype of the cable riding robot.
• Develop the control software needed to execute the mission.
• Test the prototype on a mock-up of a ship hull.

Planning

Week	Tasks
1	Initial group set-up and task planing.
2	Literature research.
	Reach out to a specialist in the field.
	Construct a list of needed components for a prototype.
3	Start prototyping the system.
4	Finish constructing a prototype.
5	Test, tweak and evaluate the system.
	Draw conclusions and possible future improvements.
6	Create the final presentation.
7	Finalize the wiki page.

Logbook

Week 1

Name	Total Time (Hours)	Work Description
Anton Veshnyakov	4	Organized and structured the wiki page (1h), Group meeting (1h), Organizing the planning chart (1h), Research of problem statement and objectives (1h)
Luuk Kool	4	search for papers (1h) / meeting (1h)/ research sensors(2h)
Anh That Tuan Ton	1	Searched for relevant articles / research paper (1h)
Luca	1	meeting (1h),
Simon

Week 2

Name	Total Time (Hours)	Work Description
Anton Veshnyakov
Luuk Kool
Anh That Tuan Ton
Luca
Simon

Sensors

Hull

Camera for visual inspection

ultrasonic for thickness measurements

Rail robot

Determine position along rail:

Estimate position with encoder on the wheel, this will drift due to slip. Position can be reset with periodic magnets in the rail and hall effect sensors.

Inspecting robot

Determine position along line

Determine speed

Determine angle

Determine depth

Might be possible to track these with an imu on the robot, subtracting with an imu on the rail robot to compensate for the movement of the ship. Can work in conjunction with an encoder on the wheels or a mapping to the ship topology for more accurate results (kalman filter)

chains?