PRE2024 3 Group5: Difference between revisions

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Revision as of 14:41, 23 February 2025

Random Ideas and General Notes

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

Tasks for this week:

  • Sensors, reach out to FleetCleaning - Luuk
  • State of the art drones, reach out to NLFlag - Anh
  • Regulations, reach out to Damen - Simon
  • Communication and power, reach out to Nakai - Anton
  • Future robot design, reach out to TU/d - Luca

Continue reading the papers that relate to the topic.

Continue working on the previously assigned task until response from the email.


Possible Contacts:

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 its safety and operability, be it a small fishing boat or a giant ocean crossing cargo ship. Traditionally, those inspections were done using divers[1]. 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[2]. 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.

Questions for USErs

  1. How often are ship hull inspections needed, and what types of inspections are required?
  2. How expensive are hull inspections, and what factors influence the cost?
  3. What are the most expensive or least reliable parts/methods to inspect?
  4. What are the most challenging areas of the hull to inspect and why?
  5. What are the most commonly used methods for ship inspections today?
  6. How often are divers used for inspections, and what are the risks involved?
  7. Do you already have a similar inspection system in place?
  8. What kinds of sensors are currently used on ships to monitor the hull?
  9. What are the most common defects found during hull inspections, and how are they detected?
  10. What are the biggest limitations of current inspection methods?
  11. What are common causes of false positives or missed defects in current inspection methods?
  12. What hull issues are ship owners most concerned with, and which aspects still require human inspection?

Target user interviews

Damen

Nakai

FlagNL

TU Delft

FleetCleaning

Users requirements summery

(Put summery of their requirements here)

Logbook

Week 1
Name Total Time (Hours) Work Description
Anton Veshnyakov 7 Attended lecture (3h), Organized and structured the wiki page (1h), Group meeting (1h), Organizing the planning chart (1h), Research of problem statement and objectives (1h)
Luuk Kool 7 Attend lecture (3h), search for papers (1h) / meeting (1h)/ research sensors(2h)
Anh That Tuan Ton 5 Searched for relevant articles (1h), research paper (4h)
Luca 2 meeting (1h), research on needed components (1h)
Simon 5 meeting, reading about non-destructive inspection techniques for ship inspection.
Week 2
Name Total Time (Hours) Work Description
Anton Veshnyakov 8 Meeting with group and company research (4h), Research of relevant literature (4h)
Luuk Kool 8 Meeting with group (4h), meet again (1h), read papers (3h)
Anh That Tuan Ton Meeting with group (4h), research for additional company (1h)
Luca
Simon 9 meeting with group (4h), communicating with the company Damen (1h) research for the cost of the actual inspections of the ships (4h)
Week 3
Name Total Time (Hours) Work Description
Anton Veshnyakov
Luuk Kool
Anh That Tuan Ton
Luca
Simon
Week 4
Name Total Time (Hours) Work Description
Anton Veshnyakov
Luuk Kool
Anh That Tuan Ton
Luca
Simon
Week 5
Name Total Time (Hours) Work Description
Anton Veshnyakov
Luuk Kool
Anh That Tuan Ton
Luca
Simon
Week 6
Name Total Time (Hours) Work Description
Anton Veshnyakov
Luuk Kool
Anh That Tuan Ton
Luca
Simon
Week 7
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?

Needed Components

Both robots need to be water proof. A prototype of these robots would need to be 3D printed. The best way to have a waterproof 3D print is to use petg filament and a sealer. To build the robots we would also need a strong and long cable and a metal surface to test the robots on.

Rail robot

  • ESP-32, microcontroller with build in wireless communication
  • 4 Stepper motors, 2 used for moving along the rail and 2 used for reeling in the cable.
  • gears, to get the correct gear ratio for driving on the r
  • Motor shield to drive the stepper motors.
  • 4 wheels or gears, used to connect to the rail and move along it
  • Rails, to move along
  • Batteries or external power cable, used to power the electronics.

Inpspecting robot

  • Raspberry Pi, powerfull board that can handle multiple tasks
  • 2 stepper motors, used to move along the cable
  • A motor shield to drive the stepper motors
  • 4 wheels to roll along the hull
  • 2 wheels which are used to drive the cable
  • Gears, to get to correct torque for driving along the cable
  • Batteries or external power, to drive the system
  • Raspberry Pi camera
  • Strong light, used to make the hull clear for the camera
  • Some sort of utrasonic sensor to scann the hull
  • (accelerometer, maybe used to determine position and speed)

Articles summary

https://tuenl-my.sharepoint.com/:w:/r/personal/a_ton_that_tuan_anh_student_tue_nl/Documents/Documents/Year%203/Quartile%203/0LAUK0/Article%20summary.docx?d=w072622aab5a34691aa5c9248b16dc866&csf=1&web=1&e=gP4b5P

Email example

Dear ...,


We are a group of students from the Technical University of Eindhoven working on a small project on autonomous robots. The focus of our project is to design a robot that could help with inspections of ship hulls. This project will last until the 31st of March.


We were hoping that the Maritime technology of the ..., with their expertise, could help us answer some questions we have about this field of interest.

With kind regards,

...

Bibliography

[3] [4] [5] [6] [7]

  1. ↑ Song, C., Cui, W. Review of Underwater Ship Hull Cleaning Technologies. J. Marine. Sci. Appl. 19, 415–429 (2020). https://doi.org/10.1007/s11804-020-00157-z
  2. ↑ Bosen Lin, Xinghui Dong, Ship hull inspection: A survey, Ocean Engineering, Volume 289, Part 1, 2023, 116281, ISSN 0029-8018, https://doi.org/10.1016/j.oceaneng.2023.116281.
  3. ↑ Ferreira, C.Z., Yuri, G., Conte, C., Avila, J.P., Pereira, R.C., Morais, T., & Ribeiro, C. (2013). UNDERWATER ROBOTIC VEHICLE FOR SHIP HULL INSPECTION: CONTROL SYSTEM ARCHITECTURE.
  4. ↑ Cardaillac, Alexandre & Skjetne, Roger & Ludvigsen, Martin. (2024). ROV-Based Autonomous Maneuvering for Ship Hull Inspection with Coverage Monitoring. Journal of Intelligent & Robotic Systems. 110. 10.1007/s10846-024-02095-2.
  5. ↑ Negahdaripour, Shahriar & Firoozfam, Pezhman. (2006). An ROV Stereovision System for Ship-Hull Inspection. Oceanic Engineering, IEEE Journal of. 31. 551 - 564. 10.1109/JOE.2005.851391.
  6. ↑ A. F. Ali and M. R. Arshad, "Ship Hull Inspection using Remotely Operated Vehicle," 2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications (USYS), Kuala Lumpur, Malaysia, 2022, pp. 1-4, doi: 10.1109/USYS56283.2022.10072609. keywords: {Underwater cables;Visualization;Remotely guided vehicles;Prototypes;Inspection;Sensors;Safety;Remotely Operated Vehicle;Ship Hull Inspection;Unmanned Underwater Vehicle},
  7. ↑ Li, J., He, Y., Tao, W. (2025). Design and Implementation of a Modular Underwater Brush-Clearing Robot and Its Observation Module. In: Pham, D.T., Lei, Y., Lou, Y. (eds) Mechanical Design and Simulation: Exploring Innovations for the Future. MDS 2024. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-97-7887-4_35
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