PRE2024 3 Group5
Random Ideas and General Notes
TRIDENT (Tactical Robotic Inspection & Detection for Enhanced Nautical-hull Testing
Tasks for this week:
- Research positioning sensors - Luuk
- Research hull sensors - Anh
- User study - Simon
- Research simulation software- Anton
- Research simulation software - Luca
Possible Contacts:
- TU Delft maritime department, https://www.tudelft.nl/me/over/afdelingen/maritime-and-transport-technology/about-mtt/contact
- NakAI Robotics, https://www.nakairobotics.com/
- Damen Shipyards Group, https://www.damen.com/#contact
- NL Flag, https://nlflag.nl/
- Fleetcleaner https://www.fleetcleaner.com/
Group Members
| Name | Student ID | Department | |
|---|---|---|---|
| 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.
Deliverable and goals
The deliverable of this project will be a simulation of a robot that inspects the hulls of ships. This simulation will include the sensing part of a robot (measure its location and dynamics, measure the hull integrity and process it), but will not include actuators such as wheels or thrusters. The simulation should work for every (smooth) model of a ship hull.
The main goals are:
- Measure location with suitable precision and map this position on the manifold of the hull.
- Sense for defects in the hull.
- Implement the robot in a simulation software.
- Find the relevant user requirements and uses.
Planning
| Week | Tasks |
|---|---|
| 1 | Initial group set-up and task planing. |
| 2 | Literature research. |
| Reach out to a specialist in the field. | |
| 3 | Research subgoals |
| 4 | Implement subgoals |
| 5 | Implement subgoals |
| Draw conclusions and possible future improvements. | |
| 6 | Create the final presentation. |
| 7 | Finalize the wiki page. |
Users requirements summery
(Put summery of their requirements here)
Logbook
| 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. |
| Name | Total Time (Hours) | Work Description |
|---|---|---|
| Anton Veshnyakov | 10 | Meeting with group and company research (4h), Research of relevant literature (4h), Second group meeting (2h), |
| 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 | Meeting with group (4h), messaging companies (1h) | |
| Simon | 9 | meeting with group (4h), communicating with the company Damen (1h) research for the cost of the actual inspections of the ships (4h) |
| Name | Total Time (Hours) | Work Description |
|---|---|---|
| Anton Veshnyakov | 8 | Meeting with group (4h), Robot simulation software research (4h) |
| Luuk Kool | 4 | Meeting with group (4h) |
| Anh That Tuan Ton | ||
| Luca | ||
| Simon |
| Name | Total Time (Hours) | Work Description |
|---|---|---|
| Anton Veshnyakov | ||
| Luuk Kool | ||
| Anh That Tuan Ton | ||
| Luca | ||
| Simon |
| Name | Total Time (Hours) | Work Description |
|---|---|---|
| Anton Veshnyakov | ||
| Luuk Kool | ||
| Anh That Tuan Ton | ||
| Luca | ||
| Simon |
| Name | Total Time (Hours) | Work Description |
|---|---|---|
| Anton Veshnyakov | ||
| Luuk Kool | ||
| Anh That Tuan Ton | ||
| Luca | ||
| Simon |
| 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?
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
Simulation software
Simulink 3D animation can be used. This system can interact in Unreal Engine.
Documentation:
https://nl.mathworks.com/products/3d-animation.html https://nl.mathworks.com/help/driving/unreal-engine-scenario-simulation.html https://nl.mathworks.com/videos/series/using-unreal-engine-with-simulink.html https://nl.mathworks.com/help/vdynblks/ug/customize-scenes-using-simulink-and-unreal-editor.html
Gazebo can also be used for simulations. It is open source. https://gazebosim.org/home
Bibliography
- ↑ 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
- ↑ 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.
- ↑ 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.
- ↑ 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.
- ↑ 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.
- ↑ 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},
- ↑ 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