Novel Robotic Systems in at Sea Inspection and Repair of Damaged Ship Hulls With Friction Stir Welding

被引：0

作者：

Fitzgerald, Luke ^{[1
]}

Santos, Phillipe ^{[1
]}

Weir, Anthony ^{[1
]}

Omerdic, Edin ^{[1
]}

Duraibabu, Dinesh Babu ^{[2
]}

Trslic, Petar ^{[1
]}

Musselwhite-Veitch, Helio ^{[1
]}

Dooly, Gerard ^{[1
]}

Toal, Daniel ^{[1
]}

机构：

[1] Univ Limerick, Ctr Robot & Intelligent Syst CRIS, Dept Elect & Comp Engn, Limerick V94 T9PX, Ireland

[2] Atlantic Technol Univ, Dept Mechatron Engn, Sligo F91YW50, Ireland

来源：

IEEE ACCESS | 2024年 / 12卷

基金：

爱尔兰科学基金会;

关键词：

Inspection; Marine vehicles; Maintenance engineering; Welding; Task analysis; Steel; Cleaning; Underwater Inspection; ship hull repair; ROV; friction stir welding; robotics; TOOL; MICROSTRUCTURE; STRENGTH; LIFE;

D O I：

10.1109/ACCESS.2024.3434591

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a start to finish approach on the inspection and repair of damaged ship hulls in water. The repair of ship hulls in water has been made viable by recent developments in Friction Stir Welding (FSW) of steels. The project is a European Union (EU) funded collaboration involving a variety of academic and industry partners aiming to increase the productivity of small and medium sized EU shipyards. This paper outlines the overall procedure of a repair mission while focusing on the inspection task by use of Remotely Operated Vehicles (ROV), as performed in a variety of environments on a fractured plate made from ship grade steel. The equipment and processing procedures are detailed with discussion demonstrating the capabilities in generating the required quality of 3D models in order for defects to be identified and for a sufficiently sized repair patch to be designed.

引用

页码：190505 / 190519

页数：15

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