Leonidas Drikos Leonidas Drikos (Glafcos-Marine)(Glafcos-Marine)

Brussels 2012

MINOAS ProjectMARINE INSPECTION ROBOTIC ASSISTANT SYSTEM

Brussels 2012

Real Work Difficulty Endmost Goal Objective name Project Activities directly

relevant to the achievement of the objective

Proof of Concept indicator

for close-up inspections, the

inspector is required to be set in a ‘reach of a

hand’ distance from the surface under

inspection

a more expedite inspection procedure, as the surveyor is relieved from the burden of covering long distances at the stage of visual survey of the vessel

Facilitation of the visual inspection stage by use of remotely operated robots

Development of fast deployable robotic platforms with advanced image grabbing equipment

Provision of high quality images of different sections of a vessel, using remote robot operation. Both the UAV and the lightweight crawler have the ability to grab and transmit or store onboard the relative images

the withdrawal of human personnel from hazardous areas, as there is no need for the surveyor to enter the hold or climb on staging with large height

Withdrawal of human personnel from hazardous areas

Development of robotic platforms with high locomotion abilities

Tele-operation of robotic platforms. D6 provides a more elaborate description of the platforms, while D3 provides a description of the overall Architecture

MINOAS Achievements

Brussels 2012

Real Work Difficulty

Endmost Goal Objective name Project Activities directly

relevant to the achievement of the objective

Proof of Concept indicator

for close-up inspections, the

inspector is required to be set in a ‘reach

of a hand’ distance from the surface

under inspection

the incorporation of advanced

technological means will abolish the need

for extensive staging and other

temporary arrangements traditionally

required, thus minimizing the costs

of the overall inspection procedure

Abolishment of the need for extensive staging and other

temporary arrangements

Area and task specific robotic

platform implementation

Successful operation of robotic platforms with the high locomotion abilities

(climbing robots). Description of test results under D7 and video material from lab tests

and field trialsApplication research opportunity for the field of networking

and robotics

Adjustment of known methods and techniques for robot control

and intercommunicati

on and implementation

Successful communication between the robots and the

local station as proven by the lab tests and the field trials

(D7)

the modularity of the platform proposed by

MINOAS will reduce the overall

inspection cost for a specific vessel as it

provides a repeatability

property to the inspection

Reduce of the overall inspection cost due to robotic

platforms’ reusability

Technical adequacy and performance

evaluation cost generation

benchmarking and Business

analysis

Potential financial benefits for shipowners are examined under the case-study driven

analysis (D11). Revenues and cost correspondence between traditional and

MINOAS will require more statistical data from on

longer periods of validation/use

MINOAS Achievements

Brussels 2012

Real Work Difficulty

Endmost Goal Objective name Project Activities directly relevant to the achievement of the objective

Proof of Concept indicator

the specifications set up from the Classes

are interpreted differently by

different human inspectors operating in different countries.

The qualitative results produced

during each inspection procedure

are based upon estimation rather than measurable

quantities.

a more systematic inspection methodology, that will lead to minimization of the inspection time

Reengineering of the inspection process

Analysis and assessment of the tasks required during a vessel inspection development of the corresponding system architecture and evaluation of the proposed scheme

Positive verification, during the trials, that remotely operated robots can efficiently perform inspection tasks. (field trials description)

Minimization of the overall time of inspection

Development of robotic platforms with the ability to operate in parallel, under supervision from a hierarchical point

Coordination and parallel operation of robotic platforms onboard a vessel. (field trials description)

the increase of the inspection quality, which will increase the safe operating conditions of the vessels and prolong their life-cycle

Increase of vessel’s safe operating condition by enhancement of the inspection quality

High accuracy measurements via the use of state of the art equipment and development of robotic platforms that provide close up inspection abilities

Measurements are at least as good as the ones obtained by humans according to the requirements of the Classes. (field trials results)

Inspection quality enhancement via on line data processing and analysis

Development of the required processing algorithms for data processing

The operation of image processing algorithms extracts potential areas of corrosion or pitting and extraction of statistical data

MINOAS Achievements

Brussels 2012

Real Work Difficulty

Endmost Goal Objective name

Project Activities directly relevant to the achievement of the objective

Proof of Concept indicator

the specifications set up from the

Classes are interpreted

differently by different human

inspectors operating in

different countries. The qualitative

results produced during each inspection

procedure are based upon

estimation rather than measurable

quantities.

the increase of the inspection quality, which will increase the safe operating conditions of the vessels and prolong their life-cycle

Construction of a vessel’s inspection historical annex

Development of a database for the storage of the collected data

Deployment of a dedicated database that hosts data extracted from the measurements. ROS architecture realized under WP2

the minimization of trade costs due to the vessels increased lifecycle and operational time

Trade cost minimization

Technical adequacy and performance evaluation

Comparison of time needed for a conventional inspection versus inspection conducted with the aid of robots. Quantifiable vs. qualitative performance description in the following

the increase of the environmental protection through the elevation of the inspection quality

Increase of the environmental protection

Inspection procedures benchmarking and leveraging

At least neutral impact on the environment, given the principle of ‘at least as good as traditional procedures’ imposed by Classification Societies.

MINOAS Achievements

• Development of robotic platforms– Lightweight crawler – Marker unit– Magnetic climber and robotic arm for UT– UAV Quad-copter– Underwater ROV

Brussels 2012

MINOAS Platforms

• Lightweight crawler – Marker unit– high operational speed– fast deployment– to offer close-up

Brussels 2012

• 1x core platform used• investigation on wheel /

adhesion properties (4 -5 design concepts and realization)

MINOAS Platforms

• Magnetic Climber and robotic arm with UT tools – lower operational speed– Surface preparation and UT measurement

Brussels 2012

• MARC:– 2x core platforms tested – investigation on adhesion

properties & transition between planes with angle

• UT Arm:– 2x prototypes developed– optimization on automation of

operation & reliability of measurement

MINOAS Platforms

• UAV Quad -copter– high operational speed– fast deployment– to offer first visual impression

Brussels 2012

• 2x body platforms developed

• numerous sensors implemented for self-localization: distance from ground, laser scanner for surroundings, cameras

• flight control algorithms for manual operation & automatic (through waypoints)

MINOAS Platforms

• Underwater ROV – lower operational speed– fast deployment– visual assessment & or collect UTM

in underwater internal areas (ballast tanks)

Brussels 2012

• 1x core platform used (commercial)

• development of control algorithms (hovering, maintain levitation)

• static arm + frame for UTM extraction

MINOAS Platforms

• Auxiliary equipment development– Image Processing algorithms and software tools– Localizations system – Surveyor Assistance tools– Ultrasonic Measurement system for A-Scan measurement

–Hardware board–Detection Algorithm - Software

– Tools for ultrasonic coupling on rough, irregular surfaces and contactless through water investigation

Brussels 2012

MINOAS Auxiliary Equipment

Brussels 2012extraction of corrosion crack identification

MINOAS Auxiliary Equipment

• MINOAS localization methodology (many conventional methods e.g. GPS not applicable on ships)

• PTU + laser beam, tracking high energy LED

Brussels 2012

MINOAS Auxiliary Equipment

• MINOAS operation assistance tools: real time feed video through goggles

Brussels 2012

MINOAS Auxiliary Equipment

• MINOAS custom developed electronics board for UTM extraction, UT probe & bubbler methodology (UTM extraction through water-line, surpasses nominal UTM operation).

• Provision of A-Scan, reliable measurement

Brussels 2012

MINOAS Auxiliary Equipment

• Previous results have been extensively tested:• In-house laboratory test-beds• 2x rounds of field trials in VARNA shipyards (Dolphin)

Brussels 2012

MINOAS validation / testing

Brussels 2012

MINOAS Expertise

• Level of expertise and achievements was acknowledged by:

– Guests from Posidonia even from early stages (201)– Brussels Innovation Convention– EuroNews Invitation– Vast amount of scientific publications, conferences &

workshops

Brussels 2012

MINOAS Expertise

Posidonia 2010

Posidonia 2012

Brussels 2012

MINOAS Expertise

Brussels Innovation Convention

Italian Minister of Education visit

MED 2011 Corfu

MINOAS ExpertiseEuroNews Invitation

• Extensive work by Classes & maritime partners, investigating applicability, distance from market, conflicts with existing regulation• D8 & D9 have documented the results and their acceptance by

the Classification Societies• operations have shown the proof-of-concept and benefits (cost

efficient, less labor/human risks), with at least the same quality• surveyors have expressed their interest in utilizing the

technologies through interviews

• Market analysis & demand examined under the Business Cases• viability of investment for introduction to the market• market need is present

Brussels 2012

Inspection Leverage

• Technical results have brought closer robotic technologies have brought closer robotic technologies to a new application (are ready for implementation)

• Proof-of-conceptProof-of-concept provided, yet platforms not in the commercial form• additional intelligence, level of automation, robustness under

varying conditions/marine environment

• Communication bridge Communication bridge has been established between maritime requirements & technology specification extraction

• Research has produced new scientific resultsnew scientific results• Market implementation Market implementation has been analyzed, opportunities

identified and means of market penetration (implementation scenarios)

Brussels 2012

Conclusion