DIIUS - Distributed Perception for Inspection of Aquatic Structures

Campos, Daniel; Pereira, Maria Inês; Matos, Aníbal; Pinto, Andry Maykol

doi:10.23919/oceans44145.2021.9705939

Cited by 7 publications

(6 citation statements)

References 11 publications

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“…ASVs are autonomous vehicles that can perform various tasks, including monitoring and surveying harbors, bathymetry and depth evaluations, and inspection and maintenance of offshore infrastructures [21,97]. Furthermore, ASVs are particularly valuable for conducting inspections and performing maintenance on offshore infrastructures [98]. Using these vehicles, it becomes possible to carry out comprehensive inspections and implement necessary repairs or maintenance measures in an efficient manner [99].…”

Section: Autonomous Surface Vessel (Asv)mentioning

confidence: 99%

Exploring Autonomous and Remotely Operated Vehicles in Offshore Structure Inspections

Fun Sang Cepeda,

Freitas Machado,

Sousa Barbosa

et al. 2023

JMSE

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Operators of offshore production units (OPUs) employ risk-based assessment (RBA) techniques in order to minimise inspection expenses while maintaining risks at an acceptable level. However, when human divers and workers are involved in inspections conducted at high heights, the operational risks can be significant. Recently, there has been a growing trend towards the use of unmanned aerial vehicles (UAVs), autonomous surface vehicles (ASVs), remotely operated vehicles (ROVs), and autonomous underwater vehicles (AUVs) for inspections of offshore structures as a means to reduce exposure to human risk. This article provides an analysis of these vehicle inspection capabilities and their potential to enhance robustness and safety within the oil and gas industry. The review assesses both the advantages and the drawbacks associated with these innovative systems, providing valuable comparisons and assessments on their potential use as viable alternatives to conventional inspection methods.

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Section: Autonomous Surface Vessel (Asv)mentioning

confidence: 99%

Exploring Autonomous and Remotely Operated Vehicles in Offshore Structure Inspections

Fun Sang Cepeda,

Freitas Machado,

Sousa Barbosa

et al. 2023

JMSE

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“…Fig. 15 depicts the point cloud of the reconstructed model of the inspected wind turbine, for the vertical blade configuration 2 . A confidence parameter is assigned to each inspection point, allowing to create a confidence map of the inspection data.…”

Section: B 3d Model Reconstructionmentioning

confidence: 99%

“…Traditional methods for inspecting and monitoring diverse types of structures are often expensive, repetitive, time consuming and potentially dangerous for human operators [1]. To overcome this issue, several inspection tasks are currently being carried out by Unmanned Aerial Vehicles (UAVs) [2], [3], which represents a reduction of the inspection costs and of the total time consumed [4]. UAVs are autonomous aerial robots that can collect high quality data of structures [5], such as images (visual, thermal, among others) and point clouds.…”

Section: Introductionmentioning

confidence: 99%

Energy Efficient Path Planning for 3D Aerial Inspections

et al. 2023

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The use of Unmanned Aerial Vehicles (UAVs) in different inspection tasks is increasing. This technology reduces inspection costs and collects high quality data of distinct structures, including areas that are not easily accessible by human operators. However, the reduced energy available on the UAVs limits their flight endurance. To increase the autonomy of a single flight, it is important to optimize the path to be performed by the UAV, in terms of energy loss. Therefore, this work presents a novel formulation of the Travelling Salesman Problem (TSP) and a path planning algorithm that uses a UAV energy model to solve this optimization problem. The novel TSP formulation is defined as Asymmetric Travelling Salesman Problem with Precedence Loss (ATSP-PL), where the cost of moving the UAV depends on the previous position. The energy model relates each UAV movement with its energy consumption, while the path planning algorithm is focused on minimizing the energy loss of the UAV, ensuring that the structure is fully covered. The developed algorithm was tested in both simulated and real scenarios. The simulated experiments were performed with realistic models of wind turbines and a UAV, whereas the real experiments were performed with a real UAV and an illumination tower. The inspection paths generated presented improvements over 24% and 8%, when compared with other methods, for the simulated and real experiments, respectively, optimizing the energy consumption of the UAV.

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“…Currently, it is no longer uncommon to find examples of robotic applications in the most challenging environments, such as underwater (Plueddemann et al, 2012), maritime (Campos, Pereira, et al, 2021), or aerial (Wang, Zhang, et al, 2019) domains. Moreover, unmanned vehicles, namely, Unmanned Aerial Vehicles (UAVs), Autonomous Surface Vehicles (ASVs), Remotely Operated Vehicles (ROVs), and Autonomous Underwater Vehicles, are being developed and deployed to perform O&M activities, such as autonomous navigation (Cui et al, 2021), mapping (Teng et al, 2021), underwater manipulation (Silva et al, 2022), or visual inspection (Leite & Pinto, 2024; Pinto & Matos, 2020).…”

Section: Introductionmentioning

confidence: 99%

Nautilus: An autonomous surface vehicle with a multilayer software architecture for offshore inspection

Campos,

Gonçalves,

Campos

et al. 2024

Journal of Field Robotics

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The increasing adoption of robotic solutions for inspection tasks in challenging environments is becoming increasingly prevalent, particularly in the offshore wind energy industry. This trend is driven by the critical need to safeguard the integrity and operational efficiency of offshore infrastructure. Consequently, the design of inspection vehicles must comply with rigorous requirements established by the offshore Operation and Maintenance (O&M) industry. This work presents the design of an autonomous surface vehicle (ASV), named Nautilus, specifically tailored to withstand the demanding conditions of offshore O&M scenarios. The design encompasses both hardware and software architectures, ensuring Nautilus's robustness and adaptability to the harsh maritime environment. It presents a compact hull capable of operating in moderate sea states (wave height up to 2.5 m), with a modular hardware and software architecture that is easily adapted to the mission requirements. It has a perception payload and communication system for edge and real‐time computing, communicates with a Shore Control Center and allows beyond visual line‐of‐sight operations. The Nautilus software architecture aims to provide the necessary flexibility for different mission requirements to offer a unified software architecture for O&M operations. Nautilus's capabilities were validated through the professional testing process of the ATLANTIS Test Center, involving operations in both near‐real and real‐world environments. This validation process culminated in Nautilus's reaching a Technology Readiness Level 8 and became the first ASV to execute autonomous tasks at a floating offshore wind farm located in the Atlantic.

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DIIUS - Distributed Perception for Inspection of Aquatic Structures

Cited by 7 publications

References 11 publications

Exploring Autonomous and Remotely Operated Vehicles in Offshore Structure Inspections

Exploring Autonomous and Remotely Operated Vehicles in Offshore Structure Inspections

Energy Efficient Path Planning for 3D Aerial Inspections

Nautilus: An autonomous surface vehicle with a multilayer software architecture for offshore inspection

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