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Project: Autonomous Robotic Inspection and Maint...

Master data

English

Title:

Autonomous Robotic Inspection and Maintenance on Ship Hulls and Storage Tanks

Description:

The objective of BUGWRIGHT2 will be to bridge the gap between the current and desired capabilities of ship inspec- tion and service robots by developing and demonstrating an adaptable autonomous robotic solution for servicing ship outer hulls. By combining the survey capabilities of autonomous Micro Air Vehicles (MAV) and small Au- tonomous Underwater Vehicles (AUV), with teams of magnetic-wheeled crawlers operating directly on the surface of the structure, the project inspection and cleaning system will be able to seamlessly merge the acquisi- tion of a global overview of the structure with performing a detailed multi-robot visual and acoustic inspection of the structure, detecting corrosion patches or cleaning the surface as necessary – all of this with minimal user intervention. The detailed information provided will be integrated into a real-time visualization and decision-support user-interface taking advantage of virtual reality technologies. Although ships are the targetted application, BUGWRIGHT2 technology may be easily adapted to different structures assembled out of metal plates, and in particular to storage tanks, our secondary application domain.

The project consists of a large consortium bringing together not only the technological knowledge from academia but the complete value chain of the inspection robotic market: two SMEs, one class society to evaluate the use of these technologies in the certification processes, a marine service provider and two harbors to provide access to ships, one shipyard to deploy the system within a maintenance framework and two shipowners. In addition, specialists in maritime laws and workplace psychologists will ensure that the digitalization of this market sector is designed around user acceptance. Finally, a specialist in innovation will lead the dissemination and exploitation activities.

Keywords:

Robotics for inspection and monitoring, Robotic system development, Robotics for inspection and monitoring, Ship inspection, Maritime services, Multi-robot system, Virtual-reality, Acoustics

Short title:	BUGWRIGHT2
Period:	01.01.2020 - 31.12.2023
Contact e-mail:	-
Homepage:	-

Employees

Role

Time period

(internal)

Project leader
(Authorised Person)

01.01.2020 - 31.12.2023

Assignment

Organisational unit

Fakultät für Technische Wissenschaften

Categorisation

Project type	Research funding (on request / by call for proposals)
Funding type	§27
Research type	Applied research
Subject areas	202035 - Robotics
Research Cluster	Self-organizing systems
Gender aspects	Genderrelevance not selected
Project focus	Science to Science (Quality indicator: I) Classification raster of the assigned organisational units: Institut für Intelligente Systemtechnologien
working groups	No working group selected

Funding

Funding program

Organisation: European Commission

Cooperations

No partner organisations selected

Research activities

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Projects	No related projects
Publications	Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases (2022) A. Fornasier, Y. Ng, R. Mahony, S. Weiss Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2022) No Publisher selected to publication Consistent State Estimation on Manifolds for Autonomous Metal Structure Inspection Consistent State Estimation on Manifolds for Autonomous Metal Structure Inspection (2021) B. Starbuck, A. Fornasier, S. Weiss, C. Pradalier Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2021) No Publisher selected to publication VINSEval: Evaluation Framework for Unified Testing of Consistency and Robustness of Visual-Inertial Navigation System Algorithms VINSEval: Evaluation Framework for Unified Testing of Consistency and Robustness of Visual-Inertial Navigation System Algorithms (2021) A. Fornasier, M. Scheiber, A. Hardt-Stremayr, R. Jung, S. Weiss Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2021) No Publisher selected to publication UVIO: An UWB-Aided Visual-Inertial Odometry Framework with Bias-Compensated Anchors Initialization UVIO: An UWB-Aided Visual-Inertial Odometry Framework with Bias-Compensated Anchors Initialization (2023) G. Delama, F. Shamsfakhr, S. Weiss, D. Fontanelli, A. Fornasier Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) No Publisher selected to publication Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation With Online Calibration Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation With Online Calibration (2022) A. Fornasier, Y. Ng, C. Brommer, C. Böhm, R. Mahony, S. Weiss IEEE Robotics and Automation Letters No Publisher selected to publication Centralized-Equivalent Pairwise Estimation with Asynchronous Communication Constraints for two Robots Centralized-Equivalent Pairwise Estimation with Asynchronous Communication Constraints for two Robots (2022) E. Allak, A. Barrau, R. Jung, J. Steinbrener, S. Weiss Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) No Publisher selected to publication Mid-Air Range-Visual-Inertial Estimator Initialization for Micro Air Vehicles Mid-Air Range-Visual-Inertial Estimator Initialization for Micro Air Vehicles (2021) M. Scheiber, J. Delaune, S. Weiss, R. Brockers Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2021) No Publisher selected to publication Modular Multi-Sensor Fusion for Underwater Localization for Autonomous ROV Operations Modular Multi-Sensor Fusion for Underwater Localization for Autonomous ROV Operations (2022) M. Scheiber, A. Cardaillac, C. Brommer, S. Weiss, M. Ludvigsen OCEANS 2022 - New Hamptons No Publisher selected to publication CNS Flight Stack for Reproducible, Customizable, and Fully Autonomous Applications CNS Flight Stack for Reproducible, Customizable, and Fully Autonomous Applications (2022) M. Scheiber, A. Fornasier, R. Jung, C. Böhm, R. Dhakate, C. Stewart, J. Steinbrener, S. Weiss, C. Brommer IEEE Robotics and Automation Letters No Publisher selected to publication Filter-Based Online System-Parameter Estimation for Multicopter UAVs Filter-Based Online System-Parameter Estimation for Multicopter UAVs (2021) C. Böhm, M. Scheiber, S. Weiss Robotics: Science and Systems (RSS) 2021 No Publisher selected to publication Revisiting multi-GNSS Navigation for UAVs - An Equivariant Filtering Approach Revisiting multi-GNSS Navigation for UAVs - An Equivariant Filtering Approach (2024) M. Scheiber, A. Fornasier, C. Brommer, S. Weiss 2023 21st International Conference on Advanced Robotics (ICAR) No Publisher selected to publication MSCEqF: A Multi State Constraint Equivariant Filter for Vision-Aided Inertial Navigation MSCEqF: A Multi State Constraint Equivariant Filter for Vision-Aided Inertial Navigation (2023) A. Fornasier, P. van Goor, E. Allak, R. Mahony, S. Weiss IEEE Robotics and Automation Letters No Publisher selected to publication
Events	No related events
Lectures	Revisiting multi-GNSS Navigation for UAVs - An Equivariant Filtering Approach Revisiting multi-GNSS Navigation for UAVs - An Equivariant Filtering Approach M. Scheiber, A. Fornasier, C. Brommer, S. Weiss Abu Dhabi , Vereinigte arab. Emirate since 06.12.2023 To Lecture Modular Multi-Sensor Fusion for Underwater Localization for Autonomous ROV Operations Modular Multi-Sensor Fusion for Underwater Localization for Autonomous ROV Operations M. Scheiber, A. Cardaillac, C. Brommer, S. Weiss, M. Ludvigsen since 20.10.2022 To Lecture CNS Flight Stack for Reproducible, Customizable, and Fully Autonomous Applications CNS Flight Stack for Reproducible, Customizable, and Fully Autonomous Applications M. Scheiber, A. Fornasier, R. Jung, C. Böhm, R. Dhakate, C. Stewart, J. Steinbrener, S. Weiss, C. Brommer since 25.10.2022 To Lecture UVIO: An UWB-Aided Visual-Inertial Odometry Framework with Bias-Compensated Anchors Initialization UVIO: An UWB-Aided Visual-Inertial Odometry Framework with Bias-Compensated Anchors Initialization G. Delama, F. Shamsfakhr, S. Weiss, D. Fontanelli, A. Fornasier since 03.10.2023 To Lecture Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases A. Fornasier, Y. Ng, R. Mahony, S. Weiss since 25.05.2022 To Lecture VINSEval: Evaluation Framework for Unified Testing of Consistency and Robustness of Visual-Inertial Navigation System Algorithms VINSEval: Evaluation Framework for Unified Testing of Consistency and Robustness of Visual-Inertial Navigation System Algorithms A. Fornasier, M. Scheiber, A. Hardt-Stremayr, R. Jung, S. Weiss since 03.06.2021 To Lecture Mid-Air Range-Visual-Inertial Estimator Initialization for Micro Air Vehicles Mid-Air Range-Visual-Inertial Estimator Initialization for Micro Air Vehicles M. Scheiber, J. Delaune, S. Weiss, R. Brockers since 01.06.2021 To Lecture