A novel mobile robotic system for unmanned operation and inspection of handwheel offshore equipment
Operating a handwheel adopted in the offshore energy industry normally requires tremendous force with accurate motion. It would be a big challenge for mobile robots, especially those deployed on offshore oil platforms. Our work addresses this challenge by designing tools for a mobile robot to operat...
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Veröffentlicht in: | International journal of intelligent robotics and applications Online 2023-09, Vol.7 (3), p.462-473 |
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Format: | Artikel |
Sprache: | eng |
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Zusammenfassung: | Operating a handwheel adopted in the offshore energy industry normally requires tremendous force with accurate motion. It would be a big challenge for mobile robots, especially those deployed on offshore oil platforms. Our work addresses this challenge by designing tools for a mobile robot to operator handwheels employed in two of the most common types of equipment in offshore oil platforms; a watertight door and a gate valve. The operating methodology and the tool design are examined in experiments using real industry equipment and commercially-available lightweight robotic arm. The study also indicates that embedding sensors and actuators leverages the role of the proposed handwheel operation tool being an integrity helper; the tool can collect data and use deep learning technology to monitor the sealing of a valve. Overall, this study demonstrates the feasibility of using the tool to operate handwheels to expand the robot’s operating range and functionality, as well as to provide a low-cost high-accuracy (96%) approach for robot-enabled inspections. |
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ISSN: | 2366-5971 2366-598X |
DOI: | 10.1007/s41315-023-00278-y |