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Project closeout, Amsterdam– 25October 2016

WP1: Development of pressure vessel inspection solutions

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Inspection of pressure vessels, traditionally

PETROBOTs idea

The developed robots

The developed inspection tools

Testing

Results and conclusions – so far...

Outline

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Inspection of pressure vessels, traditionally

Regular asset inspection required

Visual and non-destructive testing techniques

Lengthy preparation needed prior to human entry: Isolation Emptying Cleaning Support structures

Confined working space, with pressure to minimize downtime

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PETROBOTS idea

+ =

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The developed robots: FAST

On board controllerDrive Laser Rotator

Buggy Drive

Rotating Laser

On board Light and Camera(on back and front side)

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FAST – innovative highlight: situation awareness

3D mesh generation

+ IMU Data (inertia measurement unit)

+ Odometry Data (wheel rotations)

Laser based SLAM(3D Point Cloud)

-> Data fusion (SLAM + IMU + Odometry)

-> Robot Position, POSE and PathRobot - schematic

view

with position and

pose

Autonomous Operation

Robot creates the 3D model of the vessel internal on the flight by itself while driving

System can run autonomous along predefined paths

Position data of the robot can be linked with the inspection data

Path executed

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The developed robots: BIKE

Locomotionfour independently driven wheels

SteeringChange of wheel driving speed Passive steering axis in the front

On Board Controller Box Motor Controller / Low Level Control LED Light HD Camera

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BIKE – innovative highlight: taking corners

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The developed robots: SNAKE

Tool interface

Purge controller (optional)

Planar snake arm

Actuator Pack

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SNAKE – inovative highlight: taking control of sticktion

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The developed inspection tools: Inspection cameras

Lightweight housings for full pan- and tilt capabilities built around a commercially available camera block

SNAKE camera

FAST camera

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The developed inspection tools: Inspection cameras

Using light from different directionscan improvedetectability

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The Gocator uses ”structured white light” to create a 3D image of the surface.

”Snapshot” method, we have covered 2,5 m2 / h.

The developed inspection tools: Profilometry using LMI Gocator

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The developed inspection tools: Profilometry using LMI Gocator

Image from visual camera.

Images from Gocator.

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The developed inspection tools: Eddy currents

SNAKE

FASTD13 D14 D15 D16

Crack-like defect, length 40 mm depth 1.5 mm

Metal loss defects 32 mm diameter, 1 to 8 mm depth, shown in 1:1 aspect ratio

Single Crack sensor meander scanning 50 x 50 mm

Array of eight absolute sensors

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The developed inspection tools: Eddy currents

BIKE

Weld

Crack-like defect at weld toe, length 40 mm depth 1.5 mm

Two Crack sensor zigzag scanning

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The developed inspection tools: Ultrasonics

Purpose built fixture built for specifics of SNAKE and vesselgeometry.

Off-the-shelf phased arrayultrasonic equipment.16 element transducer.

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The developed inspection tools: Ultrasonics

Different presentations of the inspectionof a calibration block.

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Testing: Component and Integration testing

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The site: four vessels were at our disposal.

Each robot system was given one week.

Testing: Deployment and navigation tests at Europoort

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Testing: Deployment and navigation tests at Europoort

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Three robots have been designed and built. Four different inspection methods can be applied. Robots and inspection tools have been integrated to working inspection systems. Deployability, maneuverability and navigation have been extensively tested in different

vessels.

Results and conclusions – so far…..

1345: PETROBOT Pressure Vessel Field Trials, Dr Prashant Potnis

Ok, this is a good start, but, something is missing: inspections!

Relax, the story is to be continued!!

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www.petrobotproject.eu