Szczegóły publikacji
Opis bibliograficzny
Underwater robotic system for reservoir maintenance / Piotr KOHUT, Mariusz GIERGIEL, Patryk CIEŚLAK, Michał CISZEWSKI, Tomasz BURATOWSKI // Journal of Vibroengineering ; ISSN 1392-8716. — 2016 — vol. 18 iss. 6, s. 3757–3767. — Bibliogr. s. 3766–3767, Abstr.
Autorzy (5)
Słowa kluczowe
Dane bibliometryczne
| ID BaDAP | 101302 |
|---|---|
| Data dodania do BaDAP | 2016-11-05 |
| DOI | 10.21595/jve.2016.17364 |
| Rok publikacji | 2016 |
| Typ publikacji | artykuł w czasopiśmie |
| Otwarty dostęp |  |
| Czasopismo/seria | Journal of Vibroengineering |
Abstract
In this paper a description and practical implementation of the developed prototype of an underwater hybrid robot is presented. The solution is based on the guidelines of Cracow waterworks (Municipal Waterworks and Sewer Enterprise, MPWiK S.A.). The prototype of the hybrid robot consists of a crawler robot and a ROV. Robots' design, mathematical models of kinematics and dynamics of the crawler robot, ROV's vision system architecture with image processing methods for surface crack detection and robot position and attitude estimation are investigated and examined. Results obtained from experimental validation of the developed prototype are presented and discussed. Finally, the paper establishes future research directions.