Post-Print of a paper presented at MEDER 2018 ; In this paper, the authors present the CIRUS robot. This automatic system uses a combination of pulse-echo and pitch and catch ultrasonic strategies for the inspection of the welded area of mooring chain links in an automatic way. The robot is divided in three parts: global position-ing subsystem, local positioning subsystem and inspection subsystem. Additionally, a data acquisition subsystem processes the results of the verification and produces a report for the inspector allowing the traceability of the product for assuring the welding quality. ; The authors wish to acknowledge financial support from VICINAY MARINE S.L, Ministerio de Economía y Competitividad (Project DPI2015-67626-P, MINECO/FEDER, UE), University of the Basque Country (UPV/EHU) (Program UFI 11/29), and Departamento de Educación, Política Lingüística y Cultura of the Regional Government of the Basque Country (Project IT949-16).


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    Title :

    A robot for welding inspection in offshore mooring chains



    Publication date :

    2018-08-31



    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



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