The Limpet: A ROS-Enabled Multi-Sensing Platform for the ORCA Hub
The oil and gas industry faces increasing pressure to remove people from dangerous offshore environments. Robots present a cost-effective and safe method for inspection, repair, and maintenance of topside and marine offshore infrastructure. In this work, we introduce a new multi-sensing platform, th...
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ftmdpi:oai:mdpi.com:/1424-8220/18/10/3487/ 2023-08-20T04:09:04+02:00 The Limpet: A ROS-Enabled Multi-Sensing Platform for the ORCA Hub Mohammed E. Sayed Markus P. Nemitz Simona Aracri Alistair C. McConnell Ross M. McKenzie Adam A. Stokes 2018-10-16 application/pdf https://doi.org/10.3390/s18103487 EN eng Multidisciplinary Digital Publishing Institute Physical Sensors https://dx.doi.org/10.3390/s18103487 https://creativecommons.org/licenses/by/4.0/ Sensors; Volume 18; Issue 10; Pages: 3487 communication fail-over fault diagnosis Limpet on-board processing ORCA Hub real-time condition monitoring remote sensing robots robot sensing systems ROS Interface Text 2018 ftmdpi https://doi.org/10.3390/s18103487 2023-07-31T21:47:00Z The oil and gas industry faces increasing pressure to remove people from dangerous offshore environments. Robots present a cost-effective and safe method for inspection, repair, and maintenance of topside and marine offshore infrastructure. In this work, we introduce a new multi-sensing platform, the Limpet, which is designed to be low-cost and highly manufacturable, and thus can be deployed in huge collectives for monitoring offshore platforms. The Limpet can be considered an instrument, where in abstract terms, an instrument is a device that transforms a physical variable of interest (measurand) into a form that is suitable for recording (measurement). The Limpet is designed to be part of the ORCA (Offshore Robotics for Certification of Assets) Hub System, which consists of the offshore assets and all the robots (Underwater Autonomous Vehicles, drones, mobile legged robots etc.) interacting with them. The Limpet comprises the sensing aspect of the ORCA Hub System. We integrated the Limpet with Robot Operating System (ROS), which allows it to interact with other robots in the ORCA Hub System. In this work, we demonstrate how the Limpet can be used to achieve real-time condition monitoring for offshore structures, by combining remote sensing with signal-processing techniques. We show an example of this approach for monitoring offshore wind turbines, by designing an experimental setup to mimic a wind turbine using a stepper motor and custom-designed acrylic fan blades. We use the distance sensor, which is a Time-of-Flight sensor, to achieve the monitoring process. We use two different approaches for the condition monitoring process: offline and online classification. We tested the offline classification approach using two different communication techniques: serial and Wi-Fi. We performed the online classification approach using two different communication techniques: LoRa and optical. We train our classifier offline and transfer its parameters to the Limpet for online classification. We simulated and classified ... Text Orca MDPI Open Access Publishing Sensors 18 10 3487 |
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Open Polar |
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MDPI Open Access Publishing |
op_collection_id |
ftmdpi |
language |
English |
topic |
communication fail-over fault diagnosis Limpet on-board processing ORCA Hub real-time condition monitoring remote sensing robots robot sensing systems ROS Interface |
spellingShingle |
communication fail-over fault diagnosis Limpet on-board processing ORCA Hub real-time condition monitoring remote sensing robots robot sensing systems ROS Interface Mohammed E. Sayed Markus P. Nemitz Simona Aracri Alistair C. McConnell Ross M. McKenzie Adam A. Stokes The Limpet: A ROS-Enabled Multi-Sensing Platform for the ORCA Hub |
topic_facet |
communication fail-over fault diagnosis Limpet on-board processing ORCA Hub real-time condition monitoring remote sensing robots robot sensing systems ROS Interface |
description |
The oil and gas industry faces increasing pressure to remove people from dangerous offshore environments. Robots present a cost-effective and safe method for inspection, repair, and maintenance of topside and marine offshore infrastructure. In this work, we introduce a new multi-sensing platform, the Limpet, which is designed to be low-cost and highly manufacturable, and thus can be deployed in huge collectives for monitoring offshore platforms. The Limpet can be considered an instrument, where in abstract terms, an instrument is a device that transforms a physical variable of interest (measurand) into a form that is suitable for recording (measurement). The Limpet is designed to be part of the ORCA (Offshore Robotics for Certification of Assets) Hub System, which consists of the offshore assets and all the robots (Underwater Autonomous Vehicles, drones, mobile legged robots etc.) interacting with them. The Limpet comprises the sensing aspect of the ORCA Hub System. We integrated the Limpet with Robot Operating System (ROS), which allows it to interact with other robots in the ORCA Hub System. In this work, we demonstrate how the Limpet can be used to achieve real-time condition monitoring for offshore structures, by combining remote sensing with signal-processing techniques. We show an example of this approach for monitoring offshore wind turbines, by designing an experimental setup to mimic a wind turbine using a stepper motor and custom-designed acrylic fan blades. We use the distance sensor, which is a Time-of-Flight sensor, to achieve the monitoring process. We use two different approaches for the condition monitoring process: offline and online classification. We tested the offline classification approach using two different communication techniques: serial and Wi-Fi. We performed the online classification approach using two different communication techniques: LoRa and optical. We train our classifier offline and transfer its parameters to the Limpet for online classification. We simulated and classified ... |
format |
Text |
author |
Mohammed E. Sayed Markus P. Nemitz Simona Aracri Alistair C. McConnell Ross M. McKenzie Adam A. Stokes |
author_facet |
Mohammed E. Sayed Markus P. Nemitz Simona Aracri Alistair C. McConnell Ross M. McKenzie Adam A. Stokes |
author_sort |
Mohammed E. Sayed |
title |
The Limpet: A ROS-Enabled Multi-Sensing Platform for the ORCA Hub |
title_short |
The Limpet: A ROS-Enabled Multi-Sensing Platform for the ORCA Hub |
title_full |
The Limpet: A ROS-Enabled Multi-Sensing Platform for the ORCA Hub |
title_fullStr |
The Limpet: A ROS-Enabled Multi-Sensing Platform for the ORCA Hub |
title_full_unstemmed |
The Limpet: A ROS-Enabled Multi-Sensing Platform for the ORCA Hub |
title_sort |
limpet: a ros-enabled multi-sensing platform for the orca hub |
publisher |
Multidisciplinary Digital Publishing Institute |
publishDate |
2018 |
url |
https://doi.org/10.3390/s18103487 |
genre |
Orca |
genre_facet |
Orca |
op_source |
Sensors; Volume 18; Issue 10; Pages: 3487 |
op_relation |
Physical Sensors https://dx.doi.org/10.3390/s18103487 |
op_rights |
https://creativecommons.org/licenses/by/4.0/ |
op_doi |
https://doi.org/10.3390/s18103487 |
container_title |
Sensors |
container_volume |
18 |
container_issue |
10 |
container_start_page |
3487 |
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1774721769727328256 |