Highly compact robots for inspection of power plants
Article first published online: 18 DEC 2011
Copyright © 2011 Wiley Periodicals, Inc.
Journal of Field Robotics
Special Issue: Applied Robotics for the Power Industry
Volume 29, Issue 1, pages 47–68, January/February 2012
How to Cite
Caprari, G., Breitenmoser, A., Fischer, W., Hürzeler, C., Tâche, F., Siegwart, R., Nguyen, O., Moser, R., Schoeneich, P. and Mondada, F. (2012), Highly compact robots for inspection of power plants. J. Field Robotics, 29: 47–68. doi: 10.1002/rob.21411
- Issue published online: 18 DEC 2011
- Article first published online: 18 DEC 2011
- Manuscript Accepted: 30 SEP 2011
- Manuscript Received: 25 FEB 2011
This paper reports on a 3-year applied research project dealing with several inspection scenarios of power plants and resulting in many robot prototypes and three main achievements. The project is a common effort between industry and university, including ALSTOM and researchers from the two Swiss Federal Institutes of Technology. The goal is to generate knowledge and transfer technology to industry in the field of robot inspection. The method is to collect commercial scenarios, study them, make some exploratory prototypes, select the best scenarios, and develop enhanced prototypes for the most promising applications. The three most evolved robots are MagneBike for steam chest, AirGapCrawler for generators, and Tubulo for boiler tubes. The supporting technologies that have been developed are adhesion, locomotion, system integration, and localization. The paper describes the scenarios handled, the scientific knowledge generated, and the three best robotic systems. © 2011 Wiley Periodicals, Inc.