Abstract
This paper introduces the mobile robot CRAS (Climbing Robot for Autonomous inSpection) for autonomous NDT inspection of weld beads from industrial super-duplex steel vessels. The surfaces to be inspected are under high temperature (80 $$^\circ $$C–135 $$^\circ $$C) and the inspection is based on ultrasound. CRAS presents magnetic wheels as adhesion method and a perception system able to identify and follow weld beads. This paper approaches some current challenges for such inspection mainly due high temperatures and adopted solutions as well as future steps of CRAS development.
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Dalmedico, N., Santos, H. B., Slongo, J. S., Teixeira, M. A. S., Palar, P. S., Terres, V. V., … Ramos, J. E. (2020). CRAS (Climbing Robot for Autonomous InSpection): The Challenges of a High-Temperature Tank. In Advances in Intelligent Systems and Computing (Vol. 1093 AISC, pp. 327–338). Springer. https://doi.org/10.1007/978-3-030-36150-1_27
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