The Limpet: A ROS-Enabled Multi-Sensing Platform for the ORCA Hub

• DOI: 10.20944/preprints201808.0362.v1
• Publication Date: 2018-08-23T01:48:27Z
• Authors: Mohammed E. Sayed; Markus P. Nemitz; Simona Aracri; Alistair C. McCon...; Ross M. McKenzie; Adam A. Stokes
• Keywords: Drone

The oil and gas industry faces increasing pressure to remove people from dangerous offshore environments. Robots present a cost-effective safe method for inspection, repair maintenance of topside marine infrastructure. In this work, we introduce new immobile multi-sensing robot, the Limpet, which is designed be low-cost highly manufacturable, thus can deployed in huge collectives monitoring platforms. Limpet considered an instrument, where abstract terms, instrument device that transforms physical variable interest (measurand) into form suitable recording (measurement). part ORCA (Offshore Robotics Certification Assets) Hub System, consists assets all robots (UAVs, drones, mobile legged etc.) interacting with them. comprises sensing aspect System. We integrated Robot Operating System (ROS), allows it interact other demonstrate how used achieve real-time condition structures, by combining remote signal processing techniques. show example approach wind turbines. use four different communication systems (WiFi, serial, LoRa optical communication) process. By sensor data on-board, reduce information density our transmissions, us substitute short-range high-bandwidth low-bandwidth long-range systems. train classifier offline transfer its parameters online classification, makes autonomous decision based on monitored structure.