Experimental Activity with a Rover for Underwater Inspection
The inspection of underwater structures is often hampered by harsh environmental conditions, limited access, high costs, and inherent safety issues. This paper focuses on the use of an underwater rover to implement automated imaging techniques for facilitating inspections. The application of such te...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-12-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/14/1/7 |
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| author | Erika Ottaviano Agnese Testa Pierluigi Rea Marco Saccucci Assunta Pelliccio Maurizio Ruggiu |
| author_facet | Erika Ottaviano Agnese Testa Pierluigi Rea Marco Saccucci Assunta Pelliccio Maurizio Ruggiu |
| author_sort | Erika Ottaviano |
| collection | DOAJ |
| description | The inspection of underwater structures is often hampered by harsh environmental conditions, limited access, high costs, and inherent safety issues. This paper focuses on the use of an underwater rover to implement automated imaging techniques for facilitating inspections. The application of such techniques can significantly improve the state of monitoring, reduce operational complexity, and partially offset the financial burden of periodic inspections. To date, there has been very little work on image-based techniques for detecting and quantifying the extent of structural damage, particularly in the submerged part of marine structures. This work seeks to address this knowledge gap through the development and performance evaluation of underwater photogrammetry. The development of the research has been carried out using the FIFISH V6 rover with the Brave 7 camera, which has all the characteristics required for successful photogrammetry. To connect the sensor to the rover, a support was designed accordingly. Finally, experimental photogrammetry tests of an anchor were carried out and compared, both in and out of the sea environment, to validate the model presented. The results obtained so far confirm the validity of the proposed approach and encourage the future development of this apparatus for underwater inspections. |
| format | Article |
| id | doaj-art-e4d769923a9a48899d7cf559687c8a9b |
| institution | Kabale University |
| issn | 2076-0825 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-e4d769923a9a48899d7cf559687c8a9b2025-01-24T13:15:08ZengMDPI AGActuators2076-08252024-12-01141710.3390/act14010007Experimental Activity with a Rover for Underwater InspectionErika Ottaviano0Agnese Testa1Pierluigi Rea2Marco Saccucci3Assunta Pelliccio4Maurizio Ruggiu5DICeM—Department of Civil and Mechanical Engineering, University of Cassino and Southern Lazio, Via G. Di Biasio 43, 03043 Cassino, ItalyDICeM—Department of Civil and Mechanical Engineering, University of Cassino and Southern Lazio, Via G. Di Biasio 43, 03043 Cassino, ItalyDIMCM—Department of Mechanical, Chemical and Materials Engineering, University of Cagliari, Via Marengo, 2, 09123 Cagliari, ItalyDLF—Department of Literature and Philosophy, University of Cassino and Southern Lazio, Via G.Di Biasio 43, 03043 Cassino, ItalyDLF—Department of Literature and Philosophy, University of Cassino and Southern Lazio, Via G.Di Biasio 43, 03043 Cassino, ItalyDIMCM—Department of Mechanical, Chemical and Materials Engineering, University of Cagliari, Via Marengo, 2, 09123 Cagliari, ItalyThe inspection of underwater structures is often hampered by harsh environmental conditions, limited access, high costs, and inherent safety issues. This paper focuses on the use of an underwater rover to implement automated imaging techniques for facilitating inspections. The application of such techniques can significantly improve the state of monitoring, reduce operational complexity, and partially offset the financial burden of periodic inspections. To date, there has been very little work on image-based techniques for detecting and quantifying the extent of structural damage, particularly in the submerged part of marine structures. This work seeks to address this knowledge gap through the development and performance evaluation of underwater photogrammetry. The development of the research has been carried out using the FIFISH V6 rover with the Brave 7 camera, which has all the characteristics required for successful photogrammetry. To connect the sensor to the rover, a support was designed accordingly. Finally, experimental photogrammetry tests of an anchor were carried out and compared, both in and out of the sea environment, to validate the model presented. The results obtained so far confirm the validity of the proposed approach and encourage the future development of this apparatus for underwater inspections.https://www.mdpi.com/2076-0825/14/1/7underwater robotsrobotic inspectionmechatronicsmechanical designexperimental activitystructural health monitoring |
| spellingShingle | Erika Ottaviano Agnese Testa Pierluigi Rea Marco Saccucci Assunta Pelliccio Maurizio Ruggiu Experimental Activity with a Rover for Underwater Inspection Actuators underwater robots robotic inspection mechatronics mechanical design experimental activity structural health monitoring |
| title | Experimental Activity with a Rover for Underwater Inspection |
| title_full | Experimental Activity with a Rover for Underwater Inspection |
| title_fullStr | Experimental Activity with a Rover for Underwater Inspection |
| title_full_unstemmed | Experimental Activity with a Rover for Underwater Inspection |
| title_short | Experimental Activity with a Rover for Underwater Inspection |
| title_sort | experimental activity with a rover for underwater inspection |
| topic | underwater robots robotic inspection mechatronics mechanical design experimental activity structural health monitoring |
| url | https://www.mdpi.com/2076-0825/14/1/7 |
| work_keys_str_mv | AT erikaottaviano experimentalactivitywitharoverforunderwaterinspection AT agnesetesta experimentalactivitywitharoverforunderwaterinspection AT pierluigirea experimentalactivitywitharoverforunderwaterinspection AT marcosaccucci experimentalactivitywitharoverforunderwaterinspection AT assuntapelliccio experimentalactivitywitharoverforunderwaterinspection AT maurizioruggiu experimentalactivitywitharoverforunderwaterinspection |