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Development, Implementation and Evaluation of a Controller Structure for an Autonomous Robot based on a Fluid Jet Thruster actuation for the Inspection of Aircraft Fuel Tanks

Selim, Mostafa (2021) Development, Implementation and Evaluation of a Controller Structure for an Autonomous Robot based on a Fluid Jet Thruster actuation for the Inspection of Aircraft Fuel Tanks. Master's, Technische Universität Hamburg.

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Abstract

This thesis presents a 6 DOF endoscopic robot design, specialized for visual inspection of aircraft’s kerosene tanks. The kinematic and dynamic models of the robot are introduced. Then, a position controller structure is developed and implemented using ROS. The endoscopic robot is tested in a water tank to simulate the fuel tank and way-points are set for the robot. The accuracy of the robot is evaluated by monitoring its real-time pose using a camera vision algorithm.

Item URL in elib:https://elib.dlr.de/185322/
Document Type:Thesis (Master's)
Title:Development, Implementation and Evaluation of a Controller Structure for an Autonomous Robot based on a Fluid Jet Thruster actuation for the Inspection of Aircraft Fuel Tanks
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Selim, MostafaUNSPECIFIEDUNSPECIFIED
Date:5 July 2021
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:77
Status:Unpublished
Keywords:aircraft; fuel tank; maintenance assistance; digitization; inspection; endoscopic; robotics; MRO; control;
Institution:Technische Universität Hamburg
Department:Institut für Flugzeugproduktionstechnik
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Components and Systems
DLR - Research area:Aeronautics
DLR - Program:L CS - Components and Systems
DLR - Research theme (Project):L - MRO and Cabin
Location: Hamburg
Institutes and Institutions:Institute of Maintenance, Repair and Overhaul > Maintenance and Repair Technologies
Deposited By: Heilemann, Florian
Deposited On:21 Feb 2022 07:30
Last Modified:21 Feb 2022 07:30

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