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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/ | ||||||||
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| 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: |
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| Date: | 5 July 2021 | ||||||||
| Refereed publication: | Yes | ||||||||
| Open Access: | No | ||||||||
| Number of Pages: | 77 | ||||||||
| Status: | Published | ||||||||
| 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: | 02 Mar 2023 10:54 |
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