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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 | ||||||
| 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| Status: | Unpublished | ||||||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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