1、毕 业 设 计（论 文）外 文 参 考 资 料 及 译 文译文题目： MAINBOT-在广泛的工业领域用来检查和维修 的移动机器人 学生姓名： 学 号： 专 业： 所在学院： 指导教师： 职 称： 20xx年 2月 27日ScienceDirectMAINBOT mobile robots for inspection and maintenance inextensive industrial plantsI. Maurtuaa , L. Susperregia, A. Fernndeza, C. Tuboa , C. Perezb, J. Rodrguezc, T.Felschd, M.
2、GhrissieaIK4-Tekniker, Iaki Goenaga 5, Eibar 20600, SpainbTECNATOM, Avda. de Montes de Oca 1, San Sebastin de los Reyes (MADRID)28703, SpaincTORRESOL Energy, Avda. Zugazarte 61, Getxo 48930, Spaind FRAUNHOFER IFF, Postfach 14 53, Magdeburg 39004, Germanye ROBOSOFT, Technopole Izarbel, Bidart F-64210
3、, FranceAbstractMAINBOT project is developing service robots applications to autonomously execute inspection tasks in extensive industrial plants in equipment that is arranged horizontally (using ground robots) or vertically (climbing robots). MAINBOT aims at using already available robotic solution
4、s to deploy innovative systems in order to fulfill project industrial objectives: to provide a means to help measuring several physical parameters in multiple points by autonomous robots, able to navigate and climb structures, handling sensors or special non destructive testing equipment.MAINBOT wil
5、l validate the proposed solutions in two solar plants (cylindrical-parabolic collectors and central tower), that are very demanding from mobile manipulation point of view mainly due to the extension (e.g. a thermal solar plant of 50Mw, seven hours of storage, with 400 hectares, 400.000 mirrors, 180
6、km of absorber tubes, 140m tower height ), the variability of conditions (outdoor, day-night), safety requirements, etc. The objective is to increase the efficiency of the installation by improving the inspection procedures and technologies. Robot capabilities are developed at different levels: (1)
7、Simulation: realistic testing environments are created in order to validate the algorithms developed for the project using available robot, sensors and applicationenvironments.(2)Autonomous navigation: Hybrid (topological-metric) localization and planning algorithms are integrated in order to manage
8、 the huge extensions. (3) Manipulation: Robot arm movement planning and control algorithms are developed for positioning sensing equipment with accuracy and collision avoidance. (4) Interoperability: Mechanisms to integrate the heterogeneous systems taking part in the robot operation, from third par
9、ty inspection equipments to the end user maintenance planning. (5) Non-Destructive Inspection: based on eddy current and thermography, detection algorithms are developed in order to provide automatic inspection abilities to the robots. 2013 The Authors. Published by Elsevier Ltd. Selection and peer
10、review by the scientific conference committee of SolarPACES 2013 under responsibility of PSE AG. Keywords: Mobile robotics, Maintenance, Non-destructive inspection, Thermosolar 2013 I. Maurtua. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license .Selection and pee
11、r review by the scientific conference committee of SolarPACES 2013 under responsibility of PSE AG.Final manuscript published as received without editorial corrections.1. IntroductionMAINBOT project is developing service robots applications to autonomously execute inspection tasks in extensive indust
12、rial plants on equipment that is arranged horizontally (using ground robots) or vertically (climbing robots). MAINBOT aims at using already available robots to deploy innovative solutions in order to fulfil project industrial objectives: to provide a means to help measuring several physical paramete
13、rs in multiple points by autonomous robots able to navigate and climb structures, handling sensors or special non destructive testing equipment.NomenclaturePT Parabolic Through collectorCR Central ReceiverSCA Solar Collector AssemblySCE Solar Collector ElementNDT Non Destructive TestHTF Heat Transfe
14、r FluidFA Functional AnalysisFMEA Failure Modes an Effects AnalysisROS Robot Operating SystemGPS Global Positioning SystemINU Inertial Navigation UnitTo define the requirements of this type of industries two validation scenarios have been selected, a Parabolic Through collector technology (PT) solar
15、 plant (50Mw, seven hours of storage) and a Central Receiver technology (CR) solar plant (19.9 Mw, fifteen hours of storage) shown in Fig. 1. Both plants pose strong challenges in terms of the number of elements to be inspected, the size of the elements, the working conditions, etc. Some figures can present an idea of the magnitude of the problem in extensive plants: 400.000 mirrors, with a total of 1.200.000 m2 of surface in PT. 2.650 heliostats (10 meters high
