MAINBOT-在广泛的工业领域用来检查和维修的移动机器人

中文翻译
MAINBOT-在广泛的工业领域用来检查和维修的移动机器人(中文5200字,英文3100字)
I. Maurtuaa , L. Susperregia, A. Fernándeza, C. Tubíoa , C. Perezb, J. Rodríguezc, T.Felschd, M. Ghrissie
内容摘要：MAINBOT项目是用来研发服务型机器人应用程序在广泛的工业设备领域在水平方向（落地机器人）和在垂直方向上（爬壁机器人）自动执行检查任务。MAINBOT项目旨在使用已经可用的机器人解决方案来部署创新系统从而实现工业目标：来提供一个通过自动机器人帮助在并联点中测量多个物理参数，能够导航和攀爬具体结构，处理传感器或特殊的非破坏行检测设备。MAINBOT项目将会在两个太阳能发电厂（圆柱-抛物线型收集者和中心塔）证实该解决方案，要求从移动操作的主要是扩展环境的可变性的观点上，安全要求等。
目标是再通过提高观察的步骤和技术上来提高安装效率。机器人的功能在不同等级上的开发研究：（1）仿真：现实的测试环境创造出来是为了证实为了机器人项目而研发的算法，传感器和应用环境是合适的。（2）自主导航：混合定位和规划算法是为了操控庞大的扩展系统。（3）操作：机器人手臂的运动计划和控制算法来为通过精确度和防撞技术的位置传感设备来研发。（4）互用性：来整合非均匀性系统的机制包含了机器人操作，来自给最终用户维护计划的第三方检测设备。（5）非破坏性检测：基于涡流和温度记录，检测算法的研发是为了提供自动检验能力的机器人。

 
ScienceDirect
MAINBOT-mobile robots for inspection and maintenance inextensive industrial plants
I.    Maurtuaa , L. Susperregia, A. Fernándeza, C. Tubíoa , C. Perezb, J. Rodríguezc, T.Felschd, M. Ghrissie
Abstract
MAINBOT 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 solutions 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 will 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 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) 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 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 party 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.