Remotely operated vehicles (ROVs) have become indispensable tools in the subsea and (renewable) offshore industries. They are mainly used for inspection, repair and maintenance tasks of underwater structures at places where it is impossible or too dangerous to work with divers. Focusing on inspection: most of the sensing spread consists of acoustic and visual technologies. Integrating multi-beam sonars and high-definition cameras on ROVs has made it possible to capture, model, and inspect the seabed and underwater objects in higher detail than ever before.
Despite these advancements, the current sensing capabilities fall short in mapping of low-visibility and/or confined spaces. The limitations of present surveying equipment for ROVs hinder their effectiveness in these environment due to low signal-to-noise ratios, lack of detail, low contrast, or obscured imaging. This while there are substantial benefits of utilizing ROVs in these work environments due to safety implications of deploying divers.
Recently there has been a rise in research focused on equipping robots with tactile sensors, especially in the healthcare industry. These sensors, capable of mapping surfaces through touch (i.e., tactile imaging), present a promising solution for operations in low-visibility and confined environments. While some research has been done on equipping underwater robots with tactile sensors, they were primarily focused on preventing damage during handling tasks by providing force-feedback. Hence, there remains a significant opportunity for innovation in the area of underwater 3D object reconstruction through tactile imaging.
The goal of this thesis assignment is to develop and validate a tactile imaging sensor for 3D object reconstruction in submerged low-visibility and confined work environments. You will be expected to build a proof of concept for the sensor and validate its applicability in these work environments.
Your thesis will contribute to the following:
- Increase safety on projects with challenging conditions for divers.
- Advance adaptation of robotics in new industries.
- Advance technology in the area of underwater robotic sensing.
- Make inspection of previously inaccessible areas possible, allowing for better and more sustainable asset management.
For this to work properly, you will need to conduct proper research on several subjects:
- What can we learn from other industries and nature for understanding underwater tactile imaging?
- What type of tactile imaging is suitable for underwater application?
- How does tactile imaging interfaces with underwater robotics successfully?
This thesis is a collaboration between RaM Lab and the R&D department of Royal Boskalis, a leading global services provider operating in the dredging, maritime infrastructure, and maritime services sectors. Boskalis provides creative and innovative all-round solutions to infrastructural challenges in the maritime, coastal and delta regions of the world with services including the construction and maintenance of ports and waterways, land reclamation, coastal defense, and riverbank protection. In addition, Boskalis offers a wide variety of marine services and contracting for the offshore industry as well as salvage solutions.