PhD defence by Rune Yding Brogaard

Supervisors

• Principal supervisor: Associate Professor Evangelos Boukas, DTU Electro, Denmark 
• Co-supervisor: Professor Ole Ravn, DTU Electro, Denmark
• Co-supervisor: Lars Vesth, FORCE Technology, Denmark

Assessment committee

• Professor Lazaros Nalpantidis, DTU Electro, Denmark
• Group Supervisor of the Aerial Robotics Group Dr. Benjamin Morrell, NASA/JPL, United States of America.
• Associate Professor Dimitrios Chrysostomou, Aalborg University, Department of Materials and Production

Master of ceremony

• Associate Professor, Søren Hansen, DTU Electro, Denmark

Abstract:
To support our modern way of life, we rely on industry-like manufacturing, energy production, and global supply chains. These assets regular inspections, which however can be hazardous to human surveyors, especially when it involves confined spaces. This Ph.D. explored the usage of autonomous robots to inspect the dangerous areas, so no humans die or get injured unnecessarily.

One of the challenges using robots to inspect confined spaces is their ability to navigate and locate themselves accurately in these complex environments. Currently, there are no autonomous robotic inspection systems capable of providing positions for both robots and defects in confined spaces.

However, this Ph.D. dissertation aimed to address this issue by exploring the use of unmanned aerial vehicles (UAVs) equipped with cameras to inspect water ballast tanks of marine vessels. Custom software was developed to detect features in the tanks and estimate the positions of both the robot and any defects. To handle the complexity and uncertainty of the environment, state-of-the-art algorithms and technology was employed.

The results of the dissertation showed that small aerial robots can be used effectively to inspect confined spaces autonomously. This will have significant benefits for the industrial sector, improving safety and efficiency.