Localization of a submersible mobile inspection platform in an oil storage tank

A. S A Abdulla, A. M A Khalil, A. A A Mohamed Al Shehhi, Hamad Karki, S. C. Fok

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

This paper presents an approach to locate the position of an unmanned mobile inspection platform at the bottom of an oil storage tank. The proposed approach uses 3-range and 1-bearing sensors mounted on the platform and the known tank contour for localization. The effects of the uncertainties in the measurement systems on the errors in the platform locations have been, investigated. The results indicated that the approach is comparable to the trilateration technique in terms of positioning errors. The work constitutes important first steps towards the development of an unmanned submersible mobile platform to simultaneously locate and map the structural defects in the base of a filled oil tank.

Original languageEnglish
Title of host publicationISMA'10 - 7th International Symposium on Mechatronics and its Applications
Publication statusPublished - 2010
Externally publishedYes
Event7th International Symposium on Mechatronics and its Applications, ISMA'10 - Sharjah, United Arab Emirates
Duration: Apr 20 2010Apr 22 2010

Publication series

NameISMA'10 - 7th International Symposium on Mechatronics and its Applications

Conference

Conference7th International Symposium on Mechatronics and its Applications, ISMA'10
CountryUnited Arab Emirates
CitySharjah
Period4/20/104/22/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering

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  • Cite this

    Abdulla, A. S. A., Khalil, A. M. A., Mohamed Al Shehhi, A. A. A., Karki, H., & Fok, S. C. (2010). Localization of a submersible mobile inspection platform in an oil storage tank. In ISMA'10 - 7th International Symposium on Mechatronics and its Applications [5478421] (ISMA'10 - 7th International Symposium on Mechatronics and its Applications).