Novel Robotic Systems in at Sea Inspection and Repair of Damaged Ship Hulls With Friction Stir Welding

This paper presents a start to finish approach on the inspection and repair of damaged ship hulls in water. The repair of ship hulls in water has been made viable by recent developments in Friction Stir Welding (FSW) of steels. The project is a European Union (EU) funded collaboration involving a variety of academic and industry partners aiming to increase the productivity of small and medium sized EU shipyards. This paper outlines the overall procedure of a repair mission while focusing on the inspection task by use of Remotely Operated Vehicles (ROV), as performed in a variety of environments on a fractured plate made from ship grade steel. The equipment and processing procedures are detailed with discussion demonstrating the capabilities in generating the required quality of 3D models in order for defects to be identified and for a sufficiently sized repair patch to be designed.