Climbing Robot for Advanced inSpection - CRAS

The research and technological development project entitled “CRAS - Climbing Robot for Advanced inSpection” is the object of a cooperation agreement signed between PETROBRAS and the Universidade Tecnológica Federal do Paraná (UTFPR). This project aims to develop a solution for inspecting metallic surfaces of equipment in the oil and gas sector operating at high temperatures, around 90 ◦C. 

The author participated in the first version of the project, at the time called "Autonomous Inspection Robot 1" (AIR1), where he developed sensor processing for the creation of autonomous mapping and navigation techniques. In the latest version of the project (CRAS), the author participated in developing the HMI (Human Machine Interface) for interaction with the robot and as a collaborator in developing the weld bead identification algorithm. 

The author's dissertation, referring to this equipment, can be found at: 

https://repositorio.utfpr.edu.br/jspui/handle/1/2860

Which generated the article published in a periodical: 

https://link.springer.com/article/10.1007/s10846-017-0764-6