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THE EMBEDDED ELECTRONICS AND SOFTWARE OF DORIS OFFSHORE ROBOT∗∗This work is supported primarily by Petrobras S.A. and Statoil Brazil Oil & Gas Ltda under contract COPPETEC 0050.0079406.12.9 (ANP-Brazil R&D Program), and in part by the Brazilian research agencies CNPq and FAPERJ.

2015; Elsevier BV; Volume: 48; Issue: 6 Linguagem: Inglês

10.1016/j.ifacol.2015.08.033

2405-8971

Renan S. Freitas, Marco F. S. Xaud, Ighor Marcovistz, Alex F. Neves, Rafael O. Faria, Guilherme P. S. Carvalho, Liu Hsu, Eduardo V. L. Nunes, Alessandro Jacoud Peixoto, Fernando Lizarralde, Gustavo Freitas, Ramon R. Costa, Pål Johan From, Maurício Galassi, P.W.J. Derks, Anders Røyrøy,

Underwater Vehicles and Communication Systems

DORIS is a mobile robot for remote supervision, diagnosis, and data acquisition on offshore facilities. The proposed system is composed of a rail-guided robot capable of carrying different sensors through the inspected area. This paper presents a general overview of the robot, and a description of the developed embedded electronics, power supply system and software architecture. The results with teleoperated navigation validate the concepts considered so far and rise several challenges for future works.