Agenda. Introduction ExRobotics Project scope Current status Planning Market survey

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3 Agenda Introduction ExRobotics Project scope Current status Planning Market survey

4 The Company, ExRobotics ExRobotics is specialized in robotic solutions for potentially explosive facilities. We produce Ex certified robots (ATEX and IECEx Zone 1) that can carry out safety checks at remote facilities.

5 Basic project phasing Phase C Phase B Inspection robot Demo & wall thickness Phase A Demonstration of locomotion Q2/Q Q Q4-2019

6 Technology Readiness Level (TRL) Development phases internal pipe inspection robot project Consortium members are: - Kic Mpi - ExRobotics B.V. - University of Twente - Looking for industry partner Current status Mechanical concept available for 2 pipes 3D printed components Electrical hardware available Not robust! 2018 Industrial prototype available for 4 8 pipes. Robust enough for testing on industrial sites. Tethered Works in clean pipes (no Atex) Can pas gate values & ball vales. No sensor, only camera for navigation. Scope current project: TRL Sensors for measurement of wall thinness. Software available for auto navigation 2019 Marketable product available for operation 1 0

7 Technology Readiness Level (TRL) Development phases internal pipe inspection robot project Marketable product available for operation Current status Mechanical concept available for 2 pipes 3D printed components Electrical hardware available Not robust! 2018 Industrial proto type available for 4 8 pipes. Robust enough for testing on industrial sites. Tethered Works in clean pipes (no Atex) Can pas gate values & ball vales. No sensor, only camera for navigation. Sensors for measurement of wall thinness. Software available for auto navigation 1 0

8 Mobility Specs for TRL-6 Inspection of straight pipelines, with diameter between 4 8 inch. Horizontal & Vertical, Up & Down! Inspection of straight pipelines with 90 degree (1D) turns in every possible orientation Inspection of straight pipelines with gate and ball valves full open. Inspection of straight pipelines and T-joints with the same diameter. Inspection of straight pipelines and T-joints with the different diameter (minimum diameter 4 inch)

9 Principle

10 Risks Increase of weight Motion Control (software) Market requirements

11 Towards TRL 6 in 5 Steps Phase A.1 Feasibility study Phase A.2: Test several parts or subsystems of the robot Friction test to estimate?????? Shape test to retrieve a defect robot Stress test clamping mechanism to optimise the design Phase A.3: Development 1 e triangle of the robot Development and building Evaluate Phase A.4: Build full robot Phase A.5: Build and program the interface & peripheral equipment.

12 Current status: Phase A.2 & A.3 Investigated current design of UT. Impressive!. try to improved it. Spoke with several suppliers to investigated of the self components. First basic design (0.0) ready to fit demands. Add requirement for retrieval of robot on failure. Add requirement on electrical architecture UT shape New shape

13 Current status

14 Mobility Specs for TRL-6 Inspection of straight pipelines, with diameter between 4 8 inch. Horizontal & Vertical, Up & Down! Scope change 4-6 or 6-8 Inspection of straight pipelines with 90 degree (1D) turns in every possible orientation Inspection of straight pipelines with gate and ball valves full open. Inspection of straight pipelines and T-joints with the same diameter. Inspection of straight pipelines and T-joints with the different diameter (minimum diameter 4 inch)

15 Planning Output: - Friction - Clamping forces - Torque Output: - Relation between wheel material, clamping forces and material tube. Output: - Experiment for clamping mechanism Output: - Demonstration of half robot.

16 Market survey Akzo Basf Dow DSM Adnoc Conclusion: Market requirements not clear!

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18 Thanks

19 Ontwikkeling naar TRL 6 bestaat uit 5 fases Fase A.1 Haalbaarheidsstudie Verschillende aspecten van de robot worden in de basis benaderd om te kijken of het concept haalbaar is. Fase A.2: Testen van onderdelen Er worden verschillende tests ontwikkeld en uitgevoerd om de haalbaarheid te bevestigen en om verschillende componenten te ontwerpen. (sterkte vs levensduur vs gewicht) Frictie test voor de keuze van het wiel materiaal Vorm test ( 3d reproductie ) om in te schatten of een dode robot terug uit een pijp kan. Stress test klemmechanisme om de kleinste modulus en breedte te bepalen. Fase A.3: ontwikkeling 1 e driehoek van de robot. Ontwerp en bouwen van een eerste klemmechanisme van de robot Evalueren driehoek Fase A.4: Bouwen volledige robot Fase A.5: Interface + rand apparatuur ontwikkelen.

20 Development towards TRL 6 Phase A.1 Feasibility study Several features of the robot are studied to verify the feasibility Phase A.2: Test several parts or subsystems of the robot Several test are being developed and performed to validate subsystems Friction test: wheel material and clamping force Shape test ( 3d reproduction ) to retrieve a defect robot. Stress test clamping mechanism to optimise the design Phase A.3: Development 1 e triangle of the robot Development of the first clamping mechanism with three wheels. Evaluate Phase A.4: Build full robot Phase A.5: Build and program the interface & peripheral equipment.