ABSTRACT
This chapter describes the design of an original self-moving unit able to inspect holds and tanks in cargo ships. The activity is part of a wider theoretical and experimental research, in progress at DREAMS Lab of the University of Genoa, specifically oriented to identification and prototyping of low-cost self-moving units for inspection tasks of marine and offshore structures and plants. Tankers are equipped with sophisticated prevention systems accidents related to the leakage of crude oil at sea and need of periodic inspections in order to check the presence of structural corrosion and/or crack fatigue phenomena. The corrosion inspection in marine environment is usually performed through ultrasonic systems, allowing quick and reliable thickness measurements without requiring access to both sides of a wall and with high precision. Ship environments have peculiarities requiring customized inspection units. Among the most critical issues must be mentioned those related to anchoring of the autonomous unit and to the geometry of the walls to be inspected.
