{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,18]],"date-time":"2026-01-18T11:35:52Z","timestamp":1768736152710,"version":"3.49.0"},"reference-count":16,"publisher":"Emerald","issue":"5","license":[{"start":{"date-parts":[[2018,10,11]],"date-time":"2018-10-11T00:00:00Z","timestamp":1539216000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2018,12,7]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>Mooring chains used to stabilise offshore floating platforms are often subjected to harsh environmental conditions on a daily basis, i.e. high tidal waves, storms, etc. Therefore, the integrity assessment of chain links is vital, and regular inspection is mandatory for offshore structures. The development of chain climbing robots is still in its infancy due to the complicated climbing structure presented by mooring chains. The purpose of this paper is to establish an automated climbing technique for mooring chain inspection.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>This paper presents a Cartesian legged tracked-wheel crawler robot developed for mooring chain inspection. The proposed robot addresses the misalignment condition of the mooring chains which is commonly evident in <jats:italic>in situ<\/jats:italic> conditions.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The mooring chain link misalignment is investigated mathematically and used as a design parameter for the proposed robot. The robot is validated with laboratory-based climbing experiments.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Practical implications<\/jats:title>\n<jats:p>Chain breaking can lead to vessel drift and serious damage such as riser rupture, production shutdown and hydrocarbon release. Currently, structural health monitoring of chain links is conducted using either remotely operated vehicles which come at a high cost or by manual means which increase the danger to human operators. The robot can be used as a platform to convey equipment, i.e. tools for non-destructive testing\/evaluation applications.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>This study has upgraded a previously designed magnetic adhesion tracked-wheel mooring chain climbing robot to address the misalignment issues of operational mooring chains. As a result of this study, the idea of an orthogonally placed Cartesian legged-magnetic adhesion tracked wheel robotic platform which can eliminate concerns related to the misaligned mooring chain climbing has been established.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-04-2018-0074","type":"journal-article","created":{"date-parts":[[2018,10,11]],"date-time":"2018-10-11T04:42:48Z","timestamp":1539232968000},"page":"634-646","source":"Crossref","is-referenced-by-count":13,"title":["Adaptable legged-magnetic adhesion tracked wheel robotic platform for misaligned mooring chain climbing and inspection"],"prefix":"10.1108","volume":"45","author":[{"given":"Mahesh","family":"Dissanayake","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tariq Pervez","family":"Sattar","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shehan","family":"Lowe","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ivan","family":"Pinson","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tat-hean","family":"Gan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2018,10,11]]},"reference":[{"key":"key2021041507271025300_ref001","first-page":"87","article-title":"Mooring integrity management: Novel approaches towards in situ monitoring","volume-title":"Structural Health Monitoring \u2013 Measurement Methods and Practical Applications","year":"2017"},{"key":"key2021041507271025300_ref002","volume-title":"Tracked-Wheel Crawler Robot for Vertically Aligned Mooring Chain Climbing Design, Simulation and Validation of a Climbing Robot for Mooring Chains","year":"2017"},{"issue":"8","key":"key2021041507271025300_ref003","first-page":"1063","article-title":"Design and prototype of a magnetic adhesion tracked-wheel robotic platform for mooring chain inspection","volume":"232","year":"2018","journal-title":"Journal of Systems and Control Engineering: Proceedings of the Institution of Mechanical Engineers, Part I"},{"key":"key2021041507271025300_ref004","unstructured":"Edwards, G., Kokkorikos, S., Garcia, A., Patton, C. and Sattar, T. (2013), available at: www.moorinspect.eu\/ www.moorinspect.eu\/publications\/NDT2012MoorInspect_latest.pdf (accessed 21 December 2015)."},{"key":"key2021041507271025300_ref005","volume-title":"Reducing Uncertainty through the Use of Mooring Line Monitoring","year":"2013"},{"key":"key2021041507271025300_ref006","volume-title":"Automated off-Shore Studless Chain Inspection System","year":"2004"},{"key":"key2021041507271025300_ref007","article-title":"Mooring integrity management: a state-of-the-art review","volume-title":"Offshore Technology Conference","year":"2014"},{"key":"key2021041507271025300_ref008","article-title":"Digital imaging for subsea operations: innovative ROV tooling and image analysis combinations for mooring chain assessments yield cost savings and operational confidence for offshore operators","volume-title":"Offshore Europe Oil and Gas Exhibition and Conference","year":"1999"},{"key":"key2021041507271025300_ref009","volume-title":"A Historical Review on Integrity Issues of Permanent Mooring Systems","year":"2013"},{"key":"key2021041507271025300_ref010","volume-title":"Floating Production system -JIP FPS Mooring Integrity","author":"Noble Denton Europe Limited","year":"2016"},{"key":"key2021041507271025300_ref011","volume-title":"Multi-Channel Ultrasonic Inspection of a Mooring Chain for Fatigue Cracks","year":"2014"},{"key":"key2021041507271025300_ref012","volume-title":"Inspection of Floating Platform Mooring Chain with a Climbing Robot","year":"2014"},{"key":"key2021041507271025300_ref013","volume-title":"Innovative Robotic Solutions for the Survey and Certification of Ships and Mobile Offshore Units","year":"2004"},{"key":"key2021041507271025300_ref014","unstructured":"Welapetage (2017), available at: www.welaptega.com\/ www.welaptega.com\/services\/subseameasurement\/ (accessed 25 06 2018)."},{"key":"key2021041507271025300_ref015","unstructured":"Williams, S. (2008), available at: cordis.europa.eu\/ http:\/\/cordis.europa.eu\/docs\/publications\/1216\/121625181-6_en.pdf (accessed 10 December 2015)."},{"key":"key2021041507271025300_ref016","volume-title":"Field Test of a Practical Test Model of Maintenance Examination System for Mooring Facilities and Additional Installation of Chain Grasping Frame in the Vehicle","year":"2013"}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-04-2018-0074\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-04-2018-0074\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:38:51Z","timestamp":1753393131000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/45\/5\/634-646\/175650"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,10,11]]},"references-count":16,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2018,10,11]]},"published-print":{"date-parts":[[2018,12,7]]}},"alternative-id":["10.1108\/IR-04-2018-0074"],"URL":"https:\/\/doi.org\/10.1108\/ir-04-2018-0074","relation":{},"ISSN":["0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"}],"subject":[],"published":{"date-parts":[[2018,10,11]]}}}