... near a hang-off point and winched down the riser. It can manage risers with diameters up to 250 mm and the inspection is limited to 100 m below the surface. Recently, Nicolas, (2018) presented a robot that deploys three different nondestructive testing (NDT) technologies for riser inspection...

...Zongxing Lu; Chunguang Xu; Qinxue Pan; Dingguo Xiao; Fanwu Meng; Juan Hao Purpose – Nondestructive testing based on cooperative twin-robot technology is a significant issue for curved-surface inspection. To achieve this purpose, this paper aims to present a kinematic constraint relation method...