In this paper, the authors present the CIRUS robot. This automatic system uses a combination of pulse-echo and pitch and catch ultrasonic strategies for the inspection of the welded area of mooring chain links in an automatic way. The robot is divided in three parts: global positioning subsystem, local positioning subsystem and inspection subsystem. Additionally, a data acquisition subsystem processes the results of the verification and produces a report for the inspector allowing the traceability of the product for assuring the welding quality.
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