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DORIS is a mobile robot for remote supervision, diagnosis, and data acquisition on offshore facilities. The proposed system is composed of a rail-guided robot capable of carrying different sensors through the inspected area. This paper presents a general overview of the robot, and a description of the developed embedded electronics, power supply system and software architecture. The results with teleoperated navigation validate the concepts considered so far and rise several challenges for future works.

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THE EMBEDDED ELECTRONICS AND SOFTWARE OF DORIS OFFSHORE ROBOT∗∗This work is supported primarily by Petrobras S.A. and Statoil Brazil Oil &amp; Gas Ltda under contract COPPETEC 0050.0079406.12.9 (ANP-Brazil R&amp;D Program), and in part by the Brazilian research agencies CNPq and FAPERJ.