## 7 Corrosion Control and Monitoring
In the experimental setup, the monitoring plates were placed on horizontal or diagonal truss members. The ACM sensors were placed on members with a lead-acid battery and a data logger to record the measured corrosion current data. Furthermore, a thermo-hygrometer was also used to recognize atmospheric corrosion environments during monitoring. The corrosion monitoring data were measured after 6 and 12 months of exposure to evaluate the corrosion damage and the corrosion grade. Based on the results, it seems possible to estimate corrosion using monitoring steel plates and ACM sensors. The horizontal members experienced a more extensive corrosion depth and the highest galvanic corrosion current compared to diagonal, vertical, and portal bracing members after the 12-month exposure period. These results, especially the most critical result considering the extreme corrosion rate in the horizontal members, show that maintenance is necessary to monitor the local corrosion condition of the structures. In Maritime 4.0, onboard inspection can be extensively assisted by a robotic platform. Traditional onboard inspection using human surveyors was confirmed to be relatively expensive, time consuming, and high risk. Considering these problems, [PERSON] et al. [134] launched the adoption of robotics and autonomous systems (RAS)-aided inspections under the ROBINS project, funded by the Horizon 2020 EU Research and Innovation program. The aim was to fill the gap between traditional onboard assessments and the potential application of robotic technology. In general, an overview of RAS-aided inspection platforms with different capabilities involved in the ROBINS project is highlighted to assist the whole range of inspection needs (see Figure 27). Figure 27: RAS platforms: (**a**) UIB drone, (**b**) FLY drone, (**c**) GEIR crawler, and (**d**) zoomorphic robot [134]. Two different aerial drones (UIB drone and FLY drone) are dedicated to flying in wide, open spaces and cluttered spaces for autonomous information obtention (image and video streaming). Different sensing devices, including 2D and 3D laser scanners, vision-based navigation, depth, and RGB-D cameras, are reported to offer an overview of RAS technologies. Moreover, the most common solution for close-up surveys is represented by the GEIR crawler, shown in Figure 27c. The crawler can run on the magnetic wheel directly with the structure to carry out thickness gauging and non-destructive testing. The main issue is the limited obstacle handling ability when inspecting some parts of a ship. Another RAS platform developed by the ROBINS project to perform autonomous direct inspection using direct contact with the structure is the zoomorphic robot (Figure 27d). This portable and user-friendly platform is controlled by actuator-sensor interface technology, and each unit is equipped with a video camera and an ultrasonic thickness measurement tool. For measuring the RAS inspection abilities, a testing facility module for general purpose inspections onboard a bulk carrier has been developed (see Figure 28). The possibility of changing the environment characteristics (lightening, humidity, dirt, etc.) to simulate different conditions was also considered. The assessment is carried out by comparing the capabilities of general RAS-human inspection in orienteering, localization, and identification of actual defects found in coating conditions, such as pitting corrosion, corrosion, cracks, distortions, mechanical damage, etc. It was noted in the trials that RAS-aided inspection acquires more extensive quantitative data while minimizing intrinsic uncertainties of the collected data. However, the use of RAS-aided inspection results is considered as an assisting tool of the attending surveyor. It means that the final decision about the applicability of remote techniques is determined by surveyor experience. In the same year, [PERSON] et al.