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Morphologically intelligent underactuated robot for underwater hull cleaning

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In this paper we discuss a new type of robot for underwater hull cleaning on ships with non-magnetic hulls. This robot is based on the concept that cleaning hulls regularly, without waiting to take them out of the water, will improve the efficiency of the ships and will permit a reduction in the use of the chemicals that are usually employed to prevent the growth of marine life on the hull and which are generally harmful to the environment. The robot described in this paper is an underactuated morphologically adapted robot that through an appropriate morphology and making use of the forces and constraints of the environment solves the most difficult problems that arise when moving along hulls. Some of these are changing planes, negotiating appendices, avoiding portholes, passing corners, and other elements. This greatly simplifies the control mechanisms that are required for its operation making it an ideal candidate for completely autonomous operation. A description of the design of the robot as well as a series of examples of its operation are provided.
Original languageEnglish
Title of host publicationProceedings of the IEEE 8th International Conference on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications (IDAACS), 2015
Volume2
PublisherIEEE Press
Publication date2015
Pages879 - 886
ISBN (Print)978-1-4673-8359-2
DOIs
Publication statusPublished - 2015
EventThe 8th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications - The Faculty of Electronics and Information Technology, Warsaw University of Technology, Warsaw, Poland
Duration: 24 Sep 201526 Sep 2015
Conference number: 8
http://idaacs.net/2015/
http://ieeexplore.ieee.org/xpl/tocresult.jsp?reload=true&isnumber=7340677

Conference

ConferenceThe 8th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems
Nummer8
LocationThe Faculty of Electronics and Information Technology, Warsaw University of Technology
LandPoland
ByWarsaw
Periode24/09/201526/09/2015
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    Research areas

  • Robotics

ID: 80641417