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In-water surface cleaning robot: concept, locomotion and stability
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-5925-1379
Örebro University, School of Science and Technology. (AASS)
2014 (English)In: International Journal of Mechatronics and Automation, ISSN 2045-1067, Vol. 4, no 2, 104-115 p.Article in journal (Refereed) Published
Abstract [en]

This paper introduces a new concept of flexible crawling mechanism in the design ofindustrial in-water cleaning robot, which is evaluated from the viewpoint of work and operationon an underwater surface. It enables the scanning and cleaning process performed by water jets,while keeping stable robot position on the surface by its capacity to bear and compensate the jetreactions. Such robotic platform can be used for cleaning and maintenance of various underwatersurfaces, including moving ships in the open sea. The designed robot implements its motions bycontraction and expansion of legged mechanism using standard motors and suction cupstechnology. In this study we focus at the conditions for achieving enough adhesion for keepingcontinuous contact between the robot and the surface and robot stability in different situations forthe basic locomotions.

Place, publisher, year, edition, pages
2014. Vol. 4, no 2, 104-115 p.
Keyword [en]
underwater robot, crawling robot, underwater surface cleaning
National Category
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-35987DOI: 10.1504/IJMA.2014.062338ISI: 000335375900267Scopus ID: 2-s2.0-84904859302OAI: oai:DiVA.org:oru-35987DiVA: diva2:738998
Available from: 2014-08-19 Created: 2014-08-19 Last updated: 2017-10-18Bibliographically approved
In thesis
1. Enabling a Robot for Underwater Surface Cleaning
Open this publication in new window or tab >>Enabling a Robot for Underwater Surface Cleaning
2017 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Biofouling build-up on submerged structures such as ships, petroleum and gas storage tanks, electric power plants, bridges, oil rigs etc. is a major problem that affects the surface material of the structure, the eventual hydrodynamic quality of the surface and in some cases the efficacy of cooling systems. Underwater cleaning is a solution to maintain submerged structures in order to assure proper functioning for as long as possible. Consequently, there has been an increased interest in the development of new technologies for robotised underwater cleaning systems.

This thesis presents a new concept of a flexible crawling mechanism for an industrial underwater cleaning robot, which is evaluated from the viewpoint of its capability to work underwater, scanning the desired surface, and perform a cleaning task. The main research questions investigated in this thesis are: (1.) how to select the most important features in choosing the platform mechanism to fulfil the surface scanning operation, (2.) how to design the platform in order to bear the forces related to the cleaning task, (3.) how to maintain surface contact throughout cleaning, (4.) determine the significant parameters to be monitored in order to ensure stable positioning on the surface during the cleaning process and (5.) how to develop the control of actuators to realise the locomotion and to follow the desired trajectory.

This thesis begins with a classification and discussion of the available solutions for underwater operation, taking into consideration the benefits and drawbacks, overall efficiency and environmental and human safety issues. From this survey, an underwater mobile robotic platform is designed to address the main requirements and industrial needs. Further, a study and simulation of its mobility and stability on the surface is performed and a complete scenario of the entire cleaning operation is presented. In addition, an overview of the required sensors and the control system is given. Finally, a new robotised system was developed to clean underwater surfaces with minimum active degrees of freedom. A successful simulation and real experimental results were obtained with a simplified lab-scale prototype. The thesis concludes with a summary of future works and outlook for the growing field of underwater cleaning robots.

Place, publisher, year, edition, pages
Örebro: Örebro University, 2017. 45 p.
Series
Örebro Studies in Technology, ISSN 1650-8580 ; 70
Keyword
underwater robot, underwater cleaning, biofouling, adhesion, locomotion, stability
National Category
Control Engineering
Research subject
Automatic Control
Identifiers
urn:nbn:se:oru:diva-55947 (URN)978-91-7529-150-5 (ISBN)
Public defence
2017-03-24, Örebro universitet, Teknikhuset, Hörsal T, Fakultetsgatan 1, Örebro, 13:15 (Swedish)
Opponent
Supervisors
Available from: 2017-02-23 Created: 2017-02-23 Last updated: 2017-10-18Bibliographically approved

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