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dc.contributor.authorPastor Franco, Juan Ángel 
dc.contributor.authorAlonso Cáceres, Diego 
dc.contributor.authorÁlvarez Torres, María Bárbara 
dc.contributor.authorOrtiz Zaragoza, Francisco José 
dc.contributor.authorSuardiaz Muro, Juan 
dc.contributor.authorFernández Andrés, José Carlos 
dc.contributor.authorIborra García, Andrés José 
dc.contributor.authorNavarro Lorente, Pedro Javier 
dc.date.accessioned2011-01-25T08:24:17Z
dc.date.available2011-01-25T08:24:17Z
dc.date.issued2009-05-22
dc.identifier.citationIBORRA, A., PASTOR, J.A., ALONSO, D., ÁLVAREZ, B., ORTIZ, F.J., NAVARRO, P.J., FERNÁNDEZ, C., SUARDÍAZ, J. A cost-effective robotic solution for the cleaning of ships' hulls. Robotica 28 (3): 453-464, 22 de Mayo 2009. ISSN 0263-5747en_US
dc.identifier.issn0263-5747
dc.description.abstractHull cleaning before repainting is a key operation in the maintenance of ships. For more than a decade, a means to improve this operation has been sought through robotization and the use of different techniques such as grit blasting and ultra high pressure water jetting. Despite this, it continues to be standard practice in shipyards that this process is carried out manually. This paper presents a family of robots that aims to offer important improvements to the process as well as satisfying, to a great extent, all the operative requirements of efficiency, security, and respect for the environment that shipyards nowadays demand. It is described the family of devices with emphasis on the mechanical design. This set consists of two vertical robotic towers and a robot climber. In addition, it is shown the control architecture of the global system. Finally, operative results are presented together with a comparison between the performance achieved in shipyards through the use of these robots and those obtained with a manual process.en_US
dc.description.sponsorshipThe work submitted here has been developed within the framework of the “EFTCoR: Environmentally Friendly and Cost-Effective Technology for Coating Removal (EFTCoR)” project, Fifth Frame Programme of the European Community (ref. GRD2-2001-50004). It has also received financing from the Spanish government (national plan of I + D + I, PET 2008-0131 and MEDWSA-TIN2006-5175-CO5-O2) and from the Government of the Region of Murcia (Séneca Foundation).en_US
dc.formatapplication/pdf
dc.language.isoengen_US
dc.publisherCambridge University Pressen_US
dc.rightsCopyright © 2009 Cambridge University Pressen_US
dc.titleA cost-effective robotic solution for the cleaning of ships' hullsen_US
dc.typeinfo:eu-repo/semantics/articleen_US
dc.subject.otherLenguajes y Sistemas Informáticosen_US
dc.subject.otherTecnología Electrónicaen_US
dc.subjectService robotsen_US
dc.subjectShip repair industryen_US
dc.subjectGrit blastingen_US
dc.subjectServicio de robotsen_US
dc.subjectIndustria de reparación de buquesen_US
dc.subjectGranalladoen_US
dc.identifier.urihttp://hdl.handle.net/10317/1560
dc.peerreviewen_US
dc.contributor.investgroupDivisión de Sistemas e Ingeniería Electrónica (DSIE)en_US
dc.identifier.doi10.1017/S0263574709005797
dc.identifier.urlhttp://journals.cambridge.org/action/displayAbstract?fromPage=online&aid=7408596
dc.rights.accessRightsinfo:eu-repo/semantics/openAccessen_US
dc.type.versioninfo:eu-repo/semantics/acceptedVersionen_US


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