%0 Journal Article 
%A Ortiz Zaragoza, Francisco José
%A Iborra García, Andrés José
%A Álvarez Torres, María Bárbara
%A Marín García, Fulgencio
%A Fernández Meroño, José María
%T Service robot for hull-blasting
%D 2001
%U http://hdl.handle.net/10317/465
%U http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=975631&isnumber=21043
%X Present grit blasting technology for hull cleaning is very pollutant, environmentally unaffordable, and it is progressively forbidden in the most environmental countries
(mainly north of Europe). At the time being, the above methodology has been partially substituted by ultra highpressure
water blasting, however they do not show as good performance as the grit blasting systems. This paper describes a service robot for hull blasting. The technology
we developed consists of the cleaning head, the robot body, the remote control unit and the teleoperation platform. This
solution allows a reliable and cost effective operation regarding hull grit blasting, obtaining a high quality surface
preparation (SA 2 ½) together with a dramatic reduction of waste and zero emissions to environment. A prototype of the
robot has been developed and tested in IZAR shipyards. We presents the functional requirements, system concept and
architecture of this robot. This work was supported by the Spanish government, the European Union (CICYT-FEDER)
%K Tecnología Electrónica
%K Limpieza de casco de buque
%K Lanzamiento de gravilla
%K Lanzamiento de agua
%K Hull blasting
%K Flushing
%K Hull grit blasting
%K Service robot
%~ GOEDOC, SUB GOETTINGEN