TY - JOUR 
A1 - Ortiz Zaragoza, Francisco José
AU - Iborra García, Andrés José
AU - Álvarez Torres, María Bárbara
AU - Marín García, Fulgencio
AU - Fernández Meroño, José María
T1 - Service robot for hull-blasting
Y1 - 2001
UR - http://hdl.handle.net/10317/465
UR - http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=975631&isnumber=21043
AB - 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)
KW - Tecnología Electrónica
KW - Limpieza de casco de buque
KW - Lanzamiento de gravilla
KW - Lanzamiento de agua
KW - Hull blasting
KW - Flushing
KW - Hull grit blasting
KW - Service robot
LA - eng
PB - Institute Electrical and Electronics Engineers
ER -