International Journal of Advanced Robotic Systems

ARTICLE

Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems Regular Paper

Houssam Albitar1*, Kinan Dandan1, Anani Ananiev1 and Ivan Kalaykov1 1 AASS, Orebro Universitet, Orebro, Sweden *Corresponding author(s) E-mail: [email protected] Received 07 May 2015; Accepted 28 November 2015 DOI: 10.5772/62060 © 2016 Author(s). Licensee InTech. This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract Underwater robots are being developed for various applications ranging from inspection to maintenance and cleaning of submerged surfaces and constructions. These platforms should be able to travel on these surfaces. Furthermore, these platforms should adapt and reconfig‐ ure for underwater environment conditions and should be autonomous. Regarding the adhesion to the surface, they should produce a proper attaching force using a lightweight technics. Taking these facts into consideration, this paper presents a survey of different technologies used for underwater cleaning and the available underwater robotics solutions for the locomotion and the adhesion to surfaces. Keywords Underwater Robot, Underwater Cleaning, Biofouling, Adhesion, Locomotion

1. Introduction Various structures, such as: petroleum and gas storage tanks, electric power plants, ships, bridges and oil rigs are invaluable assets to our daily life and the basis for industry and economy. They provide energy, transportation and distribution of products which are the basics of evolution and modern life. We need to take care of these important structures to perform their function for longer time. Bio-

fouling buildup material is a major problem that affects them, and the cleaning is the solution. The objective of this survey is to consider the benefits and drawbacks of underwater surface cleaning, based on an understanding of current and proposed underwater cleaning techniques. We use this survey to compare the relative environmental and economic risks associated with existing underwater cleaning systems, and provide guidance to develop an environment friendly robot based system to automate this process and to provide more safety and productivity. The survey is organized as follows. Sections 2 and 3 present several definitions and the problems caused by bio-fouling with an overview of the cleaning process challenges, environmental restrictions, and industrial requirements. In section 4 the available underwater cleaning technologies are illustrated with the existing robotic technologies for adhering to underwater surfaces and the locomotion principles. Our new concept of crawling robot is presented in section 5. Finally, section 6 outlines the main conclusions. 2. Underwater Surface Cleaning 2.1 Definitions Underwater is a term describing the realm below the surface of water in its natural feature such as an ocean, sea, lake, pond, or river. Int J Adv Robot Syst, 2016, 13:7 | doi: 10.5772/62060

1

Bio-fouling refers to all of the different types of plants and destroying the bio-fouling microorganisms (plant or animal origin), and in substantially reducing numbers of animals that find a home on submerged surfaces in water (underwater surfaces) such as ship hulls, pilings and the these undesirable microorganisms, but without adversely underwater portions of structures such as oil rigs and piers. affecting the surface. These growths are from plant or animal nature. Plants include various forms of algae, slime, and seaweed. by bio-fouling species of adhesive shellfish that adhere to any underwater2.2 Problems • Acaused major cost moving in-water vessels (surfaces) Animals include barnacles, mussels and other species of surface and reproduce in great numbers. Bio-foulingBio-foulingthe of freely fuel. can Any reduction in fuel consumptio thatcost grows cause many problems. adhesive shellfish that adhere to any underwater surface organisms attached to the underwater surfaces vary in will result in a direct and proportional Hard and soft bio-fouling growths can cover any under‐ reduction and reproduce in great numbers. Bio-fouling organisms water surface, making it rough and less hydrodynamic. size,attached shape, complexity, and behavior. For example, sizes operating costs. Since the majority of its propulsi to the underwater surfaces vary in size, shape, can range from microns for unicellular diatoms to several energy is needed to overcome hydrodynamic resistan complexity, and behavior. For example, sizes can range • A major cost moving in-water vessels (surfaces) is the centimeters for tubeworms (See Figure 1). Formation (friction), for that reason keeping the external surfa from microns for unicellular diatoms to several centimeters cost of fuel. Any reduction in fuel consumption will of aforthese growth community at aof specific location result insmooth will minimize waste in and improve the spee tubeworms (See Figure 1). Formation a these growth a direct and proportional reduction operating costs. Since the majority energy community at a specific location of immersed surfaces a immersed surfaces is a function time and otherisfactors and/or distanceoftoitsbepropulsive gained from theis same amou hydrodynamic resistance (friction), function of time and other factors (temperature, (temperature, salinity, oxygen content of the salinity, water ,and needed to ofovercome fuel. Hulls with bio-fouling growth expend mo the external surface of the water,and muchsurface). light penetrates howoxygen much content light penetrates the how water’s Different for that reason energykeeping and use more fuel, in smooth some will cases as much minimize waste and improve the speed and/or distance the water’s surface). Different organisms proliferate at organisms proliferate at different rates. For example, 25 to 30% more[1]. If the hull is heavily fouled it w to be gained from the same amount of fuel. Hulls with different rates. For example, a colony of bacteria forms a a colony of bacteria forms a slime within a few hours; bio-fouling sit lower in the water and reduce its responsivenes growth expend more energy and use more slime within a few hours; whereas the development of a whereas the development of a barnacle require several fuel, in some Significant weeds mussels can al cases asfouling much as like 25 tolarge 30% more [1]. or If the barnacle require several days. days. affect the ability to steer the boat, and hull is heavily fouled it will sit lower in the water andthat will ma theresponsiveness. ship far less efficient traveling reduce its Significantwhen fouling like largethrough wat weeds or mussels can also affect the ability to steer the • Any increase in frictional drag or decrease boat, and that will make the ship far less efficient when efficiency in cooling systems in pow travelingoperational through water.

plants or any industrial installation as a result

in frictional drag or decrease of operational • Any increase bio-fouling buildup materials and the subseque efficiency in cooling systems in power plants or any increase in fuel consumption will have a serio industrial installation as a result of bio-fouling buildup environmental impact as in it fuel adds to greenhouse gas materials and the subsequent increase consump‐ to environmental the atmosphere to glob tion willemissions have a serious impactcontributing as it adds warming[2]. to greenhouse gases emissions to the atmosphere contributing to global warming [2].

• A further environmental threat is posed by th

translocation non-indigenous species environmentalofthreat is posed by the translo‐as hull foulin • A further cation ofSo non-indigenous species as hull fouling. So have far far the efforts of states and ports been in th the efforts of states and ports have been in the direction direction of preventing ships arriving in their wate of preventing arriving with fouled with ships fouled hulls.in their For waters example, the ANZECC cod hulls. For example, the ANZECC code [3] forbids in[3] forbids in-water cleaning of vessels in Australia water cleaning of vessels in Australian waters for fear waters for fear vessels into will bring marin that incoming vessels willthat bringincoming marine bio-fouling bio-fouling into Australia which will Australia which will then establish themselves there.then establi themselves there. This situation This situation leads to more and stricter regulations.leads And to more an the bio-fouling its very nature will be an stricterbyregulations. And theinternational bio-fouling by its ve problem.nature will be an international problem.

• Underwater structures that are fouledthat withare seaweed and with seawee • Underwater structures fouled barnacles are barnacles subject to more rapid corrosion, and needcorrosion, an and are subject to more rapid more frequent maintenance [4, 5]. need more frequent maintenance[4][5].

• Another perennial problem caused by thesecaused growth take • Another perennial problem by these grow place in every cooling system depending on thedepending sea Figure 1. Bio-fouling buildup on different surfaces take place in every cooling system on th water for its cooling system (nuclear power plant cooling Cleaning refers to removing the growths and the built up sea water for its cooling system (nuclear power pla tunnels, oil rigs water lines) or fire water. In such materials from the surface with the most care, by breaking cooling tunnels, oil rigs water lines) or fire water. sensitive applications bio-fouling or the marine growth Cleaning refers to removing the growths and the built their adherence to the desired surface, to protect its such sensitive applications bio-fouling or the marin up materials from the surface with the most care, by is a huge concern as it restricts cooling water flow in valuable properties. growth is a huge concern as it restricts cooling wat breaking their this adherence theused desired to protect these systems thus affecting the heat-transfer in the heat Sanitation term cantobe in a surface, specific aspect, flow in these[6]. systems thus affecting the heat-transfer exchangers (clogging) its valuable location, properties. or strategy, such surface sanitation. Sanitation the heat exchangers (clogging)[6]. within this aspect refers to the adequate treatment of Sanitation this term can be used in a specific aspect,As a consequence of the problems caused by bio-fouling buildup to the underwater surfaces, states andby bio-foulin underwater surfaces by a process that is effective in Asmaterial a consequence of the problems caused Figure 1. Bio-fouling buildup on different surfaces

location, or strategy, such surface sanitation. Sanitation within thisRobot aspect refers the adequate treatment 2 Int J Adv Syst, 2016, 13:7 | to doi: 10.5772/62060 of underwater surfaces by a process that is effective in destroying the bio-fouling microorganisms (plant or animal origin), and in substantially reducing numbers of these undesirable microorganisms, but without adversely

buildup material to the underwater surfaces, states an other interested industrial and research parties shou encourage and support research into, and development technologies for:

other interested industrial and research parties should encourage and support research into, and development of technologies for: • Underwater cleaning that ensures effective management of the anti-fouling system (paint), bio-fouling and other contaminants, including effective capture of biological material [7]. • Comprehensive methods for assessing the risks associ‐ ated with in-water cleaning [8, 9, 10]. • Underwater surface monitoring and detection of biofouling; reducing the macrofouling risk posed by the dry-docking support strips. • The geographic distribution of bio-fouling invasive aquatic species; and the rapid response to invasive aquatic species incursions, including diagnostic tools and eradication methods [11]. 3. Challenges and Requirements This section provides a brief overview on the main chal‐ lenges that are given by the environment restrictions and the industry requirements. These requirements must be taken into consideration in any functional analysis of typical underwater cleaning robot. 3.1 Working environment restrictions The geometry of the surfaces is not the main challenge that it is mostly plane with slight curvature, but the main problem is the fact that these surfaces are covered with several mm of buildup materials and fouling. However, the difficulties regarding hazardous surface characteristics are sometimes very challenging: the buildup materials reduce the adhesion force, and can stick to the robot and cause damage and that will complicate the use of specific principles for adhesion or locomotion in the robot. Because of the large size of surfaces, there are almost no restrictions for the robot size and mass except the wish to transport it easily by humans and thus keep the mass reasonable. 3.2 Industrial requirements and special needs Not only the restrictions given by the environment are crucial for the design of an underwater cleaning robot, also industrial requirements represent important constraints. First of all, a payload has to be carried to successfully fulfill the cleaning task. Furthermore, the robot has to be simple to use and to repair, and be robust enough for not getting damaged when used in such environment and by operators with few experience. Additional needs are universality and modularity to clean a high number of surfaces with different types (geometry and materials). Localization and navigation Localizing the robot and finding its path in complex environments is a challenging task that can normally not be solved with only using the camera image.

Power supply and communication Another challenge related to the payload of an underwater cleaning robot is the question how to supply power, and how to communicate between the robot and the operator. Four options are available: • connecting all sensors and actuators with a separate cable. • placing the control unite on the robot that steers every‐ thing on-board and is connected to the operator’s interface with a cable. • placing control unite + batteries + an interface for wireless control on the robot. • including intelligence to the robot that it can operate fully autonomously. As safety restrictions always require a human operator for every device; and wireless communication signals could disturb other components and would anyway be shielded by the steel structure of the component. Safety, reliability and robustness Safety, reliability, and robustness are very important criteria for such robots especially when it comes to indus‐ trialized prototypes. For this reason, simple mechanisms and vehicles structures, with few parts that could be damaged are normally preferred to highly sophisticated. Universality and modularity As the number of different environments in underwater surfaces is relatively large, realizing specialized robots for each surface (shape and material) would be very expensive. For this reason, the ideal underwater cleaning robot should be as universal as possible and able to deal with a large number of different surfaces. 4. State of the Art In this section we present the overview of the existing technologies and solutions for underwater bio-fouling cleaning systems. First, we briefly describe the available cleaning technologies and their ability to remove this buildup material from surfaces, taking into consideration the drawbacks. Then adhesion and locomotion mecha‐ nisms related to the studied problem are surveyed and evaluated from the viewpoint of their capability to work underwater and bearing the reactions. The chapter includes overview of the robotics research and development from the viewpoint of the need and the possibility to design and develop a solution for our problem. 4.1 Cleaning Technics Underwater surface cleaning technologies currently available or in development can be classified into two categories: technologies that remove bio-fouling growths from targeted surfaces; and technologies that prevent or kill

Houssam Albitar, Kinan Dandan, Anani Ananiev and Ivan Kalaykov: Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems

3

locomotion mechanisms related to the studied problem are surveyed and evaluated from the viewpoint of their capability to work underwater and bearing the reactions. The chapter includes overview of the robotics research and development from the viewpoint of the need and the possibility to design and develop a solution for our problem.

raints. ssfully has to gh for nt and ds are ber of ls).

This method depends on producing multiple bursts of ultrasonic energy simultaneously in a multiple range of frequencies. This energy produces a pattern of alternating positive and negative pressure. The alternating pattern creates microscopic bubbles during periods of negative pressure and implodes them during periods of positive pressure in a phenomenon known as cavitation [13]. The implosion creates a micro-jet action that not only provides the cleaning effect on the underwater surface; it also resonates and destroys microorganisms such as algae. The removal of the initial link in the food chain inhibits the growth of barnacles and other marine life that feed on the algae [14].

mplex ly not

water r, and erator.

parate

steers ator’s

Figure2. 2. Encapsulation technology Figure Encapsulation technology

bio-fouling organisms in target areas but do not actively

ce for

4.1. Cleaning Technics remove them. Both categories of treatment are discussed below with reference to each technology’s availability,

Underwater surface cleaning technologies currently specificity (shape and material of the surface), effective‐ available or in development can be classified into two

perate

ness, impact on original surfaces or sensitive coating, ability to capture the remains removed from the treatment area, frequency application,that andremove ease ofbio-fouling use. : categories:oftechnologies growths

rwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion from targeted surfaces; and technologies thatSystems prevent

Underwater cleaning using encapsulation technology

or kill bio-fouling organisms in target areas but do not

actively remove them. Both treatment Enveloping techniques can be ancategories effectiveofmethod forare discussed below with reference to each technology’s killing all bio-fouling on a vessel(set and forget), irrespec‐ availability, specificity (shape and material of the surface), tive of effectiveness, the type or origin or generation impact on original bio-fouling surfaces or extent, sensitive this method depends on killing bio-fouling organisms bythe coating, ability to capture the remains removed from treatment area, frequency of application, and ease ofItuse. depriving them of essential resources (light,air,food). is a low cost technic and simple. However, some inadequacies Underwater cleaning using encapsulation technology and losses to the environment have been noticed that some of the bio-fouling material and acids left to the surrounding Enveloping techniques can be an effective method medium, there no evaluation the effect and of envel‐ for and killing allisbio-fouling on aof vessel(set forget), irrespective the type or origin or generation bio-fouling oping on differentof coating types.

To use ultrasonic with underwater surfaces a number of transducers is arranged to face the surface to be cleaned(distance 2-5 m), and as an industrial products we have transducers which are simply bonded to the inside of the hulls outer skin, and no hull penetration required [15], and there is some patents for robotized systems [16, 17]. Ultrasonic cleaning is environmentally friendly process, and has no effect on the treated surface, but it is not effective for all types of bio-fouling. Underwater negative pressure (suction) technology Underwater suction devices is composed of a vacuum head (horn) for collection and containment of built up materials 3 and there is some patents for robotized systems[16][17]. removed from the targeted surface, by using underwater Ultrasonic cleaning is environmentally friendly process, suction vacuum pump withtreated filtration system and has no effect on the surface, but to it separate is not forfrom all types bio-fouling. medium [18, 12]. See theeffective remains theofsurrounding Figure 3. Underwater negative pressure (suction) technology

extent, this method depends on killing bio-fouling

This method is difficult to bethem automated (tillresources nowadays organisms by depriving of essential ( light ,air ,food ). It is atolow and simple. However, depending on divers docost thetechnic wrapping), and can be losses underwater to the environment have appliedsome justinadequacies for mobileand convex surfaces been noticed that some of the bio-fouling material and (vessels) not for concave confined surfaces (tunnels) [12]. acids left to the surrounding medium, and there is no See Figure2. evaluation of the effect of enveloping on different coating types.

Underwater cleaning using ultrasonic technology This method is difficult to be automated ( till nowadays Ultrasonic cleaning has been ), used depending ontechnic diversistonot donew, the itwrapping andforcan a wide be variety of applications, from cleaning of dentalsurfaces and applied just for mobile convex underwater not for concave confined surfaces (tunnels) [12]. medical(vessels) equipment, fine jewelry, ultrasonic is also used for Figure2. keepingSee pipes. Over the past decade, environmental issues

have meant much tighter controls on industrial cleaning Underwater cleaning using ultrasonic products; there was a necessity to findtechnology an alternative Ultrasonic cleaning technic is not new, it has used solution. Ultrasonic cleaning was considered thebeen most for a wide variety of the applications, from electron‐ cleaning of viable solution, by embracing latest in digital and medical equipment, fine jewelry, ultrasonic ics anddental transducer technology, and this technic made a is also used for keeping pipes. Over the past decade, huge leap forward over the have last decade to fill the needs of environmental issues meant much tighter controls industry, the marine hullproducts; is one of these on and industrial cleaning there fields. was a necessity 4

to find an alternative solution. Ultrasonic cleaning was Int J Advconsidered Robot Syst, the 2016, 13:7viable | doi: 10.5772/62060 most solution, by embracing the latest in digital electronics and transducer technology, and this technic made a huge leap forward over the last decade to fill the needs of industry, and the marine hull is one of these fields.

Figure 3. Negative pressure technology Figure 3. Negative pressure technology [18] [18]

Underwater suction devices80% is composed of a vacuum This technology removes of bio-fouling buildup head (horn) for collection and containment of built up attached material, but it is not effective at removing firmly materials removed from the targeted surface, by using organisms tubeworms andfiltration cementing underwater(barnacles, suction vacuum pump with systembi‐ valves). In addition clogging thesurrounding nozzle or the suction to separate the remains fromofthe medium hose is a common problem associated with the system. [18][12]. See Figure 3. This technology of bio-fouling buildup Underwater cleaningremoves using heat80% treatment material, but it is not effective at removing firmly

attached organisms (barnacles, tubeworms and cementing Surface heat treatment is used for soft bio-fouling attached In addition of the nozzle or shock the suction to bivalves). underwater surfacesclogging by applying thermal (70°C) hose is a common problem associated with the system. using heated sea water in sealed area of the surface, or by using adapted oxy-gasoline or laser cutting torch in not Underwater cleaning using heat treatment sealed area. The dead bio-fouling growth remains attached

oating

adays d can rfaces ) [12].

n used ng of asonic ecade, ontrols cessity g was ng the y, and decade one of

rsts of nge of nating attern gative ositive ]. The ovides t also e. The its the on the

umber to be cts we side of ed[15],

Figure 3. Negative pressure technology [18]

Underwater suction devices is composed of a vacuum head (horn) for collection and containment of built up materials removed from the targeted surface, by using underwater suction vacuum pump with filtration system to separate the remains from the surrounding medium [18][12]. See Figure 3. during the first 2-4 weeks because to the surface is released

of water movement (vessel80% sailing in case of mobile This technology removes of bio-fouling buildup surfaces). The effectiveness of the treatment is claimed to material, but it is not effective at removing firmly be long lasting because the treatment kills not only the algae attached organisms (barnacles, tubeworms and cementing but also the spores, which delays bivalves). In addition clogging of the theprocess nozzle of or regrowth. the suction It is recommended for that reason repeat the heat hose is a common problem associated with the treatment system. at regular intervals. (every 4-6 months) [12,19]. Figure 4 shows HISMAR robot based on heat treatment cleaning.

Underwater cleaning using heat treatment

formation in the various models. Improved synergetic effects of UV appear to play an important role in mitigating biofilms and preventing regrowth [6,20]. There is a need for a further investigation in order to determine and optimize all the parameters influencing biofouling control while using UV as a pretreatment strategy (wavelengths, doses, and continuous or in cycles expo‐ sure). It is proved that UV did not have a residual effect after irradiation and that biofilm control improves when greater UV doses are given, and greater levels of inactiva‐ tion of suspended cells are obtained. Underwater brush based technology Brush-based cleaning technologies are the most used in the underwater cleaning surfaces process, and its productivity is high comparing to others (200 m 2 / h up to 1000 m 2 / h ) but these systems indicated that it is not able to remove all bio-fouling from the surface [1, 12, 21, 22, 23, 24].

Surface heat treatment is used for soft bio-fouling attached to underwater surfaces by applying thermal shock (70◦ C) using heated sea water in sealed area of the surface, or by using adapted oxy-gasoline or laser cutting torch in not sealed area. The dead bio-fouling growth remains attached to the surface is released during the first 2-4 weeks because of water movement (vessel sailing in case of mobile surfaces). The effectiveness of the treatment is claimed to be long lasting because the treatment kills not only the algae but also the spores, which delays the process ofFigure regrowth. It is recommended for that reason repeat the 4. Heat treatment,HISMAR robot [19] Figure 4. Heat treatment,HISMAR robot[19] heat treatment at regular intervals. (every 4-6 months) testedFigure efficacy4 of heat treatment an immediate The[19]. [12] shows HISMAR provide robot based on heat treatment cleaning. mortality and a sustained reduction in soft effect on algae andtested early efficacy stages ofofbio-fouling on underwater surface; for The heat treatment provide an immediate that it is considered as cleaning system for light to moder‐ www.intechopen.com effect on algae mortality and a sustained reduction in soft atelyearly fouled surfaces. and stages of bio-fouling on underwater surface; for that it is considered as cleaning system for light to Based on the absence of independent testing of the effec‐ moderately fouled surfaces. tiveness of heat treatment and its impact on original surface Based on the absence of we independent testing ofbiose‐ the properties or on coatings, attributed unknown effectiveness of heat treatment impact on original curity and contaminant risks toand thisits method. surface properties or on coatings, we attributed unknown Ultra violet and technology biosecurity contaminant risks to this method.

Brush based cleaning depends on removing built up material with rotary brush (single or multiple, man held or robotized) by applying mechanical and frictional forces on the surface (See Figure 5). The use of brushes is a very on the surface (Seemethod Figure 5). The use of brushes is atovery abrasive cleaning and can cause damage the abrasive cleaning andpaint. can cause damage is toalso the original surface or method underlying Brush cleaning original surface or underlying paint. Brush cleaning is also unable to capture cleaning waste, which can contain paint unable capture waste, which can contain paint residue.toThe resultcleaning may be that toxic materials are released residue. The result may be that toxic materials are released into the environment as a consequence of cleaning process. into the environment as a consequence of cleaning process. We attributed a high contaminant risk to underwater We attributed a high contaminant risk to underwater cleaning using brush technology. In addition it needs cleaning using brush technology. In addition it needs changing and replacing cleaning brushes according to the changing and replacing cleaning brushes according to the shape of the surface, the type of the buildup materials, and shape of the surface, the type of the buildup materials, and wearing. wearing.

Ultra-violet (UV) light irradiation is being increasingly Ultra technology used violet for water disinfection, and it is evaluated as a pre‐ treatment strategy to control bio-fouling. The increasingly experiments Ultra-violet (UV) light irradiation is being showed that biofilm prevention depends on the postused for water disinfection, and it is evaluated as treatment incubation time, in addition to targeted a pretreatment strategy to control bio-fouling. wave‐ The lengths, UV spectrum and biofilm UV dose. UV irradiation is a nonexperiments showed that prevention depends on chemical alternative to controltime, bio-fouling. The mechanism the post-treatment incubation in addition to targeted of disinfection UV light depends on UV inactivation of wavelengths, UVbyspectrum and UV dose. irradiation cells. alternative However, microorganisms in biofilms issuspended a non-chemical to control bio-fouling. The differ from their suspended counterparts mechanism of disinfection by UV lightregarding depends their on inactivation suspended cells. physiology,ofmetabolism, and However, resistance microorganisms to disinfectants inand biofilms differ fromcases, theirUV suspended antibiotics. In most irradiationcounterparts by itself did Figure 5. Brush based underwater surface cleaning regarding physiology,impact metabolism, and resistance to not havetheir a significant on controlling biofilm Figure 5. Brush based underwater surface cleaning disinfectants and antibiotics. In most cases, UV irradiation by itself did not have a significant impact on controlling Houssam Albitar, Kinan Dandan, Anani Ananiev and Ivan Kalaykov: 5 Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems biofilm formation in the various models. Improved Underwater pressure (water jets) synergetic effects of UV appear to play an important role in mitigating biofilms and preventing regrowth [6] [20]. The pressurized water jets for cleaning steel structures,

There is a need for a further investigation in order to

plates, bio-fouling growth removal from underwater

Underwater Cleaning Technology Encapsulation

Ultrasonic

≥90%

slim

Killing bio-fouling materials

√

Removing bio-fouling materials

×

Negative

Heat treatment

Ultraviolet

Brush based

Water jets

≤80%

≥90%

slim

≥90%

≥90%

√

√

√

√

√

√

×

√

×

×

√

√

slow (weeks)

slow ≤20 m 2/h

slow ≤20 m 2/h

slow ≤20 m 2/h

slow≤20 m 2/h

200-1500 m 2/h

50-1000 m 2/h

Effect on coating

×

×

√

not available

×

√

√

Environment friendly

×

√

√

√

×

Robotized

×

√ (patented)

√

√ (patented)

√

Bio-fouling type

Cleaning speed

pressure

√ if remains are collected √

√ if remains are collected √

Table 1. Performance evaluation of the most common underwater surface cleaning technologies

Underwater pressure (water jets)

Tests showed that using cavitation nozzles for underwater cleaning can remove various types of fouling from different underwater structure, while at the same time, minimizing the damage to the surface and the coating. Although it provides increased control of the cleaning process, the perceived increase in the cost of the equipment is still thought to be prohibitive.

The pressurized water jets for cleaning steel structures, plates, bio-fouling growth removal from underwater structures, hulls, etc. is becoming widely used with the development of this technology, water jets can be easily controlled by reducing or increasing the pressure from the pump and by changing the distance and the attack angle. A water jet’s effectiveness is dependent on the surface, pressure of water, jetting angle, and distance from the cleaning surface. Jet nozzles have been developed to enable effective cleaning of the surfaces underwater. Water jet gun which used to remove fouling are classified in two types of available systems: cavitation and non-cavitation systems.

b. Non-cavitation system:

a. Cavitation system: This system uses nozzles designed to induce cavitation at the surface for cleaning, which emit microscopic gas and steam bubbles that collapse when touching treated surface (See Figure 6). Lower water pressure (70-150 bar) can be used to produce high pressure (15×104 bar) at the treatment point the treatment point remove built up materials, bio-fouling remove built up materials, bio-fouling are destroyed during the point remove builtwith up materials, bio-fouling aretreatment destroyed during this process a relatively good thisare process with a relatively good cleaning speed (600-1500 2 /h) according destroyed thismprocess with a the relatively cleaning speedduring (600-1500 type ofgood / hbio-fouling 2 m 2 cleaning ) according the type of bio-fouling growth [12, 25]. speed (600-1500 growth [12][25]. m /h) according the type of bio-fouling growth [12][25].

Rely only on the energy contained in the water (cold or hot) itself, and thus require a higher operating pressure (500-1000 bar) to achieve the same cleaning effectiveness as cavitation systems (See Figure 7). System with low pressure jetting will be sufficient to remove effectively and safely the layer of slime from the treated surface [12], some robotised system are patented [21], and some are available for cleaning bio-fouling or removing paint: HydroCat [22], M2000Robot [26], WCRSRR Robot [27], CleanHull [28], VRobo [29], Vacuum and Magnetic Lizard [30], Octopus [31].

Figure 7. Non-cavitation water jets systems

Figure 6. Cavitation system,CAVI-JET Pistols andand Robot [25][25] Figure 6. Cavitation system,CAVI-JET Pistols Robot

6

in part to limited sensing capabilities and to locomotion behaviors controlwater system adapted to specific Figurerequiring 7. Non-cavitation jets systems Figure 7. in Non-cavitation water jets systems tasks or changes the environment.

From teleoperated procedures, to providing instruction, in part to limited sensing capabilities and to locomotion Int J Adv Syst, 2016, 13:7 | doi: 10.5772/62060 TestsRobot showed that using cavitation nozzles for underwater to fully autonomous operations, enabling autonomous behaviors requiring control system adapted to specific cleaning can remove various types of fouling from capabilities is fundamental for the successful deployment Figure 6. Cavitation system,CAVI-JET Pistols and Robot [25] tasks or changes in the environment. different underwater structure, while at the same time, of underwater robots. In general humans are limited minimizing the damage to the surface and the coating. in underwater missions in duration and depth; for that, instruction, From teleoperated procedures, to providing Although it provides increased control of the Tests showed that using cavitation nozzles forcleaning underwaterthe underwater environment holds many opportunities to fully autonomous operations, enabling autonomous process, the perceived increase in the cost of the equipment

adhe magn

Cleaning tools or underwater robots are close to the surface through mechanical structures, these systems are designed to move in three dimensional space, others adopts ropes to move different types of surfaces generating the adhesion force as a resultant of caused by the gravity and the rope traction.

Most take out o the n a ma surfa

Though in both cavitation and non-cavitation water jets used for underwater surface operations must contain a zero thrust nozzle which discharges a second stream of water in the opposite direction of the cleaning stream to negate the thrust and permit to scan the surface easily and efficiently.

Magn inher adop [21], [37][2 Octo

Table 1 illustrates a performance evaluation of the different underwater cleaning surfaces. 4.2 Enabling robot and existing solutions

Desp envir there optio distin direc

Underwater operations present unique challenges and inquiries for robotic applications. These can be attributed in part to limited sensing capabilities and to locomotion behaviors requiring control system adapted to specific tasks or changes in the environment. From teleoperated procedures, to providing instruction, to fully autonomous operations, enabling autonomous capabilities is fundamental for the successful deployment of underwater robots. In general humans are limited in underwater missions in duration and depth; for that, the underwater environment holds many opportunities for using of robotic systems. At the same time, limited visibil‐ ity, hazardous surrounding, in addition to the external forces applied to the robot from water currents make underwater operations very challenging. In this subsection we present an overview of the ap‐ proaches used during underwater mobile robots. We present adhesion systems used to be on or close to the desired surface. We then present underwater locomotion mechanisms to maintain a trajectory in this medium. 4.2.1 Adhesion systems For keeping the robot on the surface also in vertical or overhanging sections, the normal force (F N ) has to be sufficient. This function is called adhesion. The most important adhesion principles in the field of climbing robots (mechanical, magnetic, pneumatic, etc.) and we will discuss their influence on locomotion, mobility and size of the robot. For climbing on vertical or even overhanging surfaces, the normal force (F N ) between robot and surface has to assure enough friction for holding the robot on spot and generating a traction force (F T ). Adhesion principles can be mainly distinguished among two criteria:

The m or pe with

Elect switc adva energ adhe whee

Figure 8. Mechanical adhesion: (a) NESSIE [22],, (b) EFTCoR VFP [32]

Figure 8. VFP[32]

Mechanical adhesion: (a) NESSIE[22], , (b) EFTCoR

Mechanical adhesion depends on defined surface and defined task of cleaning by using articulated arm or Mechanical adhesion depends on defined surface and mechanism (See Figure 8), and this solution is effective in defined task of cleaning by using articulated arm or full cleaning (200 m 2 / h ) not for spot ones. NESSIE an mechanism (See Figure 8), and this solution is effective in-water hull2 cleaning system [12, 22], EFTCoR in effective full cleaning (200 m /h) not for spot ones. NESSIE an VFP a robotized tower with articulated arm [4, 33, 34, 32], effective in-water hull cleaning system [12][22], EFTCoR patented structures [35,36].

Sucti

The adhe vacu is ea move of m

VFP a robotized tower with articulated arm [4][33][34][32], patented [35] [36]. Magneticstructures force adhesion:

The magnetic adhesion is an alternative principle can be adopted when a ferromagnetic surface is available. Strong www.intechopen.com adhesion force is generated by using simple permanent Underwater Robotics: Su magnets or current electromagnets.

Mechanical adhesion: Cleaning tools or underwater robots are close to the surface through mechanical structures, these systems are designed to move in three dimensional space, others adopts ropes to move different types of surfaces generating the adhesion force as a resultant of caused by the gravity and the rope traction.

Magnetic attachment can be highly desirable due to its inherent reliability. This method is fast, but implies the adoption of heavy actuators for movement. Patented robot [21], HISMAR robot [19], M2000 robot [26], WCRSRR robot [37, 27], EFToR V2 robot [4, 32, 34], Hydro-Crawler [38], Octoppus [31], Magnetic Lizard [30].

• Energy need for generating the adhesion force (passive or active)

Perm for v the f whee electr

(b)

Most climbing robots for cleaning ships and tanks surfaces take advantage of the fact that most of them are made out of ferromagnetic steel which allows for increasing the normal force between robot and surface by using a mag‐ netic field that passes through the robot and the surface (See Figure).

• Physical principle generating the adhesion force (e.g. magnetic, pneumatic)

Electr

(a)

Houssam Albitar, Kinan Dandan, Anani Ananiev and Ivan Kalaykov: Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems

7

V-ROBO [29][40], RIMINI [41][42], ROMA II [43], Vacuum Lizard [30], Sky Cleaner 3 [44], RAMR1 [45], crawling robot for cleaning [46][47]. Sliding vacuum chambers is another type of creating negative pressure. Examples for sliding vacuum chambers are the first two prototypes in the Alicia-family [48][49], Despite that, magnetic attachment is useful only in specific are the first two prototypes in the Alicia-family [48, 49], or or the CROMSCI [50], the active versions of negative environments where the surface is ferromagnetic and the CROMSCI [50], the active versions of negative pressure pressure adhesion( suction cups, vacuum therefore, for most applications it represents an unsuitable adhesion(suction cups, vacuum chambers) chambers are more ) are more common for, while passive suction cups only work option. Basically three possible configurations can be common for, while passive suction cups only work reliably reliably on very clean surfaces due to leakage problems. distinguished: in the feet of a robot, in the chassis, or on very clean surfaces due to leakage problems.

directly in the wheels or tracks of the robot.

Usually, redundancyisis needed needed totoincrease the reliability, Usually, redundancy increase the reliability, and more than one vacuum cup is used to prevent loss ofloss of and more than one vacuum cup is used to prevent pressure (and adhesion force) due to surface curvature or pressure (and adhesion force) due to surface curvature or The most frequent solution is the use of electromagnets or irregularities. permanent magnets to adhere to the surface, combined irregularities. Electromagnets vs. permanent magnets

with wheels or tracks to move along it.

Electromagnets have the advantage that they can be switched on and off at any time, making their use advan‐ tageous for robots. However, they require a constant energy supply for just keeping the adhesion (active adhesion principle) and are quite difficult to integrate into wheels or tracks. Permanent magnets usually with the new alloys allows for very strong fields at very small size and mass, due to the fact that these magnets can be easily integrated into wheels and tracks, they almost completely substituted the electro‐ magnets in the field of climbing robots.

Figure 10. Suction adhesion: RIMINI [41] Figure 10. Suction adhesion: RIMINI [41]

(a)

(b)

(c)

Nevertheless, this type of attachment has some associated drawbacks. The suction adhesion mechanism requires time Nevertheless, this type of attachment has some associated to develop enough vacuum to generate sufficient adhesion drawbacks. The suction adhesion mechanism requires force. This delay makes it slow in locomotion.

time to develop enough vacuum to generate sufficient

Another issueThis associated suction adhesion is that any Figure 9. Magnetic adhesion: (a)HISMAR robot [19], (b)Octoppus [31], adhesion force. delaywith makes it slow in locomotion. Another issue associated with suction adhesion is that any strategies. Passive suction cups similar as the ones used (c)WCRSRR robot [37,27] gap in the seal can cause the robot to lose the contact. This gap in the seal can cause the robot to lose the contact. This on car-windows for fixing devices, curtains or toys. An Figure 9. Magnetic adhesion: (a)HISMAR robot[19], (b)Octoppus [31], (c)WCRSRR robot[37] [27]

drawback limits the suction cup adhesion mechanism to relatively smooth, non-porous and non-fractured surfaces. 8 Short Journal Name, 2013, Vol. No, No:2013 The most frequent approach to guarantee the robot Vacuum pumps external to the robot imply the need for a Thrust and propulsion force adhesion: adhesion to a surface is to use the suction force. The vacuum This adhesion principle has been developed for working safety cable, with the inherent problems of the umbilical in submerged applications. type principle requires light mechanisms andThese ismachines easy mainly to allow performing in-service inspection of the horizontal and the cord for the robot with its mobility and dynamics. vertical surfacesthe of oil,movement petroleum, chemical storage tanks Thisis operating allows over Sliding control. vacuum chambers another type of principle creating cooling tunnels and marine structures while submerged in negative pressure. Examples for sliding vacuum chambers the liquid,types thereby saving the cost of emptying, arbitrarily made of distinct of materials, andcleaning Thrust and propulsion force adhesion: are the first two prototypessurfaces, in the Alicia-family [48][49], and manually inspecting the surfaces. or the CROMSCI [50], the active versions of negative besuction implemented by using different strategies. Passive pressurecan adhesion( cups, vacuum chambers ) are One or more propeller, mounted on top of the vehicle, This adhesion principle has been developed for working in more common for, while passive suction cups only work provides the thrust force for adhesion to the surface, and suction cups similar as the ones used on car-windows for reliably on very clean surfaces due to leakage problems. with suitable locomotion system the movement will be submerged applications. These machines mainly allow for all types of submerged surfaces (See Figure Usually, fixing redundancy is needed to curtains increase the reliability, devices, or toys. possible An example for such a robot 11). Robots equipped with at least two independent, speed performing in-service inspection of the horizontal and the and more than one vacuum cup is used to prevent loss of controlled, thrusters can move in three dimensional space CLAUS [39]. pressureis (and adhesion force) due to surface curvature or using their hydrodynamics properties to localize on the vertical surfaces of oil, petroleum, chemical storage tanks irregularities. surface (diving from point to point). Vacuum can be produced by After using an vacuum contact withelectrical surface, thrust forces generated by these cooling tunnels and marine structures while submerged in thrusters guarantee the adhesion to the surface, while the generator or by external hydraulic vacuum generator locomotion system moves the robot to scan the surface. the liquid, thereby saving the cost of emptying, cleaning The vehicle maneuvers freely on the surface and can be (Venturi effect) connected to the by flexible tubes, driven robot down from a vertical to horizontal surface and and manually inspecting the surfaces. back on to it. ROVING BAT is an inspection robot [51], vacuum pump is installed onCleanRov the isrobot that keeps the a cleaning robot [28]. One or more propeller, mounted on top of the vehicle, vs. passive level principlesifofsignificant adhesion negative pressure in each cup atActive constant A very important criterion for distinguishing the different provides the thrust force for adhesion to the surface, and leakage occurs (See Figure 3). Examples foris their such adhesion principles needrobots for energy are consumption. versions of each principle are normally much with suitable locomotion system the movement will be V-ROBO [29, 40], RIMINI [41, Active 42], ROMA II [43], Vacuum stronger than the passive ones, but they suffer from the possible for all types of submerged surfaces (See Figure disadvantage that the robot would fall down in case of a Figure 10. Suction adhesion: RIMINI [41] Lizard [30], Sky Cleaner 3 [44], RAMR1 [45], crawling robot power shutdown. 10). Robots equipped with at least two independent, speed for this cleaning [46, has 47]. A comparison of available adhesion types properties for Nevertheless, type of attachment some associated controlled, thrusters can move in three dimensional space underwater robots is presented in Table 2. drawbacks. The suction adhesion mechanism requires time to develop enough vacuum to generate sufficient using their hydrodynamics properties to localize on the vacuum is another type of creating adhesionSliding force. This delay makes it slow chambers in locomotion. surface (diving from point to point). negative pressure. Examples for sliding vacuum chambers example for such a robot is CLAUS [39].

Suction force adhesion:

Vacuum can be produced by using an electrical vacuum generator or by external hydraulic vacuum generator (Venturi effect) connected to the robot by flexible tubes, vacuum pump is installed on the robot that keeps the negative pressure in each cup at constant level if significant leakage occurs (See Figure 3). Examples for such robots are V-ROBO [29][40], RIMINI [41][42], ROMA II [43], Vacuum Lizard [30], Sky Cleaner 3 [44], RAMR1 [45], crawling robot for cleaning [46][47].

8

drawback limits the suction cup adhesion mechanism to relatively smooth, non-porous and non-fractured surfaces. Vacuum pumps external to the robot imply the need for a safety cable, with the inherent problems of the umbilical cord for the robot with its mobility and dynamics.

Short Journal Name, 2013, Vol. No, No:2013

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Int J Adv Robot Syst, 2016, 13:7 | doi: 10.5772/62060

www.intechopen.com

T i p v c t a

O p w p 1 c u s

A t l T d b C

A

A a A s d p

A u

energy efficient and simple to control, other forms of locomotion may be more appropriate for a number of reasons (e.g. traversing rough terrain, moving and inter‐ acting in human environments). Furthermore, studying bipedal and insect-like robots may beneficially impact on biomechanics. A major goal in this field is in developing capabilities for robots to autonomously decide how, when, and where to move. Autonomous robot locomotion is a major techno‐ logical obstacle for manylocomotion: areas of robotics, such as under‐ Figure 12. Vibration VAV250 robot from V-ROBO family [40] water [52].

(a)

advantagecan of be a small and lightaccording design. Meanwhile it is less Locomotion distinguished to:basic motion stable and the position control istemporal more complicated concept (Rolling or Swinging-legged), characteristic (See 12). of Figure contact(continuous or discrete), or type of contact (little footed or big footed. According to M. Yim classification [53]. Crawling (Sliding Segments) locomotion:

(b) Figure 11. 11. Thrust adhesion: (a) CleanRov [28], (b) ROVING BAT [51] Figure Thrust adhesion: (a) CleanRov [28], (b) ROVING BAT [51]

After contact with surface, thrust forces generated by these Adhesion Type the Magnetic adhesion to the surface, the thrusters guarantee Mechanical Suction cups while Propulsion locomotion system moves the robot to scan Surface specific ferronotthe surface.noThe limitation geometry porous limitation vehicle maneuvers freelymagnetic on the surface and can be driven Strength down from a vertical surface and back on to strong to horizontal strong medium medium of adhesion it. ROVING BAT is an inspection robot [51], CleanRov is a Maturity industrial industrial prototypes industrial robot [28]. ofcleaning technology application application under research application

In this subsection are analyzed the characteristics of the This locomotion type is the simpler alternatives in motion main locomotion technologies implemented in underwater and control often make use of sliding or articulated robots, namely the vibrator, crawler, propelled, wheeled, segments. Mostly used with suction adhesion or magnetic and tracked types. adhesion that grabs to surfaces in one place and releases

the others, in order to move (See Figure 13). Vibration: Sky Cleaner[44], VDG300 from V-ROBO family [40], W-Climbot[54], Alicia3 [55], RAMR1[45], Inchworm robot(magnetic adhesion) [56] are examples of this type of motion.

Active passive principles of adhesion Table 2. vs. Comparison of adhesion types for underwater robots A very important criterion for distinguishing the different adhesion principles is their need for energy consumption. Robot the collective for the various Activelocomotion versions ofis each principle name are normally much methods use to transport stronger that than robots the passive ones, but theythemselves suffer from from the place to place.that Although typically disadvantage the robotwheeled would fallrobots down are in case of a quite energy efficient and simple to control, other forms power shutdown.

4.2.2. Locomotion systems

of locomotion may be more appropriate for a number comparison adhesion types properties for ofA reasons (e.g.of available traversing rough terrain, moving underwater robots is presented in Table 2. and interacting in human environments). Furthermore, studying bipedal and insect-like robots Figure may beneficially 12. impact on biomechanics. Adhesion Type

family [40]

A major goalMechanical in this field is in developing capabilities Magnetic Suction cups Propulsion for robots to autonomously decide how, when, and where Surface specific ferronot porous no to move. Autonomous robot locomotion islimitation a major limitation geometry magnetic technological obstacle for many areas of robotics, such as Strength of [52]. underwater strong strong medium medium adhesion

(a)

(b)

Figure 12. Vibration locomotion: VAV250 robot from V-ROBO family [40]

Vibration locomotion: VAV250 robot from V-R Figure 13. Crawling locomotion: (a) ROMA II[43], (b) VDG300

This motion is created by simply installing a vibrator [40]. inclined or perpendicular to the platform, and this gives the robot self-propulsion while adhering to the surface. This method is simple in configuration and has the is advantage The main disadvantage of this solution the difficulty of in a small and light design. Meanwhile it is less stable and crossing cracks and obstacles and the discontinuity in themotion. position control is more complicated (See Figure 11).

advantage of a small and light design. Meanwhile it is stable and the position control is more complicated (Sliding Segments) locomotion: Propulsion (Diving) locomotion: Figureto:basic 12). Crawling according

Locomotion can be distinguished prototypes motion (Rollingindustrial or Swinging-legged), temporal Maturityconcept of industrial industrial under characteristic of contact(continuous or discrete), or type technology application application application research of contact (little footed or big footed. According to M. Yim classification [53].of adhesion types for underwater robots Table 2. Comparison

This locomotion type is themake simpler in motion The diving type robots usealternatives of thrust force developed and control often make use of sliding or articulated by propellers, jets, or fin to move but are used in very segments. Mostly used with suction adhesion or magnetic restricted and specific applications (See Figure 14). adhesion that grabs to surfaces in one place and releases The contact between the robot and the surface is the others, in order to move (See Figure 12).

Crawling (Sliding Segments) locomotion:

This locomotion type is the simpler alternatives in mo maintained though a number of active or non-active and controlSkywheels often make use ofthrust sliding or articul or [44], by tracked system. The force[40], is controlled Cleaner VDG300 from V-ROBO family Wby amplitude and [55], direction to [45], the surface to ro‐ produce Climbot [54], Alicia3 RAMR1 Inchworm segments. Mostly used with suction adhesion or mag the neededadhesion) force to[56] overcome the predicted hydraulic bot(magnetic are examples of this type of leanRov [28], (b) ROVING BAT force and gravity. Slipping in of this occursand for rele grabs to surfaces onerobot place to place. Although wheeled robots areadhesion typically quite that motion. Vibration: abrupt changes in underwater current direction or speed. the others, order to Kinan move Figure 13). This motion is created by simply installing a vibrator in Houssam Albitar, Anani Ananiev and Kalaykov: 9 This locomotion isDandan, used(See in MONSUN II Ivan [59], URIS [58], In this subsection are analyzed the characteristics 4.2.2 Locomotion systems of the main locomotion technologies implemented inRobot underwater robots, vibrator, crawler, is the namely collectivethe name for the various locomotion propelled, wheeled, and tracked types. methods that robots use to transport themselves from place

Underwater Surface Cleaning Technics,[60], Adhesion and Locomotion inclined or perpendicular to the platform, and this gives Robotics: C-RANGER [57], HAUV KORDI ROV [61],Systems KOS ROV hesion Type the robot self-propulsion while adhering to the surface. [62]. Sky Cleaner[44], VDG300 from V-ROBO family c Suction Propulsion Thiscups method is simple in configuration and has the W-Climbot[54], Alicia3 [55], RAMR1[45], Inchw not no

OVING BAT

Propulsion no limitation medium

segments. Mostly used with suction adhesion or magnetic adhesion that grabs to surfaces in one place and releases Another form of locomotion is to adopt wheels. These the others, in order to move (See Figure 13). robots can achieve high velocities, and are the most Sky Cleaner[44], VDG300 from V-ROBO family [40], W-Climbot[54], Alicia3 [55], RAMR1[45], Inchworm robot(magnetic adhesion) [56] are examples of this type of motion.

efficient on almost flat surfaces. This is due to the fact that an ideal rolling (but not slipping) wheel loses no energy. A wheel rolling at a given velocity needs no input to maintain its motion [64] [65].

industrial application

r robots

e various ves from typically her forms a number moving thermore, eneficially

(a)

(b)

Figure 13. Crawling locomotion: (a) ROMA II [43], (b) VDG300 [40] Figure 13. Crawling locomotion: (a) ROMA II[43], (b) VDG300 [40].

bilities for nd where a major s, such as

The main disadvantage of this solution is the difficulty in crossing cracks and obstacles and the discontinuity in The main disadvantage of this solution is the difficulty motion. in crossing cracks and obstacles and the discontinuity in Propulsion motion. (Diving) locomotion:

to:basic temporal ), or type to M. Yim

Propulsion (Diving) locomotion: The diving type robots make use of thrust force developed by propellers, jets, or to use move but are used in very The diving type robots fin make of thrust force developed restricted and specific 13). in very by propellers, jets, orapplications fin to move(See butFigure are used restricted and specific applications (See Figure 14).

acteristics plemented crawler,

a vibrator this gives e surface. has the

The contact between the robot and the surface is maintained though a number of active or non-active wheels or by tracked system. The thrust force is controlled by amplitude and direction to the surface to produce the needed force to overcome the predicted hydraulic force and gravity. Slipping of this robot occurs for abrupt changes in underwater current direction or speed. This locomotion is used in MONSUN II [59], URIS [58], C-RANGER [57], HAUV [60], KORDI ROV [61], KOS ROV (a) (b) [62].

Mo Co Ov ob (a)

Table unde

A p locom HISMAR robot [19], EFToR V2 robot [4], VM400 from V-ROBO [29][40], RIMINI [41][42], Vacuum and magnetic Lizard [30]. The research in wheeled robotics is focused on traction and stability in rough terrain, maneuverability and control. The major concern in the motion planning of wheeled robots is the holonomic that the robot is subject to. These are decided by the type (b) of wheels, number of wheels and the direction of the axes of rotation of the wheels.

Figure 15. Wheel driven locomotion: (a) VM400 [29], (b) EFToR V2 [4]

Figure 15. Wheel driven locomotion: (a) VM400 [29], (b) EFToR Figure 14. Propulsion locomotion:(a) C-RANGER [57], (b) URIS [58](b) URIS Figure 14. Propulsion locomotion:(a) C-RANGER [57], V2 [4].Wheeled locomotion offers some disadvantages, especially

This used in mobilevehicles robotics using due to spherical easy in type case isofoften omnidirectional implementation of the wheel. CleanRov The contact between the robot and the surface is main‐: 9 mechanical or Swedish wheels, in rough, loose terrain, [28], due to A variable buoyancy system is used toLocomotion changewheels buoyancy typeincreasing isrobot often used in V2 mobile due to power easy nderwater Robotics: Surface Cleaning Technics, Systems HISMAR [19], EFToR robot robotics [4], VM400 from Va number of Adhesion active orand non-active or This tained though the rolling friction which causes around neutral; the system usually contains a numberbyofmechanical theVacuum wheel. CleanRov ROBO [29,implementation 40], RIMINI [41,of42], and magnetic by tracked system. The thrust force is controlled inefficiencies; furthermore wheeled platform are just[28], able tanks that can filled with water or gas. This system Lizard [30].gaps smaller than wheel diameter (See Figure 15). to cross amplitude and be direction to the surface to produce the enables the robot to swim to a given depth with changing needed force to overcome the predicted hydraulic force and The research in wheeledisrobotics is focused traction and is Tracked locomotion another solution,onwhere vehicle buoyancy [63]. gravity. Slipping of this robot occurs for abrupt changes 10 in Short JournalinName, 2013, Vol. No, No:2013 stability rough terrain, maneuverability and control. steered by moving the tracks with different speedThe in the underwater direction or speed. This locomotion is Wheel drivencurrent and tracked locomotion: sameconcern direction or motion in opposite direction. The use of tracks major in the planning of wheeled robots is used in MONSUN II [59], URIS [58], C-RANGER [57], offers a much larger area of surface contact, so the traction the holonomic that the robot is subject to. These are decided Another form of locomotion is to adopt wheels. These HAUV [60], KORDI ROV [61], KOS ROV [62]. is much better than wheels; furthermore theloose type surface of wheels, number of wheels and the direction robots can achieve high velocities, and are the most byon the vehicle is able toofdrive through rougher surfaces (able of the axes of rotation the wheels. efficient on almost flat surfaces. This is due to the fact that A variable buoyancy system is used to change buoyancy to cross larger gaps). Due to the large contact patches, an ideal neutral; rolling (but not slipping) loses no energy. around the system usually wheel contains a number of Wheeled offers some disadvantages, trackedlocomotion vehicles usually change direction especially by skidding, A wheel rolling at a given velocity needs no input to tanks that can be filled with water or gas. This system in where case of omnidirectional vehicles using spherical or the a large part of the vehicle is in contact with maintain its motion [64] [65]. enables the robot to swim to a given depth with changing Swedish in rough, looseit, terrain, due to the increas‐ surfacewheels, as it slides across so more space is needed buoyancy [63]. ing which causes power inefficiencies; to rolling change friction the orientation. The skidding movement has furthermore wheeled platform are justduring able tosteering cross gaps some other defect that the friction causes Wheel driven and tracked locomotion: smaller than wheel (See Figure 14). additional powerdiameter consumption. Furthermore the exact Another form of locomotion is to adopt wheels. These change in position and direction is hard to predict due Tracked locomotion is another solution, where vehicle is to the sliding movement and the variation of friction. robots can achieve high velocities, and are the most efficient steered by moving the tracks with different speed in the WCRSRR robot [37][27], Hydro-Crawler [38], ROVING on almost flat surfaces. This is due to the fact that an ideal same direction or in opposite direction. The use of tracks BAT robot [51]. rolling (but not slipping) wheel loses no energy. A wheel offers a much larger area of surface contact, so the traction rolling at a given velocity needs no input to maintain its on loose surface is much better than wheels; furthermore Locomotion Type motion [64,65]. the vehicle is able to drive through rougher surfaces (able / Wheeled Vibration Crawling Propulsion Tracked 10 Int J Adv Robot Syst, 2016, 13:7 | doi: 10.5772/62060 Mobility low medium high medium Complexity low medium high low Overcoming very poor good limeted obstacles good [58]

offer on lo the v to cr track whe surfa to ch some addi chan to th WCR BAT

5. Cr

We on locom adhe jet), react

The prov mech used mech large

around it. Therefore the robot mechanism needs minimum two active degrees of freedom (2DOFs) to move. In addition, additional passive DOFs are needed to conform the robot’s structure to the concavity/convexity of the surface. to cross larger gaps). Due to the large contact patches, tracked vehicles usually change direction by skidding, where a large part of the vehicle is in contact with the surface as it slides across it, so more space is needed to change the orientation. The skidding movement has some other defect that the friction during steering causes additional power consumption. Furthermore the exact change in position and direction is hard to predict due to the sliding movement and the variation of friction. WCRSRR robot [37, 27], Hydro-Crawler [38], ROVING BAT robot [51]. Locomotion Type Wheeled /

Vibration

Crawling

Propulsion

Mobility

low

medium

high

medium

Complexity

low

medium

high

low

poor

good

Overcoming obstacles

very good

Tracked

limeted

Figure Table 3. Performance evaluation of the most common underwater locomotion

Figure 16. Crawling robot for cleaning underwater surfaces

16. Crawling robot for cleaning underwater surfaces

wheels to minimize the friction of movement when any of these cups is not enabled. Due to the limitations of most of A performance evaluation of different underwater loco‐ the adhesion we selected cups for their The seven links oftechniques, the robot are suction connected through six motion system is shown in Table 3. light weight and simple control that allows movement over joints, each jointsurfaces has two rotational DOF, two motors are arbitrary made of non-ferromagnetic materials. 5. Crawling Robot for Cleaning Underwater Surfaces used one The forcleaning crawling and another rotation subsystem contains two waterfor jets directed on and the We proposed an underwater crawling robot shown on varying angle the surface. They are installed rest jointscontrollable are passive in toboth axes. The robot has a Figure 15 having four main subsystems: locomotion(crawl‐ on one of biped links. The jets slide on these two links and form ing, rotation and stepping), adhesion(suction cups),of two parallel bipeds connected with three parallel a separate control system regulates the linear speed and cleaning(pressurized water jet), and neutralization links.of Totimerealize crawling actively controls of cleaningthe in accordance to the motor nature of bio-fouling. reaction forces (water jet reaction), details given in a the angle Inbetween legs to perform desired the cleaningthe subsystem, the force of the water being step size. previous publication [66]. discharged the bipeds jet nozzle with creates the an equal and At the same time,from both connecting links The locomotion subsystem is the basic component provid‐ opposite reaction, which makes the nozzle recoil in the form twoopposite parallelograms with three links parallel in all ing all movements of the robot. We selected this mechanism direction of the water flow. This effect becomes because: it adapts to the surface, it can be used forpossible different configurations. suction cups stronger as water jet flowFour increases. The cleaning waterare jets attached types of surface material, it is a simple mechanism, and it arecorner directed at certain angle the surface depending on by three the four joints, eachto cup is surrounded is stable with low center of gravity and large baseto support the needs of the cleaning process. Therefore, the generated in the cleaning process. We consider the cleaning operating small freereaction wheels minimize the friction offormovement force to drags the robot away from the surface, on a smooth nearly flat local 2D-space around it. Therefore neutralizing the enabled. reaction force four when anycompensating of theseandcups is not Due to the the robot mechanism needs minimum two active degrees dedicated waters jets are installed on the four links. While limitations of most of the adhesion techniques, we selected of freedom (2DOFs) to move. In addition, additional robot is in contact to the surface, thrust forces generated by passive DOFs are needed to conform the robot’s suction structure cups for their light weight and simple control these jets reinforce the adhesion. The water flow through to the concavity/convexity of the surface. the balancing jets is regulated that the vector sum of made of that allows movement over such arbitrary surfaces all forces is nullified. The seven links of the robot are connected through six non-ferromagnetic materials. joints, each joint has two rotational DOF, two motors are used one for crawling and another for rotation and the rest 6. Conclusion The cleaning subsystem contains two water jets directed joints are passive in both axes. The robot has a form of two The survey has shown that under water cleaning bioparallel bipeds connected with three parallel on links.controllable To varying angle to the surface. They are fouling buildup materials is a challenging problem, where realize the crawling motor actively controls the angle installed on one surfaces of biped links. Thedimensions jets slide the treated are different in shape and on these between the legs to perform desired step size. At the same the variety control of cleaning technics in efficiency and the linear twotwo links properties, and a separate system regulates time, both bipeds with the connecting links form speed, and the operating conditions all play a role. parallelograms with three links parallel in allspeed possible and time of cleaning in accordance to the nature of configurations. Four suction cups are attached to the four The majority of existing solutions relies on divers working bio-fouling. corner joints, each cup is surrounded by three small free in shifts using cleaning devices. While robotized systems

In the cleaning subsystem, of Ivan the water11 being Houssam Albitar, Kinan Dandan,the Ananiforce Ananiev and Kalaykov: Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems discharged from the jet nozzle creates an equal and opposite reaction, which makes the nozzle recoil in the opposite direction of the water flow. This effect becomes

are for maintenance and inspection and the cleaning robots are limited to ferromagnetic surfaces and few other limited solutions.

prepared by The National Institute of Water and Atmospheric Research Ltd.,(September 2010), page 5, 2010.

What areas need further research? Studies are required on effective removal of bio-fouling growths without damag‐ ing the surface; the evolution of water jet technologies is promising in this field. Additional work needs to be done to develop an underwater platform able to do the cleaning on different surfaces with flexibility in motion while taking advantage of the properties of this medium.

[11] Claudia Copeland. Cruise ship pollution: Back‐ ground, laws and regulations, and key issues. Congressional Research Service, Library of Con‐ gress, 2007.

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