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Design and Optimization of Positioning System for Hull Crawling Robot
, M.Sc. Thesis Sharif University of Technology ; Khorasanchi, Mahdi (Supervisor) ; Tabeshpour, Mohammad Reza (Supervisor)
Abstract
The hulls of various ships are exposed to the problem of biofoulings on the hull after a period of time due to use in the salt water environment of the sea and the existence of suitable conditions for the growth of marine plants, so that the ship after about one month of stopping in the port, in order to start the activity again, it is necessary to clean the hull from these biofoulings. The ship will be transported to the dry dock for cleaning only when it is heavily involved in biofoulings on the hull, and in the meantime, it must be periodically cleaned in water by other systems, including the diver and robotic systems.Using a robotic system to perform this operation has various...