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 fouling buildup material is a major problem that affects

them, and the cleaning is the solution. The objective of this
Underwater robots are being developed for various
survey is to consider the benefits and drawbacks of
applications ranging from inspection to maintenance and
underwater surface cleaning, based on an understanding
cleaning of submerged surfaces and constructions. These
of current and proposed underwater cleaning techniques.
platforms should be able to travel on these surfaces.
We use this survey to compare the relative environmental
Furthermore, these platforms should adapt and reconfig‐
and economic risks associated with existing underwater
ure for underwater environment conditions and should be
cleaning systems, and provide guidance to develop an
autonomous. Regarding the adhesion to the surface, they
environment friendly robot based system to automate this
should produce a proper attaching force using a light-
process and to provide more safety and productivity.
weight technics. Taking these facts into consideration, this
paper presents a survey of different technologies used for The survey is organized as follows. Sections 2 and 3 present
underwater cleaning and the available underwater robotics several definitions and the problems caused by bio-fouling
solutions for the locomotion and the adhesion to surfaces. with an overview of the cleaning process challenges,
environmental restrictions, and industrial requirements. In
Keywords Underwater Robot, Underwater Cleaning, Bio- section 4 the available underwater cleaning technologies
fouling, Adhesion, Locomotion 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.
1. Introduction
Various structures, such as: petroleum and gas storage 2. Underwater Surface Cleaning
tanks, electric power plants, ships, bridges and oil rigs are
invaluable assets to our daily life and the basis for industry 2.1 Definitions
and economy. They provide energy, transportation and
distribution of products which are the basics of evolution Underwater is a term describing the realm below the
and modern life. We need to take care of these important surface of water in its natural feature such as an ocean, sea,
structures to perform their function for longer time. Bio- 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
animals that find a home on submerged surfaces in water animal origin), and in substantially reducing numbers of
(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.
species of adhesive shellfish that adhere to any underwater2.2 Problems • Acausedmajor by bio-fouling
cost moving in-water vessels (surfaces)
Animals include barnacles, mussels and other species of
surface and reproduce in great numbers. Bio-foulingBio-foulingthe
adhesive shellfish that adhere to any underwater surface thatcost
growsof freely
fuel. can
Any cause many problems.
reduction in fuel consumptio
organisms attached to the underwater surfaces
and reproduce in great numbers. Bio-fouling organisms vary inHard and soft
will bio-fouling
result in growths
a direct can cover
and any under‐ reduction
proportional
size,attached
shape, complexity, and behavior. For example,
to the underwater surfaces vary in size, shape, sizeswater surface, making
operating it rough
costs. and
Sinceless hydrodynamic.
the majority of its propulsi
can range from microns for unicellular diatoms
complexity, and behavior. For example, sizes can range to several energy is needed to overcome hydrodynamic
• A major cost moving in-water vessels (surfaces) is the resistan
from microns for unicellular diatoms to several centimeters
centimeters for tubeworms (See Figure 1). Formation (friction), for that reason keeping
cost of fuel. Any reduction in fuel consumption will the external surfa
of aforthese
tubeworms
growth(See Figure 1). Formation
community at aof specific
a these growth
location result insmooth
a direct and proportional
will minimize reduction
waste in operating
and improve the spee
community
immersed at a specific
surfaces location of
is a function immersed
time andsurfaces
otherisfactors
a costs. Since
and/orthe majority
distanceoftoitsbepropulsive
gained fromenergy theis same amou
function of time
(temperature, and other
salinity, oxygen factors (temperature,
content water ,and needed to
of the salinity, ofovercome
fuel. Hullshydrodynamic resistance (friction),
with bio-fouling growth expend mo
howoxygen
much content of the water,and
light penetrates the how muchsurface).
water’s Different for that reason
light penetrates energykeeping
and use the external
more fuel,surface
in smooth
some will cases as much
the water’s surface). Different organisms proliferate at minimize waste and improve the speed and/or distance
organisms proliferate at different rates. For example, 25 to 30% more[1]. If the hull is heavily fouled it w
different rates. For example, a colony of bacteria forms a to be gained from the same amount of fuel. Hulls with
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
cases asfouling
much as like
25 tolarge weeds
30% more [1]. or mussels can al
If the
barnacle require several days.
days. hull is heavily fouled it will sit lower in the water andthat will ma
affect the ability to steer the boat, and
reduce its
theresponsiveness. Significantwhen
ship far less efficient fouling like largethrough wat
traveling
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
travelingoperational
through water. efficiency in cooling systems in pow
plants or any industrial installation as a result
• Any increase in frictional
bio-fouling drag or decrease
buildup of operational
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
materialsenvironmental
and the subsequentimpact as in
increase it fuel
adds to greenhouse gas
consump‐
tion willemissions
have a seriousto environmental
the atmosphereimpactcontributing
as it adds to glob
to greenhouse gases emissions to the atmosphere
warming[2].
contributing to global warming [2].
• A further environmental threat is posed by th
• A further environmentalofthreat
translocation is posed by the
non-indigenous translo‐as hull foulin
species
cation ofSonon-indigenous species as hull
far the efforts of states and portsfouling. So have
far been in th
the efforts of states and ports have been in the direction
direction of preventing ships arriving in their wate
of preventing
with ships
fouledarriving
hulls.in their
For waters
example,with fouled
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
that incoming for fear
vessels willthat
bringincoming vessels into
marine bio-fouling will bring marin
Australia which will then establish themselves there.then establi
bio-fouling into Australia which will
This situation leads to more
themselves there.and stricter regulations.leads
This situation And to more an
the bio-fouling
stricterbyregulations.
its very nature will
And be an
theinternational
bio-fouling by its ve
problem.nature will be an international problem.

• Underwater structures that

• Underwater are fouledthat
structures withare
seaweed and with seawee
fouled
barnacles are barnacles
and subject to more rapid corrosion,
are subject to more and needcorrosion, an
rapid
more frequent maintenance
need more [4, 5].
frequent maintenance[4][5].
• Another perennial problem
• Another caused
perennial by thesecaused
problem growth take
by these grow
Figure 1. Bio-fouling buildup on different surfaces
Figure 1. Bio-fouling buildup on different surfaces place in every cooling system depending
take place in every cooling system on thedepending
sea on th
Cleaning refers to removing the growths and the built up water for its cooling system (nuclear power plant cooling
sea water for its cooling system (nuclear power pla
materials from the surface with the most care, by breaking tunnels, oil rigs water lines) or fire water. In such
cooling tunnels, oil rigs water lines) or fire water.
their adherence to the desired surface, to protect its
Cleaning refers to removing the growths and the built sensitive applications bio-fouling or the marine growth
such sensitive applications bio-fouling or the marin
from the surface with the most care, by is a huge concern as it restricts cooling water flow in
valuable properties.
up materials
growth is a huge concern as it restricts cooling wat
breaking their this
Sanitation adherence
term cantobe
theused
desired
in a surface, to protect these systems thus affecting the heat-transfer in the heat
specific aspect, flow
exchangers in these[6].
(clogging) systems thus affecting the heat-transfer
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
underwater surfaces by a process that is effective in buildup
Asmaterial to the underwater
a consequence surfaces, states
of the problems causedandby bio-foulin
location, or strategy, such surface sanitation. Sanitation
within thisRobot
aspect refers buildup material to the underwater surfaces, states an
2 Int J Adv Syst, 2016, 13:7 | to the adequate treatment
doi: 10.5772/62060
of underwater surfaces by a process that is effective other interested industrial and research parties shou
in destroying the bio-fouling microorganisms (plant or encourage and support research into, and development
animal origin), and in substantially reducing numbers of technologies for:
these undesirable microorganisms, but without adversely
other interested industrial and research parties should Power supply and communication
encourage and support research into, and development of
Another challenge related to the payload of an underwater
technologies for:
cleaning robot is the question how to supply power, and
• Underwater cleaning that ensures effective management how to communicate between the robot and the operator.
of the anti-fouling system (paint), bio-fouling and other Four options are available:
contaminants, including effective capture of biological
• connecting all sensors and actuators with a separate
material [7].
cable.
• Comprehensive methods for assessing the risks associ‐
ated with in-water cleaning [8, 9, 10]. • placing the control unite on the robot that steers every‐
thing on-board and is connected to the operator’s
• Underwater surface monitoring and detection of bio- interface with a cable.
fouling; reducing the macrofouling risk posed by the
dry-docking support strips. • placing control unite + batteries + an interface for
wireless control on the robot.
• The geographic distribution of bio-fouling invasive
aquatic species; and the rapid response to invasive • including intelligence to the robot that it can operate
aquatic species incursions, including diagnostic tools fully autonomously.
and eradication methods [11]. As safety restrictions always require a human operator for
every device; and wireless communication signals could
3. Challenges and Requirements disturb other components and would anyway be shielded
This section provides a brief overview on the main chal‐ by the steel structure of the component.
lenges that are given by the environment restrictions and Safety, reliability and robustness
the industry requirements. These requirements must be
taken into consideration in any functional analysis of Safety, reliability, and robustness are very important
typical underwater cleaning robot. criteria for such robots especially when it comes to indus‐
trialized prototypes. For this reason, simple mechanisms
3.1 Working environment restrictions and vehicles structures, with few parts that could be
damaged are normally preferred to highly sophisticated.
The geometry of the surfaces is not the main challenge that
Universality and modularity
it is mostly plane with slight curvature, but the main
problem is the fact that these surfaces are covered with As the number of different environments in underwater
several mm of buildup materials and fouling. However, the surfaces is relatively large, realizing specialized robots for
difficulties regarding hazardous surface characteristics are each surface (shape and material) would be very expensive.
sometimes very challenging: the buildup materials reduce For this reason, the ideal underwater cleaning robot should
the adhesion force, and can stick to the robot and cause be as universal as possible and able to deal with a large
damage and that will complicate the use of specific number of different surfaces.
principles for adhesion or locomotion in the robot. Because
of the large size of surfaces, there are almost no restrictions 4. State of the Art
for the robot size and mass except the wish to transport it
easily by humans and thus keep the mass reasonable. In this section we present the overview of the existing
technologies and solutions for underwater bio-fouling
3.2 Industrial requirements and special needs cleaning systems. First, we briefly describe the available
cleaning technologies and their ability to remove this
Not only the restrictions given by the environment are buildup material from surfaces, taking into consideration
crucial for the design of an underwater cleaning robot, also the drawbacks. Then adhesion and locomotion mecha‐
industrial requirements represent important constraints. nisms related to the studied problem are surveyed and
First of all, a payload has to be carried to successfully fulfill evaluated from the viewpoint of their capability to work
the cleaning task. Furthermore, the robot has to be simple underwater and bearing the reactions. The chapter includes
to use and to repair, and be robust enough for not getting overview of the robotics research and development from
damaged when used in such environment and by operators the viewpoint of the need and the possibility to design and
with few experience. Additional needs are universality and develop a solution for our problem.
modularity to clean a high number of surfaces with
different types (geometry and materials). 4.1 Cleaning Technics
Localization and navigation
Underwater surface cleaning technologies currently
Localizing the robot and finding its path in complex available or in development can be classified into two
environments is a challenging task that can normally not categories: technologies that remove bio-fouling growths
be solved with only using the camera image. from targeted surfaces; and technologies that prevent or kill

Houssam Albitar, Kinan Dandan, Anani Ananiev and Ivan Kalaykov: 3

Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems
 locomotion mechanisms related to the studied problem
raints. are surveyed and evaluated from the viewpoint of their
ssfully capability to work underwater and bearing the reactions.
has to The chapter includes overview of the robotics research
gh for and development from the viewpoint of the need and
nt and the possibility to design and develop a solution for our
ds are problem.
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
mplex creates microscopic bubbles during periods of negative
ly not 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
water
removal of the initial link in the food chain inhibits the
r, and
growth of barnacles and other marine life that feed on the
erator.
algae [14].

To use ultrasonic with underwater surfaces a number of

parate transducers is arranged to face the surface to be
cleaned(distance 2-5 m), and as an industrial products we
steers have transducers which are simply bonded to the inside of
Figure2.
Figure 2. Encapsulation
Encapsulationtechnology
technology the hulls outer skin, and no hull penetration required [15],
ator’s
and there is some patents for robotized systems [16, 17].
bio-fouling organisms in target areas but do not actively Ultrasonic cleaning is environmentally friendly process,
ce for
remove
4.1. them.
Cleaning Both categories of treatment are discussed
Technics and has no effect on the treated surface, but it is not effective
below with reference to each technology’s availability, for all types of bio-fouling.
perate Underwater surface cleaning technologies currently
specificity (shape and material of the surface), effective‐ Underwater negative pressure (suction) technology
available or in development can be classified into two
ness, impact on original surfaces or sensitive coating,
ability to capture the remains removed from the treatment Underwater suction devices is composed of a vacuum head
area, frequency (horn) for collection and containment of built up materials
categories:oftechnologies
application,that
andremove
ease ofbio-fouling
use. :
growths 3 and there is some patents for robotized systems[16][17].
rwater Robotics: Surface Cleaning
from Technics,
targeted Adhesion
surfaces; and Locomotion
and technologies thatSystems
prevent removed from
Ultrasonic the targeted
cleaning surface, by using
is environmentally underwater
friendly process,
Underwater cleaning using encapsulation technology suction vacuum pump withtreated
filtration system
or kill bio-fouling organisms in target areas but do not and has no effect on the surface, but to
it separate
is not
Enveloping techniques
actively remove them. can be ancategories
Both effectiveofmethod
treatmentforare theeffective
remains forfrom theofsurrounding
all types bio-fouling. medium [18, 12]. See
discussed below with reference to each technology’s
killing all bio-fouling on a vessel(set and forget), irrespec‐ Figure 3.
availability, specificity (shape and material of the surface), Underwater negative pressure (suction) technology
tive of effectiveness,
the type or origin impactor generation
on original bio-fouling
surfaces or extent,
sensitive
this method depends on killing bio-fouling
coating, ability to capture the remains removed organismsfrom bythe
depriving them of
treatment essential
area, frequencyresources (light,air,food).
of application, and ease ofItuse.
is
a low cost technic and simple. However, some inadequacies
and losses to the environment
Underwater cleaning using have been noticed
encapsulation that some
technology
of the bio-fouling material and acids left to the
Enveloping techniques can be an effective method surrounding
medium, for and there
killing allisbio-fouling
no evaluationon aof vessel(set
the effect and
of envel‐
forget),
oping on differentof
irrespective coating types.
the type or origin or generation bio-fouling
extent, this method depends on killing bio-fouling
This method
organismsis difficult
by deprivingto bethem
automated (tillresources
of essential nowadays( light
depending on divers
,air ,food ). It is atolowdocost
thetechnic
wrapping), and can
and simple. be
However,
appliedsome
justinadequacies
for mobileand convex
losses underwater surfaces
to the environment have
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 Figure 3. Negative
Figure pressure
3. Negative technology
pressure [18] [18]
technology
types.
Underwater cleaning using ultrasonic technology
This technology
Underwater removes
suction devices80% of bio-fouling
is composed buildup
of a vacuum
This method is difficult to be automated ( till nowadays head (horn) for collection and containment of built up
Ultrasonic cleaning
depending ontechnic
diversistonotdonew,
the itwrapping
has been ),
used
andforcan material, but it is not effective at removing firmly attached
materials removed from the targeted surface, by using
a wide be
variety of applications,
applied just for mobile from cleaning
convex of dentalsurfaces
underwater and organisms
underwater(barnacles, tubeworms
suction vacuum pump withandfiltration
cementing
systembi‐
medical(vessels)
equipment, fine
not for jewelry,
concave ultrasonic
confined is also
surfaces used for
(tunnels) [12]. valves). In addition
to separate clogging
the remains fromofthe
thesurrounding
nozzle or the suction
medium
keepingSee
pipes. Over the past decade, environmental issues
Figure2. hose is a common
[18][12]. problem
See Figure 3. associated with the system.
have meant much tighter controls on industrial cleaning
Underwater cleaning using ultrasonic Underwater cleaningremoves
This technology using heat80%
treatment
of bio-fouling buildup
products; there was a necessity to findtechnology
an alternative material, but it is not effective at removing firmly
solution. Ultrasonic
Ultrasonic cleaning
cleaning technicwas considered
is not new, it hasthebeen
most
used Surface heat
attached treatment
organisms is used for
(barnacles, soft bio-fouling
tubeworms attached
and cementing
viable solution,
for a wideby embracing
variety of the latest in digital
applications, from electron‐
cleaning of to bivalves).
underwater surfacesclogging
In addition by applying thermal
of the nozzle or shock (70°C)
the suction
hose is a common problem associated with the system.
ics anddental and medical equipment, fine jewelry, ultrasonic
transducer technology, and this technic made a using heated sea water in sealed area of the surface, or by
is also used for keeping pipes. Over the past decade,
huge leap forward over
environmental issuesthe have
last decade to fill the
meant much needs
tighter of
controls using adapted oxy-gasoline or laser cutting torch in not
Underwater cleaning using heat treatment
industry,
on and the marine
industrial hullproducts;
cleaning is one of these
there fields.
was a necessity sealed area. The dead bio-fouling growth remains attached
to find an alternative solution. Ultrasonic cleaning was
4 Int J Advconsidered
Robot Syst, the
2016, 13:7viable
most | doi: 10.5772/62060
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.
oating Figure 3. Negative pressure technology [18]

Underwater suction devices is composed of a vacuum

adays head (horn) for collection and containment of built up
d can materials removed from the targeted surface, by using
rfaces underwater suction vacuum pump with filtration system
) [12]. to separate the remains from the surrounding medium
to the surface
[18][12]. is released
See Figure 3. during the first 2-4 weeks because formation in the various models. Improved synergetic
of water movement (vessel80%
sailing in case of mobile effects of UV appear to play an important role in mitigating
This technology removes of bio-fouling buildup
surfaces). The effectiveness of the treatment is claimed to biofilms and preventing regrowth [6,20].
material, but it is not effective at removing firmly
be long lasting because the treatment kills not only the algae
n used attached organisms (barnacles, tubeworms and cementing There is a need for a further investigation in order to
but also the spores, which delays
of the
theprocess
nozzle of or regrowth.
ng of bivalves). In addition clogging the suction determine and optimize all the parameters influencing bio-
asonic hose is a common problem associated with the treatment
It is recommended for that reason repeat the heat system. fouling control while using UV as a pretreatment strategy
at regular intervals. (every 4-6 months) [12,19]. Figure 4
ecade, (wavelengths, doses, and continuous or in cycles expo‐
shows HISMAR robot based on heat treatment cleaning.
ontrols Underwater cleaning using heat treatment sure). It is proved that UV did not have a residual effect
cessity after irradiation and that biofilm control improves when
g was greater UV doses are given, and greater levels of inactiva‐
ng the tion of suspended cells are obtained.
y, and
decade Underwater brush based technology
one of 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 )
rsts of
but these systems indicated that it is not able to remove all
nge of
bio-fouling from the surface [1, 12, 21, 22, 23, 24].
nating
attern Brush based cleaning depends on removing built up
gative material with rotary brush (single or multiple, man held or
ositive robotized) by applying mechanical and frictional forces on
]. The the surface (See Figure 5). The use of brushes is a very
ovides Surface heat treatment is used for soft bio-fouling attached abrasive
on cleaning
the surface (Seemethod and
Figure 5). can
The usecause damage
of brushes is atovery
the
to underwater surfaces by applying thermal shock (70◦ C) abrasive cleaning
original surface or method andpaint.
underlying can cause damage is
Brush cleaning toalso
the
t also
using heated sea water in sealed area of the surface, or original surface or underlying paint. Brush cleaning
unable to capture cleaning waste, which can contain paint is also
e. The
by using adapted oxy-gasoline or laser cutting torch in unable
residue.toThe
capture
resultcleaning waste,
may be that which
toxic can contain
materials paint
are released
its the not sealed area. The dead bio-fouling growth remains residue. The result may be that toxic materials are released
on the into the environment as a consequence of cleaning process.
attached to the surface is released during the first 2-4 into the environment as a consequence of cleaning process.
We attributed a high contaminant risk to underwater
weeks because of water movement (vessel sailing in case We attributed a high contaminant risk to underwater
cleaning using brush technology. In addition it needs
of mobile surfaces). The effectiveness of the treatment is cleaning using brush technology. In addition it needs
umber changing and replacing cleaning brushes according to the
claimed to be long lasting because the treatment kills not changing and replacing cleaning brushes according to the
to be shape of the surface, the type of the buildup materials, and
only the algae but also the spores, which delays the process shape of the surface, the type of the buildup materials, and
cts we
ofFigure wearing.
4. Heat treatment,HISMAR
regrowth. It is recommended robot [19]
for that reason repeat the wearing.
side of Figure 4. Heat treatment,HISMAR
heat treatment robot[19]
at regular intervals. (every 4-6 months)
ed[15], [12] testedFigure
The[19]. efficacy4 of heat treatment
shows HISMAR provide an immediate
robot based on heat
effect on algae
treatment cleaning.mortality and a sustained reduction in soft
andtested
The early efficacy
stages ofofbio-fouling on underwater
heat treatment surface; for
provide an immediate
that it is considered as cleaning system
effect on algae mortality and a sustained reduction for light to moder‐
www.intechopen.com
in soft
atelyearly
and fouled surfaces.
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
properties
Based on theor on coatings,
absence of we attributed unknown
independent testing ofbiose‐
the
curity and contaminant
effectiveness risks toand
of heat treatment thisits
method.
impact on original
surface properties or on coatings, we attributed unknown
Ultra violet and
biosecurity technology
contaminant risks to this method.
Ultra-violet (UV) light irradiation is being increasingly
used violet
Ultra for water disinfection, and it is evaluated as a pre‐
technology
treatment strategy
Ultra-violet (UV) light to control bio-fouling.
irradiation The increasingly
is being experiments
showed that biofilm prevention depends
used for water disinfection, and it is evaluated on the post-
as
a pretreatment strategy to control bio-fouling. wave‐
treatment incubation time, in addition to targeted The
lengths, UV spectrum
experiments showed that and biofilm
UV dose. UV irradiation
prevention is a non-
depends on
chemical
the alternative
post-treatment to controltime,
incubation bio-fouling. The mechanism
in addition to targeted
of disinfection
wavelengths, UVbyspectrum
UV light depends
and UV dose. on UV
inactivation
irradiation of
issuspended cells. alternative
a non-chemical However, microorganisms in biofilms
to control bio-fouling. The
differ from their
mechanism suspended counterparts
of disinfection by UV lightregarding
depends their
on
physiology,ofmetabolism,
inactivation suspended cells.and However,
resistance microorganisms
to disinfectants
inand antibiotics.
biofilms In most
differ fromcases,
theirUV irradiationcounterparts
suspended by itself did
not havetheir
regarding a significant
physiology,impact on controlling
metabolism, biofilm
and resistance to Figure 5. Brush based underwater surface cleaning
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
biofilm formation in the various models. Improved Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems
synergetic effects of UV appear to play an important role Underwater pressure (water jets)
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

Negative
Encapsulation Ultrasonic Heat treatment Ultraviolet Brush based Water jets
pressure

Bio-fouling type ≥90% slim ≤80% ≥90% slim ≥90% ≥90%

Killing bio-fouling materials √ √ √ √ √ √ √

Removing bio-fouling materials × × √ × × √ √

Cleaning speed 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 × √ √

√ if remains are √ if remains are

Environment friendly × √ √ √ ×
collected collected

Robotized × √ (patented) √ √ √ (patented) √ √

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
The pressurized water jets for cleaning steel structures,
underwater structure, while at the same time, minimizing
plates, bio-fouling growth removal from underwater
the damage to the surface and the coating. Although it
structures, hulls, etc. is becoming widely used with the
provides increased control of the cleaning process, the
development of this technology, water jets can be easily
perceived increase in the cost of the equipment is still
controlled by reducing or increasing the pressure from the
pump and by changing the distance and the attack angle. A thought to be prohibitive.
water jet’s effectiveness is dependent on the surface, b. Non-cavitation system:
pressure of water, jetting angle, and distance from the
cleaning surface. Jet nozzles have been developed to enable Rely only on the energy contained in the water (cold or hot)
effective cleaning of the surfaces underwater. Water jet gun itself, and thus require a higher operating pressure
which used to remove fouling are classified in two types of (500-1000 bar) to achieve the same cleaning effectiveness as
available systems: cavitation and non-cavitation systems. cavitation systems (See Figure 7). System with low pressure
jetting will be sufficient to remove effectively and safely the
a. Cavitation system:
layer of slime from the treated surface [12], some robotised
This system uses nozzles designed to induce cavitation at system are patented [21], and some are available for
the surface for cleaning, which emit microscopic gas and cleaning bio-fouling or removing paint: HydroCat [22],
steam bubbles that collapse when touching treated surface M2000Robot [26], WCRSRR Robot [27], CleanHull [28], V-
(See Figure 6). Lower water pressure (70-150 bar) can be used Robo [29], Vacuum and Magnetic Lizard [30], Octopus [31].
to produce high pressure (15×104 bar) at the treatment point
remove built up materials,
the treatment point remove bio-fouling are destroyed
built up materials, during
bio-fouling
thearetreatment point remove builtwith
up materials, bio-fouling
thisare
process with
destroyed
destroyed a relatively
during good
this process cleaning speed
a relatively (600-1500
good
speedduring thismprocess with a the
2 /h) according relatively
type ofgood
/ hbio-fouling
cleaning
m 2 cleaning
) according
speed
(600-1500
the
growth
type of bio-fouling
2 growth [12, 25].
[12][25]. m /h) according the type of
(600-1500
bio-fouling growth [12][25].

Figure 7. Non-cavitation water jets systems

in part to limited sensing capabilities and to locomotion

Figure 6. Cavitation system,CAVI-JET Pistols andand
Robot [25][25] behaviors
Figurerequiring controlwater
7. Non-cavitation system adapted to specific
jets systems
Figure 6. Cavitation system,CAVI-JET Pistols Robot Figure 7. in
Non-cavitation water jets systems
tasks or changes the environment.
From teleoperated procedures,
in part to limited to providing
sensing instruction,
capabilities and to locomotion
6 Int J Adv
TestsRobot
showedSyst, 2016,
that 13:7
using | doi: 10.5772/62060
cavitation nozzles for underwater to fully autonomous operations, enabling autonomous
behaviors requiring control system adapted to specific
cleaning can remove various types of fouling
Figure 6. Cavitation system,CAVI-JET Pistols and Robot [25]
from capabilities is fundamental for the successful deployment
different underwater structure, while at the same time, tasks or changes in the environment.
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,
Although it provides increased control of the
From teleoperated procedures, to providing
Tests showed that using cavitation nozzles forcleaning
underwaterthe underwater
to fully environment holds
autonomous many opportunities
operations, enabling autonomous
process, the perceived increase in the cost of the equipment
 adhe
Cleaning tools or underwater robots are close to the magn
surface through mechanical structures, these systems
are designed to move in three dimensional space, Most
others adopts ropes to move different types of surfaces take
generating the adhesion force as a resultant of caused by out o
the gravity and the rope traction. the n
a ma
Though in both cavitation and non-cavitation water jets surfa
used for underwater surface operations must contain a zero
thrust nozzle which discharges a second stream of water in Magn
the opposite direction of the cleaning stream to negate the inher
thrust and permit to scan the surface easily and efficiently. adop
[21],
Table 1 illustrates a performance evaluation of the different
[37][2
underwater cleaning surfaces.
Octo
4.2 Enabling robot and existing solutions Desp
envir
Underwater operations present unique challenges and
there
inquiries for robotic applications. These can be attributed
optio
in part to limited sensing capabilities and to locomotion
behaviors requiring control system adapted to specific
distin
tasks or changes in the environment. direc

From teleoperated procedures, to providing instruction, to (a)

Electr
fully autonomous operations, enabling autonomous
The m
capabilities is fundamental for the successful deployment
or pe
of underwater robots. In general humans are limited in
with
underwater missions in duration and depth; for that, the
underwater environment holds many opportunities for Elect
using of robotic systems. At the same time, limited visibil‐ switc
ity, hazardous surrounding, in addition to the external adva
forces applied to the robot from water currents make energ
underwater operations very challenging. adhe
In this subsection we present an overview of the ap‐ whee
proaches used during underwater mobile robots. We
present adhesion systems used to be on or close to the
Perm
(b) for v
desired surface. We then present underwater locomotion
mechanisms to maintain a trajectory in this medium. Figure 8. Mechanical adhesion: (a) NESSIE [22],, (b) EFTCoR VFP [32]
the f
Figure 8. Mechanical adhesion: (a) NESSIE[22], , (b) EFTCoR whee
VFP[32]
4.2.1 Adhesion systems Mechanical adhesion depends on defined surface and electr
defined task of cleaning by using articulated arm or
For keeping the robot on the surface also in vertical or Mechanical adhesion depends on defined surface and Sucti
mechanism (See Figure 8), and this solution is effective in
overhanging sections, the normal force (F N ) has to be defined task of cleaning by using articulated arm or
full cleaning (200 m 2 / h ) not for spot ones. NESSIE an The
sufficient. This function is called adhesion. The most mechanism (See Figure 8), and this solution is effective
in effective in-water hull2 cleaning system [12, 22], EFTCoR adhe
important adhesion principles in the field of climbing full cleaning (200 m /h) not for spot ones. NESSIE an
VFP a robotized tower with articulated arm [4, 33, 34, 32], vacu
robots (mechanical, magnetic, pneumatic, etc.) and we will effective in-water hull cleaning system [12][22], EFTCoR
patented structures [35,36]. is ea
discuss their influence on locomotion, mobility and size of VFP a robotized tower with articulated arm [4][33][34][32],
move
the robot. For climbing on vertical or even overhanging Magneticstructures
patented force adhesion:
[35] [36].
of m
surfaces, the normal force (F N ) between robot and surface
has to assure enough friction for holding the robot on spot The magnetic adhesion is an alternative principle can be
and generating a traction force (F T ). adopted when a ferromagnetic surface is available. Strong
adhesion force is generated by using simple permanent
www.intechopen.com
Adhesion principles can be mainly distinguished among
magnets or current electromagnets. Underwater Robotics: Su
two criteria:
• Physical principle generating the adhesion force (e.g. Most climbing robots for cleaning ships and tanks surfaces
magnetic, pneumatic) take advantage of the fact that most of them are made out
of ferromagnetic steel which allows for increasing the
• Energy need for generating the adhesion force (passive normal force between robot and surface by using a mag‐
or active) netic field that passes through the robot and the surface (See
Mechanical adhesion: Figure).

Cleaning tools or underwater robots are close to the surface Magnetic attachment can be highly desirable due to its
through mechanical structures, these systems are designed inherent reliability. This method is fast, but implies the
to move in three dimensional space, others adopts ropes to adoption of heavy actuators for movement. Patented robot
move different types of surfaces generating the adhesion [21], HISMAR robot [19], M2000 robot [26], WCRSRR robot
force as a resultant of caused by the gravity and the rope [37, 27], EFToR V2 robot [4, 32, 34], Hydro-Crawler [38],
traction. Octoppus [31], Magnetic Lizard [30].

Houssam Albitar, Kinan Dandan, Anani Ananiev and Ivan Kalaykov: 7

Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems
 V-ROBO [29][40], RIMINI [41][42], ROMA II [43], Vacuum T
Lizard [30], Sky Cleaner 3 [44], RAMR1 [45], crawling i
robot for cleaning [46][47]. p
v
Sliding vacuum chambers is another type of creating
c
negative pressure. Examples for sliding vacuum chambers
t
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 a
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
therefore, for most applications it represents an unsuitable adhesion( suction
adhesion(suction cups, vacuum
cups, vacuum chambers) chambers
are more ) are O
option. Basically three possible configurations can be more common for, while passive suction cups only work
common for, while passive suction cups only work reliably p
distinguished: in the feet of a robot, in the chassis, or on very clean surfaces due to leakage problems.
reliably on very clean surfaces due to leakage problems. w
directly in the wheels or tracks of the robot. p
Usually,
Usually, redundancyisis needed
redundancy needed totoincrease
increasethe reliability,
the reliability,
Electromagnets vs. permanent magnets and more than one vacuum cup is used to prevent loss ofloss of 1
and more than one vacuum cup is used to prevent
pressure (and adhesion force) due to surface curvature or c
The most frequent solution is the use of electromagnets or
pressure (and adhesion force) due to surface curvature or
irregularities. u
permanent magnets to adhere to the surface, combined irregularities.
with wheels or tracks to move along it.
s

Electromagnets have the advantage that they can be A

switched on and off at any time, making their use advan‐ t
tageous for robots. However, they require a constant l
energy supply for just keeping the adhesion (active T
adhesion principle) and are quite difficult to integrate into d
wheels or tracks.
b
Permanent magnets usually with the new alloys allows for C
very strong fields at very small size and mass, due to the
fact that these magnets can be easily integrated into wheels A
and tracks, they almost completely substituted the electro‐
magnets in the field of climbing robots.
A
a
A
s
Figure 10. Suction adhesion: RIMINI [41] d
Figure 10. Suction adhesion: RIMINI [41]
p
Nevertheless, this type of attachment has some associated
drawbacks. The suction adhesion mechanism requires time A
Nevertheless, this type of attachment has some associated
to develop enough vacuum to generate sufficient adhesion
drawbacks. The suction adhesion mechanism requires u
force. This delay makes it slow in locomotion.
(a) (b) (c)
time to develop enough vacuum to generate sufficient
Figure 9. Magnetic adhesion: (a)HISMAR robot [19], (b)Octoppus [31],
Figure 9. Magnetic adhesion: (a)HISMAR robot[19], (b)Octoppus [31], (c)WCRSRR robot[37] [27]
adhesion Another issueThis
force. associated
delaywith suction
makes adhesion
it slow is that any
in locomotion.
(c)WCRSRR robot [37,27]
strategies. Passive suction cups similar as the ones used
on car-windows for fixing devices, curtains or toys. An
Another issue associated with suction adhesion is that any
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
example for such a robot is CLAUS [39]. drawback limits the suction cup adhesion mechanism to
drawback limits the suction cup adhesion mechanism to
Suction force adhesion:
relatively smooth, non-porous and non-fractured surfaces.
Vacuum can be produced by using an electrical vacuum
generator or by external hydraulic vacuum generator Vacuum pumps external to the robot imply the need for a relatively smooth, non-porous and non-fractured surfaces.
(Venturi effect) connected to the robot by flexible tubes, safety cable, with the inherent problems of the umbilical
The most frequent approach to guarantee the robot
vacuum pump is installed on the robot that keeps the 8 Short Journal Name, 2013, Vol. No, No:2013
cord for the robot with its mobility and dynamics.
negative pressure in each cup at constant level if significant Vacuum pumps external to the robot imply the need for a
adhesion to a surface is to use the suction force. The vacuum
leakage occurs (See Figure 3). Examples for such robots are
Thrust and propulsion force adhesion:
V-ROBO [29][40], RIMINI [41][42], ROMA II [43], Vacuum This adhesion principle has been developed for working safety cable, with the inherent problems of the umbilical
type principle requires light mechanisms
Lizard [30], Sky Cleaner 3 [44], RAMR1 [45], crawling andThese ismachines
easy mainly
to allow
performing in-service inspection of the horizontal and the cord for the robot with its mobility and dynamics.
in submerged applications.
robot for cleaning [46][47].
Sliding control. Thisis operating
another type of principle allows
vertical surfacesthe
of oil,movement
petroleum, chemicalover
storage tanks
vacuum chambers creating

andcleaning Thrust and propulsion force adhesion:

cooling tunnels and marine structures while submerged in
arbitrarily
two prototypessurfaces, made
negative pressure. Examples for sliding vacuum chambers
are the first in the Alicia-family of distinct
[48][49],
the liquid,types of materials,
thereby saving the cost of emptying,
and manually inspecting the surfaces.
pressurecan besuction
implemented by using different strategies. Passive
or the CROMSCI [50], the active versions of negative
adhesion( cups, vacuum chambers ) are One or more propeller, mounted on top of the vehicle,
This adhesion principle has been developed for working in
suction cups similar as the ones
more common for, while passive suction cups only work
reliably on very clean surfaces due to leakage problems.
used on car-windows for
provides the thrust force for adhesion to the surface, and
with suitable locomotion system the movement will be submerged applications. These machines mainly allow
Usually, fixing devices,
is needed to curtains or toys. possible
An example for such a robot
for all types of submerged surfaces (See Figure
11). Robots equipped with at least two independent, speed performing in-service inspection of the horizontal and the
redundancy increase the reliability,
and more than one vacuum cup is used to prevent loss of
pressureis CLAUS [39]. controlled, thrusters can move in three dimensional space
using their hydrodynamics properties to localize on the vertical surfaces of oil, petroleum, chemical storage tanks
(and adhesion force) due to surface curvature or
irregularities.
surface (diving from point to point).
Vacuum can be produced by After using contactanwithelectrical generated by these cooling tunnels and marine structures while submerged in
vacuum
surface, thrust forces

generator or by external hydraulic locomotion system moves the robot to scan the surface. the liquid, thereby saving the cost of emptying, cleaning
vacuum generator
thrusters guarantee the adhesion to the surface, while the

(Venturi effect) connected to the driven robot by flexible tubes, surface and and manually inspecting the surfaces.
The vehicle maneuvers freely on the surface and can be
down from a vertical to horizontal

vacuum pump is installed onCleanRov the isrobot that keeps the

back on to it. ROVING BAT is an inspection robot [51],

One or more propeller, mounted on top of the vehicle,

a cleaning robot [28].

negative pressure in each cup atActive constant

vs. passive level
principlesifofsignificant
adhesion
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 needrobots
for energy are
versions of each principle are normally much with suitable locomotion system the movement will be
adhesion principles consumption.
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
Lizard [30], Sky Cleaner 3 [44], RAMR1
Figure 10. Suction adhesion: RIMINI [41]
[45], crawling robot
disadvantage that the robot would fall down in case of a
power shutdown.
10). Robots equipped with at least two independent, speed
for this
cleaning [46, has47]. A comparison of available adhesion types properties for
controlled, thrusters can move in three dimensional space
Nevertheless, type of attachment some associated
drawbacks. The suction adhesion mechanism requires underwater robots is presented in Table 2.

adhesionSliding vacuum
makes it slow chambers is another type of creating using their hydrodynamics properties to localize on the
time to develop enough vacuum to generate sufficient
force. This delay in locomotion.

negative pressure. Examples for sliding vacuum chambers surface (diving from point to point).
8 Short Journal Name, 2013, Vol. No, No:2013 www.intechopen.com

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

 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
(a) robots to autonomously decide how, when, and where to
move. Autonomous robot locomotion is a major techno‐
logical
Figureobstacle for manylocomotion:
12. Vibration areas of robotics,
VAV250such as under‐
robot from V-ROBO
water [52].
family [40]

Locomotion
advantagecan of be distinguished
a small and lightaccording to:basic motion
design. Meanwhile it is less
concept (Rolling
stable and theor Swinging-legged),
position control istemporal characteristic (See
more complicated
of Figure
contact(continuous
12). or discrete), or type of contact (little
footed or big footed. According to M. Yim classification [53].
Crawling (Sliding Segments) locomotion:
In this subsection are analyzed the characteristics of the
This locomotion type is the simpler alternatives in motion
(b) 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
Figure 11.
Figure 11. Thrust adhesion:
Thrust (a) CleanRov
adhesion: [28], (b) ROVING
(a) CleanRov BAT
[28], (b) [51]
ROVING BAT and tracked types.
adhesion that grabs to surfaces in one place and releases
[51]
After contact with surface, thrust forces generated by these Vibration:
the others, in order to move (See Figure 13).
Adhesion Type
thrusters guarantee
Mechanical the Magnetic
adhesion to the surface,
Suction cups while the
Propulsion Sky Cleaner[44], VDG300 from V-ROBO family [40],
locomotion system
Surface specificmoves the robot to scan
ferro- notthe surface.noThe W-Climbot[54], Alicia3 [55], RAMR1[45], Inchworm
vehicle maneuvers
limitation geometry freelymagnetic
on the surface and can be
porous driven
limitation robot(magnetic adhesion) [56] are examples of this type of
down from a vertical
Strength
strong to horizontal
strong surface
medium and back on to
medium motion.
of adhesion
it. ROVING
Maturity
BAT is an inspection
industrial industrial
robot [51],
prototypes
CleanRov is a
industrial
ofcleaning robot
technology [28].
application application under research application
Active
Table 2. vs. passive principles
Comparison of adhesion
of adhesion types for underwater robots
A very important criterion for distinguishing the different
4.2.2. Locomotion systems
adhesion principles is their need for energy consumption.
Activelocomotion
Robot versions ofis each principle name
the collective are normally much
for the various
stronger that
methods than robots
the passive ones,
use to but theythemselves
transport suffer from from
the
disadvantage
place to place.that the robotwheeled
Although would fallrobots
down are
in case of a
typically
power
quite shutdown.
energy efficient and simple to control, other forms
of locomotion may be more appropriate for a number
ofA reasons
comparison
(e.g.of available adhesion
traversing types
rough properties
terrain, for
moving
underwater robots is presented in Table 2.
and interacting in human environments). Furthermore,
(a) (b)
Figure 12. Vibration locomotion: VAV250 robot from V-ROBO family [40]
studying bipedal and insect-like robots Figuremay beneficially
12. Vibration locomotion: VAV250 robot from V-R
Figure 13. Crawling locomotion: (a) ROMA II[43], (b) VDG300
impact on biomechanics. This motion is created by simply installing a vibrator
Adhesion Type family [40] [40].
inclined or perpendicular to the platform, and this gives the
A major goalMechanical
in this field is in developing
Magnetic capabilities
Suction cups Propulsion for
robot self-propulsion while adhering to the surface. This
robots to autonomously decide how, when, and where
Surface specific ferro- method is simple in configuration
advantage of a small and light design. Meanwhile it is
The main disadvantage and
of this has the is
solution advantage
the difficulty
to move. Autonomous robot locomotion not porous no
islimitation
a major
limitation geometry magnetic of in
a small and light design. Meanwhile it is less stable and
crossing cracks and obstacles and the discontinuity in
technological obstacle for many areas of robotics, such as
Strength of [52].
underwater
stable and the position control is more complicated
themotion.
position control is more complicated (See Figure 11).
strong strong medium medium
adhesion
Locomotion can be distinguished Figureto:basic
according 12). Crawling (Sliding
Propulsion Segments)
(Diving) locomotion:
locomotion:
prototypes
motion
Maturityconcept
of (Rollingindustrial
industrial or Swinging-legged), temporal
industrial This
Thelocomotion
diving typetype is themake
robots simpler
usealternatives in motion
of thrust force developed
under
characteristic
technology of contact(continuous
application application or
research
Crawling (Sliding Segments) locomotion:
discrete), or type
application and control often make use of sliding or articulated
by propellers, jets, or fin to move but are used in very
of contact (little footed or big footed. According to M. Yim segments. Mostly
restricted used with
and specific suction adhesion
applications or magnetic
(See Figure 14).
classification [53].of adhesion types for underwater robots
Table 2. Comparison adhesion that grabs to surfaces in one place and releases
This locomotion type is the simpler alternatives in mo
The contact between the robot and the surface is
the others, in order to move (See Figure 12).
In this subsection are analyzed the characteristics maintained though a number of active or non-active
4.2.2 Locomotion systems and controlSkywheels often make use ofthrust
sliding or articul
of the main locomotion technologies implemented Cleaneror [44],
by VDG300
tracked from V-ROBO
system. The family
force[40], W-
is controlled
inRobot locomotion
underwater is the namely
robots, collectivethe
name for the various
vibrator,Climbot
crawler,[54], Alicia3
by amplitude and [55], RAMR1
direction to [45], Inchworm
the surface to ro‐
produce
propelled, wheeled, and tracked
segments. Mostly
types.
methods that robots use to transport themselves from place
used
bot(magnetic
the neededadhesion)
with
force to[56]
suction
are examples
overcome
adhesion
of this type
the predicted of
or mag
hydraulic
leanRov [28], (b) ROVING BAT
to place. Although wheeled robots areadhesion
typically quite that grabs
motion.
force to surfaces
and gravity. Slipping in onerobot
of this placeoccursand
for rele
Vibration:
abrupt changes in underwater current direction or speed.
the others,
This motion is created by simply installing a vibrator in Houssam
order
This to Kinan
Albitar,
locomotion move used(See
isDandan, Anani
in Figure
Ananiev
MONSUN and 13).
II Ivan
[59],Kalaykov: 9
URIS [58],
Underwater
inclined or perpendicular to the platform, and this gives Robotics: Surface Cleaning Technics,[60],
Adhesion and Locomotion
ROV [61],Systems
hesion Type C-RANGER [57], HAUV KORDI KOS ROV
the robot self-propulsion while adhering to the surface.
c Suction
Thiscups
method is Propulsion Sky Cleaner[44], VDG300 from V-ROBO family
simple in configuration and has the
[62].

not no W-Climbot[54], Alicia3 [55], RAMR1[45], Inchw

 segments. Mostly used with suction adhesion or magnetic
OVING BAT adhesion that grabs to surfaces in one place and releases Another form of locomotion is to adopt wheels. These offer
the others, in order to move (See Figure 13). robots can achieve high velocities, and are the most on lo
Sky Cleaner[44], VDG300 from V-ROBO family [40], efficient on almost flat surfaces. This is due to the fact that the v
Propulsion
no W-Climbot[54], Alicia3 [55], RAMR1[45], Inchworm an ideal rolling (but not slipping) wheel loses no energy. to cr
limitation robot(magnetic adhesion) [56] are examples of this type of A wheel rolling at a given velocity needs no input to track
medium motion. maintain its motion [64] [65]. whe
industrial surfa
application to ch
some
r robots
addi
chan
e various to th
ves from WCR
typically BAT
her forms
a number
moving
(a) (b)
thermore,
eneficially Figure 13. Crawling locomotion: (a) ROMA II [43], (b) VDG300 [40] Mo
Figure 13. Crawling locomotion: (a) ROMA II[43], (b) VDG300
[40]. Co
bilities for The main disadvantage of this solution is the difficulty in Ov
nd where crossing cracks and obstacles and the discontinuity in ob
a major motion.
The main disadvantage of this solution is the difficulty
s, such as in crossing cracks and obstacles and the discontinuity in Table
(a)
Propulsion
motion. (Diving) locomotion: unde

to:basic The diving type

Propulsion robots
(Diving) make use of thrust force developed
locomotion:
by A p
temporal The diving type robots fin
propellers, jets, or make to use
move but are
of thrust used
force in very
developed
), or type restricted and specific
by propellers, jets, orapplications
fin to move(SeebutFigure 13). in very
are used locom
to M. Yim restricted and specific applications (See Figure 14).
The contact between the robot and the surface is HISMAR robot [19], EFToR V2 robot [4], VM400 from 5. Cr
acteristics maintained though a number of active or non-active V-ROBO [29][40], RIMINI [41][42], Vacuum and magnetic
plemented
We
wheels or by tracked system. The thrust force is controlled Lizard [30].
crawler, on
by amplitude and direction to the surface to produce
the needed force to overcome the predicted hydraulic The research in wheeled robotics is focused on traction and locom
force and gravity. Slipping of this robot occurs for stability in rough terrain, maneuverability and control. adhe
abrupt changes in underwater current direction or speed. The major concern in the motion planning of wheeled jet),
a vibrator This locomotion is used in MONSUN II [59], URIS [58], robots is the holonomic that the robot is subject to. These react
this gives C-RANGER [57], HAUV [60], KORDI ROV [61], KOS ROV are decided by the type (b)
of wheels, number of wheels and
e surface. [62]. (a) (b) the direction of the axes of rotation of the wheels. The
Figure 15. Wheel driven locomotion: (a) VM400 [29], (b) EFToR V2 [4]
has the Figure 15. Wheel driven locomotion: (a) VM400 [29], (b) EFToR prov
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 mech
[58] This
in type
case isofoften used in mobilevehicles
omnidirectional robotics using
due to spherical
easy
The contact between the robot and the surface is main‐: 9 mechanical implementation
or Swedish wheels, in rough, loose terrain, [28],
of the wheel. CleanRov due to
used
A variable
tained
nderwater Robotics: buoyancy
though
Surface a number
Cleaning system
Technics, is used
of Adhesion
active orand toLocomotion
changewheels
non-active buoyancy
Systems or This typeincreasing
HISMAR
the isrobot
often used
[19], EFToR
rolling in V2mobile
robot robotics
friction [4],
whichVM400 duefrom
causes to power
V-easy mech
around
by trackedneutral; the system
system. usually
The thrust contains
force a numberbyofmechanical
is controlled ROBO [29,implementation
inefficiencies;40], RIMINI
furthermore [41,of42],
theVacuum
wheeled wheel. and magnetic
CleanRov
platform are just[28],
able large
tanks that can
amplitude and be filled with
direction to thewater or gas.
surface This system
to produce the Lizard [30].gaps smaller than wheel diameter (See Figure 15).
to cross
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
buoyancy [63]. Tracked locomotion another solution,onwhere
traction and is
vehicle
gravity. Slipping of this robot occurs for abrupt changes 10 in Short
stability
JournalinName,
rough terrain, maneuverability and control.
steered by moving
2013, the
Vol. tracks with different
No, No:2013 speedThe in the
underwater
Wheel drivencurrent direction
and tracked or speed. This locomotion is
locomotion: major
sameconcern
direction in the
or motion
in oppositeplanning of wheeled
direction. robots
The use is
of tracks
used in MONSUN II [59], URIS [58], C-RANGER [57], the holonomic
offers a much that the
larger robot
area is
of subject
surface to. These
contact, are
so decided
the traction
Another form of locomotion is to adopt wheels. These
HAUV [60], KORDI ROV [61], KOS ROV [62].
robots can achieve high velocities, and are the most byon theloose
type surface
of wheels, number
is much of wheels
better and the direction
than wheels; furthermore
A variable buoyancy system is used to change buoyancy
efficient on almost flat surfaces. This is due to the fact that of the
the axes
vehicle of rotation
is able toofdrive
the wheels.
through rougher surfaces (able
an ideal neutral;
rolling (but not slipping) to cross larger gaps). Due to the large contact patches,
around the system usually wheel
contains loses no energy.
a number of Wheeled
A wheel rolling at a given velocity needs no input to trackedlocomotion offers some
vehicles usually disadvantages,
change direction especially
by skidding,
tanks that can be filled with water or gas. This system in where
case of omnidirectional vehicles using spherical or the
maintain its motion [64] [65]. a large part of the vehicle is in contact with
enables the robot to swim to a given depth with changing Swedish
surfacewheels, in rough,
as it slides looseit,
across terrain, due to
so more the increas‐
space is needed
buoyancy [63]. ingto rolling
change friction which causes
the orientation. power inefficiencies;
The skidding movement has
furthermore
some other wheeled
defect platform
that the are justduring
friction able tosteering
cross gaps causes
Wheel driven and tracked locomotion:
smaller than wheel
additional powerdiameter (See Figure
consumption. 14).
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
robots can achieve high velocities, and are the most efficient to the sliding movement and the variation of friction.
steered by moving the tracks with different speed in the
on almost flat surfaces. This is due to the fact that an ideal WCRSRR robot [37][27], Hydro-Crawler [38], ROVING
same direction or in opposite direction. The use of tracks
rolling (but not slipping) wheel loses no energy. A wheel BAT robot [51].
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
 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
Tracked

Mobility low medium high medium

Complexity low medium high low

Overcoming very
poor good limeted
obstacles good
Figure 16. Crawling robot for cleaning underwater surfaces
Figure
Table 3. Performance evaluation of the most common underwater 16. Crawling robot for cleaning underwater surfaces
locomotion
wheels to minimize the friction of movement when any of
A performance evaluation of different underwater loco‐ these cups is not enabled. Due to the limitations of most of
motion system is shown in Table 3. The seven links oftechniques,
the adhesion the robot we selected
are suction cups for their
connected through six
light weight and simple control that allows movement over
joints, each jointsurfaces
arbitrary has two made of rotational DOF,
non-ferromagnetic two motors are
materials.
5. Crawling Robot for Cleaning Underwater Surfaces
used one The forcleaning
crawling
subsystem and another
contains two waterfor rotation
jets directed on and the
We proposed an underwater crawling robot shown on
rest jointscontrollable
Figure 15 having four main subsystems: locomotion(crawl‐
varying angle
are passive in toboth
the surface.
axes.They are Theinstalled
robot has a
on one of biped links. The jets slide on these two links and
ing, rotation and stepping), adhesion(suction formcups),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
of cleaningthe crawling
in accordance to the motor actively controls
nature of bio-fouling.
reaction forces (water jet reaction), details given in a
previous publication [66].
the angle Inbetween
the cleaningthe legs to
subsystem, perform
the force desired
of the water being step size.
At the same discharged
time,from both the bipeds
jet nozzle withcreates the
an equal and
connecting links
The locomotion subsystem is the basic component provid‐
opposite reaction, which makes the nozzle recoil in the
form twoopposite
ing all movements of the robot. We selected this mechanism parallelograms with three links parallel in all
direction of the water flow. This effect becomes
because: it adapts to the surface, it can be used forpossible
different configurations.
stronger as water jet flowFour increases.suction
The cleaning cupswaterare
jets attached
types of surface material, it is a simple mechanism, and it
arecorner
directed at certain angle
eachto cupthe surface depending on by three
is stable with low center of gravity and large baseto the four
support joints, is surrounded
the needs of the cleaning process. Therefore, the generated
in the cleaning process. We consider the cleaning operating
small freereaction
wheels force todragsminimize
the robot away thefromfriction
the surface,offormovement
on a smooth nearly flat local 2D-space around it. Therefore
the robot mechanism needs minimum two active degrees
when anycompensating
of theseandcups neutralizing
is not the enabled.
reaction force four Due to the
dedicated waters jets are installed on the four links. While
of freedom (2DOFs) to move. In addition, additional limitations of most of the adhesion techniques, we selected
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.
that allows the balancing
movement jets is regulated
over such that the vector
arbitrary sum of made of
surfaces
The seven links of the robot are connected through six all forces is nullified.
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
joints are passive in both axes. The robot has a formThe cleaning subsystem contains two water jets directed
of two
The survey has shown that under water cleaning bio-
parallel 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
the treated of biped links.
are different Thedimensions
in shape jets slide and on these
between the legs to perform desired step size. At the same
time, both bipeds with the connecting links form twotwo links properties, the variety control
and a separate of cleaning technics
system in efficiency
regulates and the linear
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,

Houssam Albitar, Kinan Dandan,theAnaniforce of Ivan
Ananiev and the water11 being
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
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