Review of Underwater Ship Hull Cleaning Technologies

Abstract

This paper presents a comprehensive review and analysis of ship hull cleaning technologies. Various cleaning methods and devices applied to dry-dock cleaning and underwater cleaning are introduced in detail, including rotary brushes, high-pressure and cavitation water jet technology, ultrasonic technology, and laser cleaning technology. The application of underwater robot technology in ship cleaning not only frees divers from engaging in heavy work but also creates safe and efficient industrial products. Damage to the underlying coating of the ship caused by the underwater cleaning operation can be minimized by optimizing the working process of the underwater cleaning robot. With regard to the adhesion technology mainly used in underwater robots, an overview of recent developments in permanent magnet and electromagnetic adhesion, negative pressure force adhesion, thrust force adhesion, and biologically inspired adhesion is provided. Through the analysis and comparison of current underwater robot products, this paper predicts that major changes in the application of artificial intelligence and multirobot cooperation, as well as optimization and combination of various technologies in underwater cleaning robots, could be expected to further lead to breakthroughs in developing next-generation robots for underwater cleaning.

Keywords

Biofouling / Dry-dock cleaning / Underwater ship cleaning / Adhesion technology / Cleaning robot

References

[1] Adland R, Cariou P, Jia H, Wolff FC. The energy efficiency effects of periodic ship hull cleaning. J Clean Prod, 2018, 178: 1-13

[2] Albitar H, Ananiev A, Kalaykov I. New concept of in-water surface cleaning robot, 2013, Takamatsu: 2013 IEEE International Conference on Mechatronics and Automation, 1582-1587

[3] Albitar H, Ananiev A, Kalaykov I. In-water surface cleaning robot: concept, locomotion and stability. Int J Mechatron Auto, 2014, 4(2): 104-115

[4] Albitar H, Dandan K, Ananiev A, Kalaykov I. Underwater robotics: surface cleaning technics, adhesion and locomotion systems. Int J Adv Robot Syst, 2016, 13(1): 7

[5] Aldrich C, Qi BC. Removal of organic foulants from membranes by use of ultrasound. Water Research Commission, 2005, Stellenbosch: University of Stellenbosch, WRC Report No. 1229/1/05

[6] Asbeck AT, Kim S, McClung A, Parness A, Cutkosky MR. Climbing walls with microspines, 2006, Orlando: IEEE International Conference on Robotics and Automation, 4315-4317

[7] Balashov VS, Gromov BA, Ermolov IL, Roskilly AP. Cleaning by means of the HISMAR autonomous robot. Russ Eng Res, 2011, 31(6): 589-592

[8] Bax N, Williamson A, Aguero M, Gonzalez E, Geeves W. Marine invasive alien species: a threat to global biodiversity. Mar Policy, 2003, 27(4): 313-323

[9] Bixler GD, Bhushan B. Biofouling: lessons from nature. Philos Trans R Soc A Math Phys Eng Sci, 2012, 370(1967): 2381-2417

[10] Caduff EA (1990) Robotic ultrasonic cleaning and spraying device for ships’ hulls. U.S. Patent No. 4890567. Washington: U.S. Patent and Trademark Office, 3–5

[11] Chambers LD, Stokes KR, Walsh FC, Wood RJ. Modern approaches to marine antifouling coatings. Surf Coat Technol, 2006, 201(6): 3642-3652

[12] Chen GX, Kwee TJ, Lei NR, Tan KP, Choo YS, Hong MH (2010) Underwater laser cleaning for marine and offshore applications. International Congress on Applications of Lasers & Electro-Optics, Anaheim, California, USA, pp 456-460

[13] Chen GX, Kwee TJ, Tan KP, Choo YS, Hong MH. High-power fibre laser cleaning for green shipbuilding. J Laser Micro/Nanoeng, 2012, 7(3): 249-253

[14] Chen R, Fu Q, Liu Z, Hu X, Liu M, Song R. Design and experimental research of an underwater vibration suction module inspired by octopus suckers, 2017, Macau: 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 1002-1007

[15] Cioanta I, McGhin C (2017) Cleaning and grooming water submerged structures using acoustic pressure shock waves. U.S. Patent No. 9840313, Washington, DC: U.S. Patent and Trademark Office, 3–4

[16] Courson B, Shelburne J (2001) Portable encapsulated underwater ultrasonic cleaner. U.S. Patent No. 6259653, Washington, DC: U.S. Patent and Trademark Office, 1–2

[17] Daltorio KA, Horchler AD, Gorb S, Ritzmann RE, Quinn RD. A small wall-walking robot with compliant, adhesive feet, 2005, Edmonton: 2005 IEEE International Conference on Intelligent Robots and Systems, 3648-3653

[18] Davidson IC, McCann LD, Sytsma MD, Ruiz GM. Interrupting a multi-species bioinvasion vector: the efficacy of in-water cleaning for removing biofouling on obsolete vessels. Mar Pollut Bull, 2008, 56(9): 1538-1544

[19] Drake JM, Lodge DM. Hull fouling is a risk factor for intercontinental species exchange in aquatic ecosystems. Aquat Invasions, 2007, 2(2): 121-131

[20] Erneland MB (2014) Ultrasonic cleaning of marine geophysical equipment. U.S. Patent Application No. 13/629,412, Washington, DC: U.S. Patent and Trademark Office, 1–3

[21] Ferreira CZ, Conte GYC, Avila JPJ, Pereira RC, Ribeiro TMC. Underwater robotic vehicle for ship hull inspection: control system architecture, 2013, Ribeirão Preto, Brazil: 22nd International Congress of Mechanical Engineering, 1231-1241

[22] Floerl O, Peacock L, Seaward K, Inglis G. Review of biosecurity and contaminant risks associated with in-water cleaning, 2010, Sydney, Australia: The Department of Agriculture, Fisheries and Forestry, The National Institute of Water and Atmospheric Research Report

[23] Fowler MP (1987) Optical cleaning system for removing matter from underwater surfaces. U.S. Patent No. 4689523, Washington, DC: U.S. Patent and Trademark Office, 2–3

[24] Godwin LS. Hull fouling of maritime vessels as a pathway for marine species invasions to the Hawaiian Islands. Biofouling, 2003, 19(S1): 123-131

[25] Holappa KW, Darling DT, Hertel III WM (2013) Robotic submersible cleaning system. U.S. Patent No. 8506719, Washington, DC: U.S. Patent and Trademark Office, 4–5

[26] Hopkins G, Forrest B, Coutts A. Determining the efficacy of incursion response tools: rotating brush technology (coupled with suction capability), 2009, Wellington, New Zealand: MAF Biosecurity, MAF Biosecurity Technical Report, Research Project ZBS2005-21

[27] Hua J, Chiu YS, Tsai CY. En-route operated hydroblasting system for counteracting biofouling on ship hull. Ocean Eng, 2018, 152: 249-256

[28] Huang Z, Chen Y, Yang C, Fan J, Jiang P. Teleoperate system of underwater cleaning robot based on HUD, 2017, Gold Coast, Australia: 11th Asian Control Conference (ASCC), 2675-2679

[29] Kalumuck KM, Chahine GL, Frederick GS, Aley PD. Development of a DYNAJET cavitating water jet cleaning tool for underwater marine fouling removal, 1997, Dearborn, Michigan, USA: 9th American Waterjet Conference, 541-554

[30] Kostenko VV, Bykanova AY, Tolstonogov AY. Underwater robotics complex for inspection and laser cleaning of ships from biofouling. IOP Conf Ser: Earth Environ Sci, 2019, 272(2): 1-7

[31] Lakretz A, Ron EZ, Mamane H. Biofouling control in water by various UVC wavelengths and doses. Biofouling, 2009, 26(3): 257-267

[32] Lee MH, Park YD, Park HG, Park WC, Hong S, Lee KS, Chun HH. Hydrodynamic design of an underwater hull cleaning robot and its evaluation. Int J Naval Arch Ocean Eng, 2012, 4(4): 335-352

[33] Legg M, Yücel MK, De Carellan IG, Kappatos V, Selcuk C, Gan TH. Acoustic methods for biofouling control: a review. Ocean Eng, 2015, 103: 237-247

[34] Longo D, Muscato G. The Alicia/sup 3/climbing robot: a three-module robot for automatic wall inspection. IEEE Robot Autom Mag, 2006, 13(1): 42-50

[35] Mazue G, Viennet R, Hihn JY, Carpentier L, Devidal P, Albaïna I. Large-scale ultrasonic cleaning system: design of a multi-transducer device for boat cleaning (20 kHz). Ultrason Sonochem, 2011, 18(4): 895-900

[36] Menon C, Murphy M, Sitti M. Gecko inspired surface climbing robots, 2004, Shenyang, China: 2004 IEEE International Conference on Robotics and Biomimetics, 431-436

[37] Morrisey DJ, Woods C. In-water cleaning technologies: review of information, 2015, Wellington: Publications Logistics Office, Ministry for Primary Industries, 20-25

[38] Murphy MP, Tso W, Tanzini M, Sitti M. Waalbot: an agile small-scale wall climbing robot utilizing pressure sensitive adhesives, 2006, Beijing: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 3411-3416

[39] Nassiraei AAF, Sonoda T, Ishii K. Development of ship hull cleaning underwater robot, 2012, Himeji: 2012 Fifth International Conference on Emerging Trends in Engineering and Technology, 157-162

[40] Oliveira D (2017) The enemy below-adhesion and friction of ship hull fouling. Master thesis, Chalmers University of Technology, Gothenburg, Sweden, 56–67

[41] Osaka T, Norita J (2014) Submersible cleaning robot. U.S. Patent No. 8757181, Washington, DC: U.S. Patent and Trademark Office, 2–4

[42] Osaka T, Yakushiji H, Hirata D (2010) Underwater cleaning robot and auxiliary cleaning work machine. U.S. Patent No. 12/735,720, Washington, DC:vU.S. Patent and Trademark Office, 3–4

[43] Pivovarov A (2009) Cleaning of submerged surfaces by discharge of pressurized cavitating fluids. U.S. Patent No. 7494073, Washington, DC: U.S. Patent and Trademark Office, 4–5

[44] Ross B, Bares J, Fromme C. A semi-autonomous robot for stripping paint from large vessels. Int J Robot Res, 2003, 22(7–8): 617-626

[45] Satpathy KK, Mohanty AK, Sahu G, Biswas S, Prasad MVR, Slvanayagam M. Biofouling and its control in seawater cooled power plant cooling water system-a review. Nuclear Power, 2010, 191-242

[46] Sattar T P, Zhao Z, Feng J, Bridge B, Mondal S, Chen S (2002) Internal in-service inspection of the floor and walls of oil, petroleum, and chemical storage tanks with a mobile robot. 5th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Paris, France, pp 947-954

[47] Silva MF, Machado JT (2010) A survey of technologies and applications for climbing robots locomotion and adhesion. Climb Walk Robots:1–22. https://doi.org/10.5772/8826

[48] Smith FM, Colvin G (2014) Magnetic track. U.S. Patent Application No. 2014/0077.587, Washington, DC: U.S. Patent and Trademark Office, 6–7

[49] Song WD, Hong MH, Lukyanchuk B, Chong TC (2004) Laser-induced cavitation bubbles for cleaning of solid surfaces. J Appl Phys 95(6):2952–2956. https://doi.org/10.1063/1.1650531

[50] Souto D, Faiña A, López-Peña F, Duro RJ. Lappa: a new type of robot for underwater non-magnetic and complex hull cleaning, 2013, Karlsruhe: IEEE International Conference on Robotics and Automation, 3409-3414

[51] Souto D, Faiña A, López-Peña F, Duro RJ. Morphologically intelligent underactuated robot for underwater hull cleaning, 2015, Warsaw, Poland: 2015 IEEE 8th International Conference on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, 879-886

[52] Tan W, Zhang C, Liu L. An introduction to biomimetic underwater adhesion system, 2018, Changsha, China: 13th World Congress on Intelligent Control and Automation (WCICA), 479-483

[53] Tribou M, Swain G. The use of proactive in-water grooming to improve the performance of ship hull antifouling coatings. Biofouling, 2010, 26(1): 47-56

[54] Unver O, Uneri A, Aydemir A, Sitti M. Geckobot: a gecko inspired climbing robot using elastomer adhesives, 2006, Orlando: Proceedings 2006 IEEE International Conference on Robotics and Automation, 2329-2335

[55] Veiko VP, Shakhno EA (2002) Physical mechanisms of laser cleaning. In: Boris L (ed) Laser cleaning. World Scientific, Singapore, pp 311–340

[56] Vodenicharov S, Bratanov D, Michailova R, Stoychev K, Najdenov V. Underwater hull observation system ARMUS, 2017, Borovets, Bulgaria: 15th International Scientific Congress on Machines, Technologies, Materials, 319-322

[57] Wotton DM, O'Brien C, Stuart MD, Fergus DJ. Eradication success down under: heat treatment of a sunken trawler to kill the invasive seaweed Undaria pinnatifida. Mar Pollut Bull, 2004, 49(9–10): 844-849

[58] Yan H, Yin Q, Peng J, Bai B. Multi-functional tugboat for monitoring and cleaning bottom fouling. IOP Conf Ser: Earth Environ Sci, 2019, 237(2): 1-6

[59] Yi Z, Gong Y, Wang Z, Wang X. Development of a wall climbing robot for ship rust removal, 2009, Changchun: 2009 International Conference on Mechatronics and Automation, 4610-4615

[60] Yuan FC, Guo LB, Meng QX, Liu FQ. The design of underwater hull-cleaning robot. J Mar Sci Appl, 2004, 3(1): 41-45

[61] Zabin C, Davidson I, Ruiz G. In-water vessel cleaning: current and emerging technologies, associated risks, and management options for Hawaii, 2017, Hawaii State, USA: Smithsonian Environmental Research Center, Final report to the Hawaii State Department of Land and Natural Resources

[62] Zeng C, Cai ZX. The study of hull cleaning remote-control machine. Robot Tech Appl, 2012, 29(1): 14-17