Towards optimal hydro-blasting in reconfigurable climbing system for corroded ship hull cleaning and maintenance
作者：
Highlights：
• A reconfigurable climbing system for corroded ship hull cleaning is presented.
• System navigates on hull surface and performs water jet blasting autonomously.
• The cleanliness of surface as heat map is constructed by self-evaluating scheme.
• Trajectory is generated by evolutionary optimization with proposed cost function.
• The framework saves 15%, 26%, and 5% the energy, water, and time spent.
摘要
•A reconfigurable climbing system for corroded ship hull cleaning is presented.•System navigates on hull surface and performs water jet blasting autonomously.•The cleanliness of surface as heat map is constructed by self-evaluating scheme.•Trajectory is generated by evolutionary optimization with proposed cost function.•The framework saves 15%, 26%, and 5% the energy, water, and time spent.
论文关键词：Benchmarking hydro-blasting,Industrial automation,Ship hull maintenance,Reconfigurable robotics,Ship maintenance industry
论文评审过程：Received 15 June 2020, Revised 16 December 2020, Accepted 18 December 2020, Available online 25 December 2020, Version of Record 19 January 2021.
论文官网地址：https://doi.org/10.1016/j.eswa.2020.114519
