International Research Journal of Engineering and Technology (IRJET)
e-ISSN: 2395-0056
Volume: 11 Issue: 09 | Sep 2024
p-ISSN: 2395-0072
www.irjet.net
SURFACE MORPHOLOGICALLY INTELLIGENT UNDERACTUATED ROBOT FOR UNDERWATER HULL CLEANING Sanjay Krishna M1, Nandhakumar M2, A C Mariappan3, G Peter packiyaraj4 1,2 Final Year B.E Marine Cadets, PSN CET, Tirunelveli, Tamil Nadu 3,4 Assistant Professor, Department of Marine Engineering, PSN CET, Tirunelveli, Tamil Nadu
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(AIS) in the local environment of ships' locations From a hydrodynamic point of view, fouling Increases drag, which reduces the speed of the ship. These reductions can be up to 10%, leading to increase in fuel consumption, which, according to some Figures may range from 30% to 40%.
The abstract should briefly describe the objective, methodology, results and conclusions of the research. Emphasize the innovation of using morphologically intelligent and less active mechanisms in underwater hull cleaning.
1.1Methodology
In this paper we discuss a new type of robot For underwater hull cleaning on non-magnetized ships. Helm. This robot is based on the concept of cleaning hulls regularly, without waiting to take them out of the water, will improve the efficiency of ships and allow Reduction in use of commonly used chemicals Employed to prevent the growth of marine life on the hull and which are generally harmful to the environment.
Mechanical design describe the structure of the robot, focusing on its less active elements and how morphological intelligence is integrated into the design. Control System Explain the control algorithms used, emphasizing how they take advantage of the physical structure of the robot to achieve efficient movement and cleaning. Simulation and Modeling: Outline the simulation tools and models used to test robot performance prior Implementation .Prototype Development: Describe the process of building the prototype, including materials used, manufacturing techniques, and assembly. Test Environment: Describe the conditions under which the robot was tested, including tank testing, real-world scenarios, or computational simulations
The robot described in this paper is less active morphologically adapted robots that through a suitable Using Morphology and Powers and Constraints Solves the toughest problems that arise in the environment When moving with rudders. Some of these are changing Negotiating aircraft, appendages, avoiding portholes, passing corners, and other elements.
2.ROBOT DESIGN
Key word: Surface Morphological Intelligence Underactuated Robotics, Hull Cleaning Robot Underwater Robotics, Non-Destructive Cleaning Artificial Intelligence (AI).
The conceptual design of the robot has been taken Keeping in mind when it should take effect Submerged surfaces of boat hulls can be cleaned Made of any material, magnetic or nonmagnetic. It is also assumed that these surfaces can be either flat or are curved and they may exhibit sudden changes their orientation. Robots must be able to heal themselves Move across these surfaces and overcome any obstacles Present. It should also be able to be changed to different passing over the edges dividing the two working surfaces Surfaces even in cases presenting high slope changes For example when full or fin keels are present.
1. INTRODUCTION: Discuss the importance of maintenance of ship hulls, the challenges involved in underwater hull cleaning and the need for effective robotic solutions. One of the most important and often expensive ships Maintenance operation is cleaning of the hull. Over time, the ship Hulls are prone to barnacles, algae and other marine attacks life. This bio fuel grows very fast leading to two Various problems: from environmental point of view, This, along with ships' ballast water, Main route of introduction of aquatic invasive species.
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2.1 MECHANICAL DESIGN A double articulation is used to connect each module Stiff arm. With this configuration, two different Relative rotational motion between connecting arms and each
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