Design of an Autonomous ROV for Marine Growth Inspection and Cleaning

Christian Mai*, Malte Von Benzon, Fredrik F. Sorensen, Sigurd S. Klemmensen, Simon Pedersen, Jesper Liniger

*Corresponding author for this work

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

4 Citations (Scopus)


Marine growth affects offshore structures, causing additional weight and roughened surfaces, increasing wave load. In order to reduce these issues, regular inspection and cleaning can be carried out using various methods, of which one is Remotely Operated Vehicle-based (ROV) operations. In the work presented here, the design of a task-specific ROV for marine-growth cleaning is described, which is differentiated from the normal general-purpose ROVs currently used for this purpose by specialized construction and the use of a simple yet flexible framework. Compared to existing solutions, the proposed framework requires limited low-level programming, which heavily simplifies the implementation and thus reduces the associated practical overhead. The presented ROV prototype design has been demonstrated in a test tank facility and will be validated in an offshore scenario in a future offshore campaign.

Original languageEnglish
Title of host publication2022 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2022
Number of pages6
Publication date2022
ISBN (Electronic)9781665416894
Publication statusPublished - 2022
Event2022 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2022 - Singapore, Singapore
Duration: 19 Sept 202221 Sept 2022


Conference2022 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2022
SeriesIEEE/OES Autonomous Underwater Vehicles Symposium (AUV)

Bibliographical note

Funding Information:
ACKNOWLEDGEMENTS The authors would like to thank for the support from the Energy Technology Development and Demonstration Programme (EUDP) via the ”ACOMAR – Auto Compact Marine Growth Remover” project (J.No. 64020-1093). Thanks also go to our project partners SubC Partner, Sihm Højtryk, Mati2ilt, Total E&P Denmark and Siemens Gamesa Renewable Energy, and our colleagues from Aalborg University, for many valuable discussions and technical support.

Publisher Copyright:
© 2022 IEEE.


  • Automation
  • Cleaning
  • Construction
  • Design
  • Inspection
  • Marine Growth
  • ROV
  • Underwater Robotics
  • UUV


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