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Teleoperated Visual Inspection System for Hull Spot-Blasting

This paper presents a robotized teleoperated visual inspection system for spot-blasting applied to hull cleaning in ship maintenance tasks. It consists of a cleaning head, a robot body, a remote control unit, and a teleoperation platform connected to a computer vision system. This solution allows a reliable and cost effective operation for hull grit spot-blasting. A prototype of this robot has been developed and tested in the Spanish IZAR shipyards