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Nagesh Bhadriraju,
Pramodaki,
- Adjunct Professor, Andhra University College of Engineering, Marine Engineering Department, Visakhapatnam, india
- Student, Andhra University College of Engineering, Visakhapatnam, Andrapradesh, India
Abstract
Marine surface maintenance tasks such as barnacle removal, abrasive blasting, and protective
painting are traditionally carried out using manual methods that are labor-intensive, hazardous, and
prone to variability in quality. These challenges are particularly significant for offshore structures,
where harsh environmental conditions and restricted accessibility increase operational risks and
maintenance costs. This paper presents the design and evaluation of an autonomous robotic system
for automated surface preparation and coating of marine and offshore structures. The proposed
system integrates vision-based surface inspection with deep learning–based barnacle detection to
accurately identify biofouled regions requiring cleaning. A force-feedback control mechanism is
employed to regulate tool–surface interaction, enabling effective barnacle removal while preventing
substrate damage. To ensure complete and systematic coverage of complex structural surfaces, a
grid-based coverage path planning strategy is implemented. Furthermore, closed-loop control
algorithms are developed to dynamically regulate abrasive blasting pressure and paint deposition
rate, thereby achieving uniform surface roughness and consistent coating thickness. The performance
of the robotic system is experimentally evaluated using a set of quantitative metrics, including
operational efficiency, surface roughness uniformity, coating thickness consistency, and task
completion time. Comparative analysis with conventional manual maintenance methods demonstrates
that the proposed autonomous system significantly improves worker safety, process repeatability, and
overall maintenance efficiency. The results highlight the potential of intelligent robotic automation to
enhance the durability, corrosion protection, and lifecycle management of offshore structures,
offering a viable solution for next-generation marine maintenance operations.
Keywords: Abrasive blasting, autonomous marine robotics, barnacle removal, offshore structure maintenance, protective coating.
Nagesh Bhadriraju, Pramodaki. Design and Development of an Automated Robotic Algorithm for Blasting, Painting, and Barnacle Cleaning of Offshore Structures. Journal of Offshore Structure and Technology. 2026; 13(01):-.
Nagesh Bhadriraju, Pramodaki. Design and Development of an Automated Robotic Algorithm for Blasting, Painting, and Barnacle Cleaning of Offshore Structures. Journal of Offshore Structure and Technology. 2026; 13(01):-. Available from: https://journals.stmjournals.com/joost/article=2026/view=239097
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Journal of Offshore Structure and Technology
| Volume | 13 |
| 01 | |
| Received | 08/01/2026 |
| Accepted | 07/01/2026 |
| Published | 13/01/2026 |
| Publication Time | 5 Days |
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