The Carderock Division of the Naval Surface Warfare Center (NSWC-CD) is developing the Automated Paint Application, Containment, and Treatment System (APACTS) to apply anti-corrosive and anti-fouling paints in an environmentally sound manner, NSWC-CD commissioned the Intelligent Systems Division of the National Institute of Standards and Technology (NIST) to construct a concept prototype of a Semi-Automated Paint Containment System (SAPACS) utilizes a portion of the APACTS technologies to provide an intermediary system that can reduce shipyard hazardous material emissions with less capital investment. NIST assembled SAPACS from an existing Coordinated Aerial Work Platform (CAWP) and an existing lift capable environmental tank (E-Tank). NIST modified the E-Tank to detect the ship's hull, to generate pitch motion, and to command the CAWP in accordance with conventional hierarchical control. SAPACS is able to move along the ship hull with operator supervision but without operator direction.


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