The Carderock Division of the Naval Surface Warfare Center, Naval Sea Systems Command is developing the Automated Paint Application, Containment, and Treatment System (APACTS) to apply anti-corrosive and anti-fouling paints onto Navy ship hulls in an environmentally sound manner. APACT employs three motion components: (1) a self-propelled repositionable base; (2) a long reach macro-manipulator; and (3) a quick response micro-manipulator to move the pain nozzle and containment device along the hull surface. The combined motion trajectories of the macro- and micro-manipulators produce the paint application trajectory. Feedback from sensors mounted on the containment device modify the trajectories in real-time to keep the nozzle at appropriate positions relative to the surface.


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