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Volume 14
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10.3390/jmse14020227
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Development and Field Testing of a Cavitation-Based Robotic Platform for Sustainable In-Water Hull Cleaning

by
Uroš Puc
1,2,*,
Andreja Abina
1,
Edvin Salvi
3,
Vlado Malačič
4,
Janja Francé
5,
Riccardo Zanelli
6 and
Aleksander Zidanšek
1,7,8
1
Jožef Stefan International Postgraduate School, Jamova cesta 39, SI-1000 Ljubljana, Slovenia
2
Institute of Computational Physics, Zurich University of Applied Sciences (ZHAW), 8401 Winterthur, Switzerland
3
SALVI d. o. o., Vanganelska cesta 16, SI-6000 Koper (Capodistria), Slovenia
4
Faculty of Maritime Studies and Traffic, University of Ljubljana, Pot pomorščakov 4, SI-6320 Portorož, Slovenia
5
National Institute of Biology, Marine Biology Station Piran, Fornače 41, SI-6330 Piran, Slovenia
6
COMET—Cluster Metalmeccanica FVG, Via Roveredo, 20/b, 33170 Pordenone, Italy
7
Jozef Stefan Institute, Jamova cesta 39, SI-1000 Ljubljana, Slovenia
8
Faculty of Natural Sciences and Mathematics, University of Maribor, Koroška cesta 160, SI-2000 Maribor, Slovenia
*
Author to whom correspondence should be addressed.
J. Mar. Sci. Eng. 2026, 14(2), 227; https://doi.org/10.3390/jmse14020227
Submission received: 22 December 2025 / Revised: 16 January 2026 / Accepted: 19 January 2026 / Published: 21 January 2026
(This article belongs to the Section Ocean Engineering)
Versions Notes

Abstract

Biofouling on ship hulls significantly increases hydrodynamic drag, fuel consumption, and greenhouse gas emissions, while also facilitating the spread of invasive species in regional and global waters, thereby threatening marine biodiversity. To address these environmental and economic issues, we developed an innovative robotic platform for in-water hull cleaning. The platform utilizes a cavitation-based cleaning module that removes biofouling while minimizing hull surface damage and preventing the spread of detached particles into the marine environment. This paper describes the design, operation, and testing of a developed robotic cleaning system prototype. Emphasis is placed on integrating components and sensors for continuous monitoring of key seawater parameters (temperature, salinity, turbidity, dissolved oxygen, chlorophyll-a, etc.) before, during, and after underwater cleaning. Results from real-sea trials show the platform’s effectiveness in removing biofouling and its minimal environmental impact, confirming its potential as a sustainable solution for in-water hull cleaning.
Keywords: biofouling; underwater robot; cavitation; closed-loop in-water hull cleaning system; environmental monitoring; wastewater treatment; field testing; sensor integration biofouling; underwater robot; cavitation; closed-loop in-water hull cleaning system; environmental monitoring; wastewater treatment; field testing; sensor integration

Share and Cite

MDPI and ACS Style

Puc, U.; Abina, A.; Salvi, E.; Malačič, V.; Francé, J.; Zanelli, R.; Zidanšek, A. Development and Field Testing of a Cavitation-Based Robotic Platform for Sustainable In-Water Hull Cleaning. J. Mar. Sci. Eng. 2026, 14, 227. https://doi.org/10.3390/jmse14020227

AMA Style

Puc U, Abina A, Salvi E, Malačič V, Francé J, Zanelli R, Zidanšek A. Development and Field Testing of a Cavitation-Based Robotic Platform for Sustainable In-Water Hull Cleaning. Journal of Marine Science and Engineering. 2026; 14(2):227. https://doi.org/10.3390/jmse14020227

Chicago/Turabian Style

Puc, Uroš, Andreja Abina, Edvin Salvi, Vlado Malačič, Janja Francé, Riccardo Zanelli, and Aleksander Zidanšek. 2026. "Development and Field Testing of a Cavitation-Based Robotic Platform for Sustainable In-Water Hull Cleaning" Journal of Marine Science and Engineering 14, no. 2: 227. https://doi.org/10.3390/jmse14020227

APA Style

Puc, U., Abina, A., Salvi, E., Malačič, V., Francé, J., Zanelli, R., & Zidanšek, A. (2026). Development and Field Testing of a Cavitation-Based Robotic Platform for Sustainable In-Water Hull Cleaning. Journal of Marine Science and Engineering, 14(2), 227. https://doi.org/10.3390/jmse14020227

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