In one embodiment, there is disclosed a robot configured to clean a surface of a coating having a König pendulum hardness of less than 75 counts, the robot comprising: a cleaning brush assembly comprising a lamellar cleaning brush having a plurality of lamellas extending outwardly from a brush core and having a height, the lamellar cleaning brush arranged to rotate about its axis to apply a cleaning action to the surface when it is in contact with the surface; wherein the robot is configured to apply a degree of compression of the brush on the surface such that the brush is held in a position a distance, towards the surface of the coating, away from an initial position at which the brush is in contact with, but not deformed by, the surface of the coating, wherein said distance is less than 56% of the height of the plurality of lamellas.

An aspect of the present disclosure is directed to a monorail system configured and arranged for displacing at least one maintenance device configured and arranged for machining substantially vertically extending surfaces. Another aspect is directed to a maintenance system consisting of at least one maintenance device which is displaceable on the monorail system.

A system for blast-cleaning a barge bottom providing for safety and avoidance of damage to the barge and to persons, where a barge is blast-cleaned with a blasting tractor having a transverse track beam along which positioning units move blaster heads. In one embodiment, the blasting tractor is controlled by a person in a cab of the blasting tractor, where the operator can see the blaster heads. In another embodiment, the blasting tractor is robotically controlled from a robotic controller which has access to a three-dimensional plan of the barge, communicating with the robotic blasting tractor via RF antennae, and receiving real-time data from sensors located on each blaster head. Optionally, the system for blast-cleaning a barge can provide blaster-head cameras for real-time remote monitoring of operations and for recording of the operations allowing review of any issue, such as damage, that might arise.

A hull scrubber device for a boat is deployed into an operative mode when the boat travels through the water. The device includes a mounting pole and a flexible hull scrubber head attached to the mounting pole and tethered via a tether rope and a swivel mounting in the hull scrubber head. The device is structured to rotate or spin and hit against the boat hull as the boat moves through the water. The scrubber head is a flat-like spiral disk when in a storage, inoperative mode. This disk assumes the shape of a cylinder when hull scrubber device is fully deployed in the water. Brush elements, felt pad elements, and scraper elements are mounted on an outer edge surface of the hull scrubber head for cleaning the hull. Related methods of cleaning a boat hull are also disclosed.

An aspect of the present disclosure is directed to a monorail system configured and arranged for displacing at least one maintenance device configured and arranged for machining substantially vertically extending surfaces. Another aspect is directed to a maintenance system consisting of at least one maintenance device which is displaceable on the monorail system.

A system for blast-cleaning a barge bottom providing for safety and avoidance of damage to the barge and to persons, where a barge is blast-cleaned with a blasting tractor having a transverse track beam along which positioning units move blaster heads. In one embodiment, the blasting tractor is controlled by a person in a cab of the blasting tractor, where the operator can see the blaster heads. In another embodiment, the blasting tractor is robotically controlled from a robotic controller which has access to a three-dimensional plan of the barge, communicating with the robotic blasting tractor via RF antennae, and receiving real-time data from sensors located on each blaster head. Optionally, the system for blast-cleaning a barge can provide blaster-head cameras for real-time remote monitoring of operations and for recording of the operations allowing review of any issue, such as damage, that might arise.

A load distribution apparatus of magnetic wheel, includes: a plurality of cylinder parts including one sides respectively connected to a plurality of magnetic wheels and an upper space portion and a lower space portion whose interiors do not communicate to each other; and a passage part which serves as a moving path of fluid and interconnects the plurality of cylinder parts. The passage part is configured to evenly distribute a load applied to the magnetic wheels by moving fluids in the upper space portion and the lower space portion in such a manner that the fluids are not mixed.

A load distribution apparatus of magnetic wheel, includes: a plurality of cylinder parts including one sides respectively connected to a plurality of magnetic wheels and an upper space portion and a lower space portion whose interiors do not communicate to each other; and a passage part which serves as a moving path of fluid and interconnects the plurality of cylinder parts. The passage part is configured to evenly distribute a load applied to the magnetic wheels by moving fluids in the upper space portion and the lower space portion in such a manner that the fluids are not mixed.