A methodological framework for developing ROV-manipulator systems for underwater unmanned intervention

Abstract

Until recently, underwater intervention tasks have been conducted by human divers alone or in co-operation with remotely operated vehicles (ROV' s). Divers are flexible and can perform a lot of different work task, but diving operations are expensive and there is a great deal of risk to enter such a hostile environment. Oil drilling operations around the world are moved into deeper waters compared with those only a few years ago, and the humans can not be present in water depths below 500-600 meters maximum. So to be able to interfere with the sub-sea installations, to conduct inspection, repair and maintenance (IRM) operations there is a need to have automatic equipment with the necessary capability to perform both planned and unplanned intervention tasks.This paper gives a general architecture for development of ROV-manipulator systems used in underwater intervention operations. First we identify a set of intervention operations, then put focus on the capability requirements connected to these operations. Operations (tasks) and capabilities make a requirement 2Dmatrix. Then we identify all sub-systems that will be effected by the requirement matrix. From this a 3D architecture for methodology research in the development of ROV-manipulator systems arise.

Robotization of Operations in the Petroleum Industry

“…Previously, human divers were used for this dangerous and capital-intensive operation [7]. Thus, currently, remotely operated vehicles (ROVs) and automated underwater vehicles (AUVs) equipped with advanced and suitable sensory devices are used in gathering data relevant to determining the potential presence of fossil fuel [14][15].…”

“…Manning these production platforms with human operators involves high operational cost and imposes health and environmental safety risks. (4,5) vertically moored tension leg and mini-tension leg platform; (6) spar; (7,8) semisubmersibles; (9) Floating production, storage and offloading (FPSO) facility; (10) sub-sea completion and tie-back to host facility [9]. Thus, with the application of automation, remotely controlled unmanned platforms that are teleoperated using satellite communication can be deployed.…”

“…However, with the success recorded in the utilisation of robotics and automation in the manufacturing industry [6][7][8], the petroleum industry seeks to exploit advances in technology through robotics and automation to tackle these challenges. [1,4,5].…”

“…Figure 2 (1,2). fixed platforms; (3) compliant tower;(4,5) vertically moored tension leg and mini-tension leg platform;(6) spar;(7,8) semisubmersibles;(9) Floating production, storage and offloading (FPSO) facility;(10) sub-sea completion and tie-back to host facility[9].…”

The Prototype of an Unmanned Underwater Vehicle – Mechanical Construction, the Operator Panel

“…The next step was to determine the basic functionality of the vehicle. By design, the vehicle had to have the opportunity to observe the underwater environment with rotatable camera and halogen, the ability to determine important for some reason or hazardous for shipping locations in the tank water using buoys and additionally discarded, making manipulation of objects under water through mounted robotic arm [19,20,21]. In addition, the vehicle was to be powered with internal battery and be able to adjust their buoyancy through ballast water, as in submarines.…”