Showing papers on "Intervention AUV published in 2023"

Formation control of multiple autonomous underwater vehicles: a review

Abstract: This paper presents a comprehensive overview of recent developments in formation control of multiple autonomous underwater vehicles (AUVs). Several commonly used structures and approaches for formation coordination are listed, and the advantages and deficiencies of each method are discussed. The difficulties confronted in synthesis of a practical AUVs formation system are clarified and analyzed in terms of the characteristic of AUVs, adverse underwater environments, and communication constraints. The state-of-the-art solutions available for addressing these challenges are reviewed comprehensively. Based on that, a brief discussion is made, and a list of promising future work is pointed out, which aims to be helpful for the further promotion of AUVs formation applications.

Autonomous Underwater Vehicles’ Control System Design Implementation

Abstract: Technology advancements have allowed AUVs to explore parts of the ocean that are inhospitable and inaccessible to humans. Because of the several marine systems fields in which they are being used, AUVs have attracted a lot of attention in recent years. Numerous fields of exploration and research such as marine geoscience has a wide range of applications for Autonomous Underwater Vehicles (AUVs), which are being used in the scientific, military, commercial, and policy fields. Although AUV technology has been developed and occasionally used in science since the 1960s, routine AUV utilization in science is a recent development. As we talk about underwater vehicles, one of their main components is the genetic map of the AUV. In this paper, we have discussed from designing the schematic of the control system on paper to implementing it in our AUV SEA 5.0. Some light has also been shed on the provisions for future improvements in the vehicle.

Subsea Inspections with New Models of Autonomous Underwater Vehicle (AUV): Deployment Modes, Advantages and Disadvantages

Abstract: The proposed paper aims to present an analysis considering the use of new technologies of Autonomous Underwater Vehicle (AUV), considering its use to carry out subsea inspections on Subsea Production System (SPS), addressing possible launch and recovery methods, listing advantages and disadvantages of using this technology. The analysis is based on evaluation of new developments of AUV, considering that it will present hovering capabilities, like what is presented by typical Remotely Operated Vehicle (ROV), and additional functionalities that will improve the integrity management of the SPS. In this context, there is a range of possibilities for the use of these new technologies of AUV. The main scenarios of use will be detailed, as well as its advantages and disadvantages characterized. By analyzing the main possibilities of using new technologies of AUV, as well as the advantages and disadvantages of using it, will be possible to state that there is a plenty room to significantly improve the integrity management of the SPS. The way that these new models of AUV can be applied will enable the Oil and Gas industry to achieve a higher level of integrity management of the SPS, also having a significant reduction on Operational Cost (OPEX), increase of personnel safety and reducing of greenhouse gas emissions.

Next Generation Building Blocks of an Autonomous Subsea Vehicle

Abstract: The development of new resident and autonomous underwater vehicles (AUVs) has been enabled thanks to advances in secure and reliable Ethernet communication networks, software, batteries, and positioning sensors. Applying these technologies through a joint project between Oceaneering, an engineering services company, and multiple oil and gas operators, a new hybrid AUV/ROV system has been developed to optimize the delivery of pipeline inspection services and pave the way for future geophysical survey and resident AUV/ROV applications. The vehicle comprises modules that connect to a next-generation distributed controls system, which increases flexibility by offering plug and play capabilities. The hybrid vehicle underwent more than two years of qualifications and testing at the Oceaneering Living Lab in Tau, Norway, and offshore in the North Sea, where components like software, sensors, and batteries were rigorously tested. After years of in-water testing, the vehicle surpassed TRL 6 requirements for pipeline survey and inspection scopes. The unit can work as an ROV or operate in an autonomous and tetherless AUV configuration, with a working range of 120 km, a working depth rating of 6000 msw, top speed of 3 m/s, and sufficient reliability to support subsea deployment up to six months. The hybrid AUV/ROV has demonstrated the ability to carry out low-altitude inspection and survey on pipelines of different diameters. It can track pipelines at 3 m to 5 m altitude from the seabed, providing high-resolution survey data, and at 8 m altitude for reconnaissance and seabed mapping. The vehicle control software includes specific behaviors to locate burial, crossing, and free span events and to maximize data acquisition value. This new hybrid AUV/ROV is outfitted with high-specification instruments, such as an inertial navigation system, laser scanning system, and multibeam sonar technology, that enable it to achieve unprecedented pipeline tracking within a close proximity to the pipe. Additional hardware modifications are planned to expand the breadth of the vehicle's capabilities to include cathodic protection readings, cleaning operations, and light intervention. This paper explains the building-block development concept and describes the individual modules that make up the new AUV/ROV. It presents the challenges encountered in creating this innovative vehicle and explains how issues were resolved as well as the methodology behind solving them.

The Challenges of Executing Pull in and Pull-Out Operations With ROV in Scenarios Designed For Shallow Divers Intervention

Abstract: Over the last few years, Petrobras has sought to reduce divers’ exposure to risk, as well as reduce this dependence on human diving in its underwater activities and reducing critical resources that impact underwater interconnections. A subsequent de-risking phase of the principal technological gaps and critical engineering activities were structured to support a robust solution to be installed and validated in a full-scale prototype tool. All feasibility studies indicated the need development of tools that can be less impacted by the relative movements between floating platforms and ROVs (Remotely Operated Vehicle) in shallow water operations, allowing bellmouth preparation operations, for example. This paper presents the challenges that Petrobras has been facing to perform the pull in and pull out of flexible pipes with ROV in scenarios made to operate with divers.

An underwater explorer remotely operated vehicle: Unraveling the secrets of the ocean

Abstract: In recent years, underwater robots have been an essential focus of marine science and technology applications. Whether it is the application of military tasks or general civil affairs, underwater robots have played a significant role. For example, unmanned underwater vehicles (UUVs) can work in the sea for a long time, have high maneuverability, and perform various underwater tasks. There are many subcategories of UUVs, such as autonomous underwater vehicles (AUVs), remotely operated vehicles (ROVs), and autonomous and remotely operated vehicles (ARVs) (Kong et al., 2020).

Follow target mode on modern ships equipped with dynamic positioning (DP) system

Abstract: The article highlights the results of studying the follow target mode on board the ships equipped with dynamic positioning (DP) systems. There is analyzed the position of a ship in a follow target mode when the DP mode is on, as well as the ability of a ship following a target to hold the position and course under given environmental conditions. Ships equipped with the DP system have strict requirements regarding the parameters of the follow target mode. There are listed the advantages for specific operations: technical servicing the oil and gas fields, examining the pipelines, hydrographic surveys, etc. Functionality of the hydroacoustic reference system, which is the main component of the ship follow target system, is studied. It has been stated that the follow target mode allows the ship to follow the target automatically. In most cases, the target is an unmanned remotely operated vehicle (ROV). ROV is a robot performing specific tasks under water controlled from the ship. ROV support vessels specialize on such operations. The ROV equipment and capabilities depend on the complexity of the task. The simplest tasks are inspection of the pipeline, platform supports, watching divers, visual inspection of an object lowered to the bottom, etc., when ROV is equipped with cameras, searchlights and, occasionally, sonars. To carry out the construction work or maintain the underwater facilities there are needed the servicing ROVs equipped with tools for specific purposes. There has been illustrated a model chart of the ship motion and dislocation of the ROV working area. Connection between ROV and the ship by means of a fiber optic cable is considered in detail, the advantages and disadvantages of this connection are listed. Conclusions are drawn about the widespread use of DP systems on modern ships, in particular those operating in the oil and gas industry, as well as in other areas of marine operations.

Passive Positioning of Autonomous Underwater Vehicles

Abstract: Currently, autonomous underwater vehicles (AUVs) show a high potential to work in surveillance tasks, as well as in payload delivery through rivers, lakes or seas. However, AUVs have some limitations that prevent them from fully relying on their autonomous functions. In particular, unlike unmanned aerial vehicles, AUVs do not have precise positioning mechanisms like GPS to work underwater. Although inertial navigation systems have been developed for the positioning of these vehicles, smaller and cheaper alternatives for modern micro-AUVs are still required. Furthermore, the possibility of passively detecting the location of an AUV (i.e., detecting it without emitting any additional signal) opens up new alternatives for military and defense-oriented applications with these vehicles. Thus, this work proposes a passive positioning system for underwater vehicles using the acoustic signals already emitted by the AUVs themselves. To do this, the initial challenges associated to the positioning of AUVs through trilateration techniques are analyzed, and the final proposals are evaluated in a real scenario. The results show that the method known as TDoA is easier to implement and presents a more precise positioning.