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ABSTRACT The paper presents an attempt of describing movement properties of an underwater vehicle at the initial phase of designing. The author studies the flat motion of a vehicle on a vertical longitudinal plane for a certain drive system arrangement. The computer simUlation makes it possible to predict the behaviour of a vehicle. There are several problems discussed in the paper, i.e. relation between horizontal and vertical components of a vehicle speed and vehicle trajectory. influence of added water mass coefficients and of the metacentric height value on the trajectory. 1. INTRODUCTION Remotely operated vehicles are widely used for different kinds of underwater operation. Some of the operation, such as survey, monitoring, transportation require special properties of the vehicle motion (Wilinski and Graczyk, 1990) It is not easy to predict the vehicle behaviour in the water in case of certain drive arrangement without expensive model tests. The determination of motion properties of ROV already at the initial phase of designing would cut research costs and time as well. The author uses the simulation to investigate the influence of some characteristic values on the ROV behavior, namely: motion velocity components. added mass coefficients, metacentric height for a certain drive arrangement. 2. MODEL OF FLAT MOTION IN VERTICAL LONGITUDINAL PLANE The author studies the flat motion of a vehicle on a vertical longitudinal plane, i.e. the motion whose trajectory is in x"y" inertial system plane. and xy plane of the reference system follows the x"y" every moment of the motion, fig.1. This is the motion of three degrees of freedom described by the set of differential equations (1), (2). (3) (Wilinski. 1988). (Equations shown in the paper). The system has been reduced to a standard form (set of differential equations, first order, with derivatives on the left member) convenient for numerical calculations using certain replacements (Wilinski. 1988).
System Design And Development of a Deep-sea Unmanned Underwater Vehicle ‘HEMIRE’ For Oceanographic Research
Pan-Mook, Lee (Maritime and Ocean Engineering Research Institute (MOERI), KORDI) | Chong-Moo, Lee (Maritime and Ocean Engineering Research Institute (MOERI), KORDI) | Bong-Huan, Jun (Maritime and Ocean Engineering Research Institute (MOERI), KORDI) | Choi, Hyun Taek (Maritime and Ocean Engineering Research Institute (MOERI), KORDI) | Ji-Hong, Li (Maritime and Ocean Engineering Research Institute (MOERI), KORDI) | Sea-Moon, Ki (Maritime and Ocean Engineering Research Institute (MOERI), KORDI) | Kim, Kihun (Maritime and Ocean Engineering Research Institute (MOERI), KORDI) | Yong-Kon, Lim (Maritime and Ocean Engineering Research Institute (MOERI), KORDI) | Seung-Il, Yang (Maritime and Ocean Engineering Research Institute (MOERI), KORDI) | Seok-Won, Hong (Maritime and Ocean Engineering Research Institute (MOERI), KORDI) | Sang-Chul, Han (Daeyang Electric Co. Ltd.) | Beob-Mo, Gu (Daeyang Electric Co. Ltd.) | Sang-Ryul, Lee (Daeyang Electric Co. Ltd.) | Young-Woo, Seo (Daeyang Electric Co. Ltd.) | Aoki, Taro (Japan Agency for Maritime-Earth Science and Technology (JAMSTEC)) | Bowen, Andy (Woods Hole Oceanographic Institution (WHOI), Deep Submergence Lab.)
ABSTRACT This paper presents the system design and development of a 6,000 meter depth-rated unmanned underwater vehicle (UUV) for oceanographic research in Korea. The UUV system consists of two vehicles: a remotely operated vehicle (ROV) ‘HEMIRE’ and an underwater launcher ‘HENUVY’ cooperated with the ROV. This paper describes the functions and specifications of HENUVY and HEMIRE, respectively, and presents the design process of the vehicles in terms of mechanical and electric system design. This paper also introduces the design of a surface control unit, configuration of a manipulator controller, and measurement equipment of the vehicles. INTRODUCTION The Ocean Exploration System Research Division of KORDI-MOERI (Korea Ocean Research & Development Institute - Maritime and Ocean Engineering Research Institute) is developing a deep-sea unmanned underwater vehicle (UUV) for use in depths down to 6,000 meters that is sponsored by the Ministry of Maritime Affairs and Fisheries (MOMAF). The study is now in Phase V of a 6-year project that will be terminated in April 2007. The primary research objective of this project is to create a scientific research infrastructure for studying deep-sea environment and for enabling oceanographic data surveying, deep-sea sampling for geophysics and marine biology, and underwater structure maintenance (Lee and Hong, 2001). KORDI-MOERI has cooperated with the Woods Hole Oceanographic Institution (WHOI) for system design and the Japan Agency for Maritime-Earth Science and Technology (JAMSTEC) for pressure test the UUV. The UUV consists of an underwater launcher "HENUVY" and an ROV "HEMIRE". The configurations of two bodies are similar to JASON II from WHOI (2006), VICTOR 6000 from IFREMER (2006), and Kaiko from JAMSTEC (Mikagawa et al., 1999). The launcher mainly serves as a depressor to decouple the ROV from the motion of a mother ship caused by ocean disturbances; it also supports and monitors the ROV during deep-sea operations.
- Asia > Japan (0.87)
- North America > United States > California (0.46)
- Energy > Oil & Gas > Upstream (1.00)
- Electrical Industrial Apparatus (1.00)
The Department of Ocean Development, Government of India took initiative towards the development and use of marine non-living resources for the socio-economic benefit of the society. Indian Oceanographic Vessel Gaveshni collected the first sample of polymetallic nodules from the Indian Ocean in 1981. A multidisciplinary team of experts participated in this endeavour. Indian efforts continued and as a recognisition of extensive work carried out by India, a site of 150,000 sq. km. was allotted in Central Indian Ocean Basin by PREPCOM. India was registered as first Pioneer Investor in August, 1987 along with Japan, France and the Soviet Union (now Russia). As on today, there are seven Pioneer Investors. India is the only country with the mine site allocated in Central Indian Ocean Basin while all others are in Pacific Ocean. Indian efforts are concentrated towards Survey & Exploration, technology development for mining and metallurgy and environmental impact analysis as a part of the developmental activities. An overview of the progress and the future plan in these areas is briefly presented. The Polymetallic Nodule programme is one of the major R&D efforts in India towards the development and use of Ocean Science & Technology for the exploration of the marine non-living resources for the socio-economic benefit of the society. This multi-disciplinary programme is being executed by multiinstitutional participation. on 26th January, 1981 the Indian Oceanographic Vessel "Gaveshni" collected the first sample of polymetallic nodule from Indian Ocean. Today India is the only country with the mine site allocated in Central Indian Ocean Basin while all others are in Pacific Ocean. In this programme, survey & exploration, mining technology, extractive metallurgy and environmental impact analysis are the four areas where the Indian efforts are directed. An overview of the progress and the future plan in these areas is briefly presented.
- Materials > Metals & Mining (1.00)
- Energy > Oil & Gas > Upstream (1.00)
- Health, Safety, Environment & Sustainability > Environment (0.54)
- Data Science & Engineering Analytics > Information Management and Systems (0.51)
- Reservoir Description and Dynamics > Reservoir Characterization (0.47)
- Facilities Design, Construction and Operation > Offshore Facilities and Subsea Systems (0.47)
Abstract Deepwater oil and gas operations often deal with harsh environmental conditions which pose numerous challenges for the design and deployment of in-well, topside, and subsea systems and stretch the performance envelopes of the associated equipment. High pressure, temperature, and well flows require specialized downhole and subsea equipment with robust and resilient performance specifications. Punishing surface and subsea conditions such as wind, wave, and loop currents can make it difficult to locate and maintain subsea equipment with typhoon and hurricane seasons in various parts of the world generating up to100 mph winds and 12-foot storm surges which can force facility evacuations. Because of all these factors, remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs) have become critical for ensuring the safety and integrity of deepwater operations. ROVs are typically tethered to a surface vessel by a cable and are controlled remotely by a human operator, while AUVs are self-sufficient and can operate independently without a human operator. These specialized underwater robots are used for a variety of critical under-water applications, which range from monitoring and inspection to rescue and repair. This paper discusses recent advancements in the use of ROVs and AUVs in deepwater operations, specifically focusing on design considerations as defined by the interplay between water depth, buoyancy, propulsion and stabilization requirements during service operations. It also covers auxiliary tooling systems - the various tooling kits used for inspection, repair, and maintenance missions, all of which are fundamental to maintaining the safety and reliability of subsea systems. Finally, the paper explores innovations in the range of capabilities for special missions, deployment techniques, power sourcing options, the effect of different communication systems on the degree of autonomy and the range of underwater vehicle navigation systems.
- Energy > Oil & Gas > Upstream (1.00)
- Electrical Industrial Apparatus (1.00)
ABSTRACT This paper presents two systems developed by Tecnomare aiming at increasing the efficiency in performing underwater telemanipulation tasks. The first system is a non contact measuring device which, on the bas is of stereoscopic TV image processing, can provide 3D coordinates of points imaged by means of a stereo TV camera, even in case of relative motion between cameras and working scene. Current and future applications of this system are relevant to underwater robotics, navigation, surveys, archaelogy and biology studies. The second system is the supervisory controlled telemanipulation system which includes as key components the TV-Trackmeter and the supervisory control computer. The main features of this telemanipulation system are:–computer aided control of arm movements; –high level man-machine interface; –ability to measure the geometry of the work environment, by means of the TV-Trackmeter; –ability to carry out typical underwater N.D.T. tasks; –automatic compensation for manipulator base movements. The increase of operational efficiency of this system with respect the traditional master/slave approach is demonstrated by dry and wet laboratory tests performed on a full acale platform node. INTRODUCTION The increasing use of R.O.V.'s (Remotely Operated Vehicles) and underwater robotics in the offshore industry for platform inspection/maintenance, for work on deep water subsea well completion etc., is evident. As a matter of fact the use of remotely controlled robot instead of divers means more safety for human beings and better economics especially with reference to saturation diving intervention. Unfortunately the currently available underwater robots cannot fully replace the divers except in a restricted set of simple tasks: divers are still necessary to perform tasks such as close visual inspection, N.D.T. (Non Destructive Test) inspection, maintenance operations, etc. Furthermore, the available underwater telemanipulation systems require extensive training for the operators and the practical execution of tasks generally requires more time than is reasonable to foresee. The basic reason for this is related to the simple master/slave approach used in these systems. In fact, they typically cons is t of a slave underwater arm mounted on an R.O.V.; such an arm is remotely controlled by a master arm which is a scaled replica of the slave and is placed in the R.O.V. control room. The operator uses the master to move the slave and he monitors the task execution by means of one or more TV cameras. Needless to say this approach is rather limited and very often it results in a dangerous and time consuming trial and error process. The system presented in this paper aims at solving such problems in order to dramatically enlarge the applicability of underwater robotics by increasing its efficiency and reliability even in the execution of complex tasks such as N.D.T. inspections. The key components of this system are the TVTrackmeter and the supervisor control computer: basically the TV-Trackmeter provides a geometric modeling of the working scene while the supervisor control computer, on the basis of this geometric modeling, provides a useful interface between operator and robotic arm. With this approach the operator is still in control of the system by means of high level commands such as "fetch the tool A", "clean the node", "move the N.D.T. probe up" and so on, while the computer translates such commands into low level motion commands to be implemented by the robotic arm.