Subsea infrastructure inspection: A review study

Maï, C.; Pedersen, Simon; Hansen, Leif; Jepsen, Kasper Lund; Yang, Zhenyu

doi:10.1109/usys.2016.7893928

Cited by 43 publications

(40 citation statements)

References 9 publications

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“…One of the underwater mapping applications for which there is growing commercial demand is the inspection, maintenance, and repair of subsea infrastructure. These applications comprise a variety of tasks, such as inspecting long pipelines that connect wells to manifolds, surveying "christmas trees", and operating equipment [5,57]. At the present, most of these tasks are performed using Remotely Operated Vehicles (ROVs), which require skilled pilots and the deployment of expensive support ships.…”

Section: Inspection Maintenance and Repair (Imr)mentioning

confidence: 99%

Dense, Sonar-based Reconstruction of Underwater Scenes

Teixeira¹

2019

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Section: Inspection Maintenance and Repair (Imr)mentioning

confidence: 99%

Dense, Sonar-based Reconstruction of Underwater Scenes

Teixeira¹

2019

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“…ROVs have long been used to perform inspection and observation tasks, an application that they are especially suited for due to their fine motion control. These applications use such robots to inspect man-made underwater objects [10], including complex structures such as subsea facilities [61] and ship hulls [62]. However, these inspection tasks are becoming increasingly more automated, with specialty vehicles such as the Bluefin Hovering AUV (HAUV) being used to autonomously scan and map ship hulls [63], generating motion plans dynamically to inspect complex sections of the hull including the propeller [64].…”

Section: Inspectionmentioning

confidence: 99%

“…Teleoperation via the surface tether means that they essentially lack all but basic autonomy, and are tethered to a surface platform for power and control, limiting their range. As such, they are designed specifically for applications that require dexterous intervention, close inspection, or precision sampling [10].…”

Section: Chapter 1 Introductionmentioning

confidence: 99%

Underwater and out of sight: Towards ubiquity in underwater robotics

Rypkema¹

2019

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The Earth's oceans holds a wealth of information currently hidden from us. Effective measurement of its properties could provide a better understanding of our changing climate and insights into the creatures that inhabit its waters. Autonomous underwater vehicles (AUVs) hold the promise of penetrating the ocean environment and uncovering its mysteries; and progress in underwater robotics research over the past three decades has resulted in vehicles that can navigate reliably and operate consistently, providing oceanographers with an additional tool for studying the ocean.Unfortunately, the high cost of these vehicles has stifled the democratization of this technology. We believe that this is a consequence of two factors. Firstly, reliable navigation on conventional AUVs has been achieved through the use of a sophisticated sensor system, namely the Doppler velocity log (DVL)-aided inertial navigation system (INS), which drives up vehicle cost, power use and size. Secondly, deployment of these vehicles is expensive and unwieldy due to their complexity, size and cost, resulting in the need for specialized personnel for vehicle operation and maintenance.The recent development of simpler, low-cost, miniature underwater robots provides a solution that mitigates both these factors; however, removing the expensive DVL-aided INS means that they perform poorly in terms of navigation accuracy. We address this by introducing a novel acoustic system that enables AUV self-localization without requiring a DVL-aided INS or on-board active acoustic transmitters. We term this approach Passive Inverted Ultra-Short Baseline (piUSBL) positioning. The system uses a single acoustic beacon and a time-synchronized, vehicle-mounted, passive receiver array to localize the vehicle relative to this beacon. Our approach has two unique advantages: first, a single beacon lowers cost and enables easy deployment; second, a passive receiver allows the vehicle to be low-power, low-cost and small, and enables multi-vehicle scalability.Providing this new generation of small and inexpensive vehicles with accurate navigation can potentially lower the cost of entry into underwater robotics research and further its widespread use for ocean science. We hope that these contributions in low-cost underwater navigation will enable the ubiquitous and coordinated use of robots to explore and understand the underwater domain.

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“…Robots have many advantages as used in numerous of tasks [4][5][6][7][8][9] and able to work in a dangerous environment [10]. For example, underwater robots are used for mapping the sea floor, military and surveillance, welding, inspections and assembly have seen remarkable growth [11,12].…”

Section: Introductionmentioning

confidence: 99%

Development of Remote Operated Vehicle (ROV) Control System using Twincat at Main Control Pod (MCP)

Aliff¹,

Raihan²,

Ismail³

et al. 2019

IJITEE

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The remote operated vehicle (ROV) basically tethered underwater robot. Thus, this research to replace the current PCB based in main control pod (MCP) which are not available in the production line into the Programming Logic Control (PLC) based. The new control system by using TwinCAT software and the network connection between ROV and PLC has been developed. In revamping the control system, it will allow for the ability to connect modules together with hardware and/or software modification. The maintenance cost of new control system is inferior compared to the existing PCB card. Moreover, the time required to conduct the maintenance is more inflective buy using PLC. For a real-time data monitoring, the ROV will used graphical user interface (GUI) to controlling the operation. The new control system performance is assimilated with existing control system in MCP at ROV

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Subsea infrastructure inspection: A review study

Cited by 43 publications

References 9 publications

Dense, Sonar-based Reconstruction of Underwater Scenes

Dense, Sonar-based Reconstruction of Underwater Scenes

Underwater and out of sight: Towards ubiquity in underwater robotics

Development of Remote Operated Vehicle (ROV) Control System using Twincat at Main Control Pod (MCP)

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