DEPARTEMEN TEKNIK KELAUTAN GENAP 2021-2022

PERENCANAAN STRUKTUR LAUT DALAM

BAB VII

UNDERWATER ROBOTIC SYSTEM

MURDJITO
Department of Ocean Engineering – ITS, Gedung WA
Kampus ITS – Sukolilo, Surabaya 60111
e-mail: [email protected]

Surabaya, Marc 2022

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 Introduction

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 Underwater Vehicles

Underwater Technology ROVs

http://www.youtube.com/watch?
v=LfnrJRx8XNs

Source: Robert D. Christ, 2007

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 Autonomous Underwater Vehicle

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 Depth Vs Technology

Source: Pere Ridao, Universitat de Girona

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 Marine Robots

Source: Pere Ridao, Universitat de Girona

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 power and control system
Underwater vehicle power and
control system

Communications
Power source Degree of
linkage
autonomy

1. Surface- 1. Fully autonomous systems Operator linkages:

powered vehicles 1. Hard-wire 1. Telemetry
2. Semi-autonomous
communication 2. Tele-presence
2. Vehicle-. 3. Tele-operation 2. Acoustic
powered vehicles 4. Remote control communication
3. Control
3. Hybrid system 3. Optical communication 4. Records
4. Radio frequency (RF)
communication

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 Underwater Vehicle Variations

Manned Technician sitting in No human supervisor

submersible pilot pilot supervising front of control directly controlling the
sitting aboard the the systems console on the vehicle. The vehicle
vehicle underwater surface (or other controls of the
in the pilot’s seat submerged Autonomous
manning the platform) with tether Underwater Vehicle
controls or other data link to (AUV) are pre-
the submersible programmed,

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 ROV: TYPES AND ANATOMY

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 ROV characteristics
• Minimal tether diameter (for instance, a single
strand of unshielded optical fiber)
• Powered from the surface having unlimited
endurance (as opposed to battery operated with
limited power available)
• Very small in size (to work around and within
structures)
• Have an extremely high data pipeline for sensor
throughput.

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 Anatomy of ROV
Tether/
Basic ROV system components cable
Light/
Source

Camera
Remotely Operated Vehicles
(ROVs) is a camera mounted in
a waterproof enclosure, with Claw Propellers
thrusters for maneuvering,
attached to a cable to the
surface over which a video
signal is transmitted
Source: Robert D. Christ, 2007

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 Observation ROV - Sea Maxx
ROV Class
• Survey ROV Survey ROV – Superior Survey ROV

• Inspection ROV
• Observation ROV
• Bottom-Crawling
Work-class ROV – Panther Plus
Vehicle
• Work ROV Inspection ROV - Falcon

• Special use
• AUV
Bottom-crawler - XT300

HUGIN 1000 AUV Source: Jens Christian Lindaas, 2020

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 Inspection ROV
Inspections ROVs is remotely controlled and receives energy from the
surface. Propulsion is achieved through wheels/belts or with thrusters.
objective of performing inspections tasks:
•inspection of submerged structures,
•anchoring points,
•subsea production systems
three different categories:
1.General visual inspection, and simple measurements readings (cathodic
protection measurements),
includes detecting if there are any damages to structures, checking the general
condition of structures and search for lost objects.
2.Closer visual inspection. The vehicles are often equipped with rotating brushes or
water jet system to clean structures before inspection.
3.Detailed inspection, where NDT (non-destructive testing) is performed to check
the conditions of the structures. NDT equipment for these vessels can be based on
ultrasound (investigate wall thickness of material), the eddy current principle (locate
and depict cracks) or MPI (Magnetic Particle Inspection).
Source: Jens Christian Lindaas, 2020

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 Aplikasi
Dam Inspection

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 Dynamic Positioning (DP) system

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 DP System
• A system which automatically controls a vessel’s position and heading
exclusively by means of active thrust, includes remaining at a fixed
location, but also precision manoeuvring, tracking and other specialist
positioning abilities.

IMCA, 2003

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 ADVANTAGES

• Vessel is fully self-propelled; no tugs are required at any stage of the

operation
• Setting-up on location is quick and easy
• Vessel is very manoeuvrable
• Rapid response to weather changes is possible (weather vane)
• Rapid response to changes in the requirements of the operation
• Versatility within system (i.e. track-follow, ROV-follow and other
specialist functions)
• Ability to work in any water depth
• Can complete short tasks more quickly, thus more economically
• Avoidance of risk of damaging seabed hardware from mooring lines and
anchors
• Avoidance of cross-mooring with other vessels or fixed platforms
• Can move to new location rapidly (also avoid bad weather)

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 DISADVANTAGES

• High capex and opex

• Can fail to keep position due to equipment failure
• Higher day rates than comparable moored systems
• Higher fuel consumption
• Thrusters are hazards for divers and ROVs
• Can lose position in extreme weather or in shallow waters
and strong tides
• Position control is active and relies on human operator (as
well as equipment)
• Requires more personnel to operate and maintain
equipment

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 ELEMENTS OF DP SYSTEM 1/2
• DP computer
– The computers may be installed in
single, dual or triple configurations,
depending upon the level of
redundancy required. Modern
systems communicate via an
ethernet, or local area network
(LAN), which may incorporate many
other vessel control functions in
addition to the DP.
• Control Console
– the facility for the DPO to send and
receive data
• Position Reference Systems
– differential global positioning
(DGPS), taut wires, hydroacoustics,
(HPR), and line-of-sight laser or
microwave systems.
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 ELEMENTS OF DP SYSTEM 2/2
• Heading Reference
– DP vessel’s heading is provided by one or more
gyro compasses, which transmit data to the DP
control system
• Environment Reference
– Wave, current and wind force monitoring
system DP Control
• Power Systems
– Many DP vessels are fitted with a diesel-electric
power plant with all thrusters and consumers
electrically powered from diesel generator sets.
• Propulsion Systems
– three main types of thruster are fitted in DP
vessels; main propellers, tunnel thrusters and
azimuth thrusters

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 DP Classification
• DPS-0
– For vessels which are fitted with centralized manual position control and
automatic heading control system to maintain the position and heading (Station
Keeping) under the specified maximum environmental conditions.
• DPS-1
– For vessels which are fitted with a dynamic positioning system which is capable
of automatically maintaining the position and heading (Station Keeping) of the
vessel under specified maximum environmental conditions having a manual
position control system.
• DPS-2
– For vessels which are fitted with a dynamic positioning system which is capable
of automatically maintaining the position and heading (Station Keeping) of the
vessel within a specified operating envelope under specified maximum
environmental conditions during and following any single fault, excluding a loss
of compartment or compartments.
• DPS-3
– For vessels which are fitted with a dynamic positioning system which is capable
of automatically maintaining the position and heading (Station Keeping) of the
vessel within a specified operating envelope under specified maximum
environmental condition
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 DP Class Notations

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 DP Operation
References

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 Terimakasih
Thank you

Q&A

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 Subsea production and processing equipment

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 Subsea Engineering

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 What is Subsea

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 SUBSEA INTEGRITY MANAGEMENT

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 Definition and Scope

• a proactive process to maintain the safety and function of a

component or system associated with subsea applications.
• Subsea process equipment:
– Wellhead and Tree
– Jumpers/ Spools
– Flowlines/ Pipelines
– Risers
– Umbilicals, Power Cable, Flying Leads
– High-Integrity Pressure Protection System (HIPPS)
– Control and Monitoring System
– Subsea Processing Equipment
– Subsea Manifolds/Structures
– Foundation

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 Risers

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 Flexible Riser Design Methodology
1. Determine pipe components 10.Dynamic Analysis (Far, Near &
2. Select material for pipe components Transverse cases)
3. Determine stress levels within each 11.Inplace PLEM Tie-in Connection
layer Analysis
4. Check hydrostatic collapse 12.Fatigue Analysis
5. Check crushing capacity of carcass 13.Riser Interference Analysis (with riser
(installation) & with Hull)
6. Check erosion of carcass (solid 14.On-Bottom Stability (defines
particles, erosion) submerged weight)
7. Calculate gas diffusion corrosion 15.Dropped Impact Resistance
(CO2, H2S) 16.End Fitting Design (internal pressure)
8. Assess Reverse End Cap Effect (bird
17.Riser Top Bend Stiffener Design (over
caging of wires)
bending)
9. Cathodic Protection (bracelet anodes)

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