Proceedings of the Eleventh (2001) bTternational Offshore and Polar Engineering Conference

Stavanger, Norway, June 17-22, 2001

Copyright 2001 by The International Society of Offshore and Polar Engineers
ISBN 1-880653-51-6 (Set); ISBN 1-880653-52-4 (VoL I); ISSN 1098-6189 (Set)

Autonomous Subsea Tie In System (AUSTIN) for Large Diameter Pipelines

in Deep Waters
Jostein Aleksandersen, Ivar Langen, Morten Meling and Audun Lien
Stavanger University College
Stavanger, N o r w a y

ABSTRACT

One hour of installation time offshore cost about 30 000 NOK, hence a
focus on mobilization and marine operations time is of essence in the
development of a new tie in system.
The objective of this paper is to present a conceptual design of a tie in
tool that shall be used to connect a 28" spool piece to a subsea structure
and a flow line at a water depth of 1000 m. (Meling, 2002 and Lien,
2000) However, neither the pipe dimension or water depth are
limitations, but are chosen as a basis for conceptual considerations.
The design process has been divided into two, a mechanical design and
a mechanical analysis part. This paper will focus on the design part, and
will be based on an iterative process with the analysis part. This process
will ensure an optimal design regarding capacity and functionality of
the tie in tool.
All design drawing and analysis have been done with the computer
program I-DEAS (Integrated Design Engineering Analysis Software),
which facilitates FEM analysis as well as regular 3D-modelling.

Existing tie in systems for large diameter pipelines in deep water are
often large in size and complicated, and require many time consuming
operations. Furthermore, most of today's systems are limited to a
maximum pipe diameter of 20".
Subject paper describes a new development of a simple, yet reliable, tie
in system for large diameter pipelines in deep waters down to 2500
meters. The system is based on simple modularized tie in heads, one at
each end of the pipeline spool, integrated with hydraulic control and
communication packages. Primary communication and control is
conducted from a PC on a vessel via acoustic modems to conduct pull
in, alignment, and connection as well as seal testing and seal
replacement if required. Secondary control can be done via a standard
work class ROV should primary control & communication system fail.
During operations the tie in spool is deployed from the support vessel
with the tie in heads installed, one at each end. Upon reaching the tie in
location subsea, pre installed guide posts on subsea terminations as well
as guide funnels on the tie in heads will roughly align the pipe spool.
Following rough alignment, the tie in head in each end will be operated
from the vessel PC while ROV provide the camera for visual feedback
to operator.
Initial time savings analysis indicates that subject tie in system has a
potential of cutting operations time down 50-70% as compared to
existing systems on the market today. Further, due to the simplicity of
the system, it is believed that tie in operations can be conducted far
more safely than is the case today due to fewer lifting and other
associated operations.

BACKGROUND
Connection method. There are several ways of connecting a flow line
to a subsea structure. Methods such as "Deflect to connect" and use of
flexible pipelines are widely used today, but the use of a rigid steel
spool is considered to be the best way of pipeline connection in the
given environment at 1000 m water depth and deeper. This method can
be used both at the start and end of the pipe-laying process. The
advantages of a spool piece are among others its flexibility and the
relatively simple process of reversing the installation process if
necessary. This is especially important in deep waters where the cost of
accessibility is high. The spool piece is fabricated on the basis of
accurate geometrical measurements (Metrology) of the area where the
spool is going to be installed. The spool is chosen to have a zconfiguration, i.e. it is shaped as a z, which is a very flexible
configuration.

Key Words: Tie in, Autonomous, Large Diameter Pipelines, Subsea

INTRODUCTION
The trend in the development of offshore oilfields is towards smaller,
marginal fields at deep waters. In several parts of the world, oil and gas
reserves have been found at water depths of 1000 m and below.
Existing systems for tie in operations today are usually designed for
deep waters, but the majority of the systems have a limited pipe size
capacity of about 20". These systems are often big and complicated, and
require several time-consuming, and expensive marine operations to
install and operate. A new, relatively small and efficient tie in system
could potentially reduce the cost of tie in operations considerably.

Operations. The installation of the spool piece can only be performed

after the subsea structure has been installed, and a flow line has been
laid within a predetermined area, see figure 1 in attachment 1. The
spool is installed from a surface vessel, and is deployed on the seabed
with aid of a running tool. The installation is guide wire based using
one guideline and two guide pins with different length. The spool is
lowered down onto the longest guidepost using the guide wire for
direction. A ROV then maneuver the spool piece into a position where

19

aluminum frames and tools for change out and seal cleaning generally
mounted separately on the ROV. These tools can be used for different
tie in operations in the same area without recovering the tool to the
surface, which is impossible with the ROT's and the heavier ROT
Derived systems. ROV carried tie in tools can only be used to connect
flexible pipelines.

it can enter the second guide post. The use of only one guide wire
eliminates the risk of guide wire-entanglement. The guide wire is
deployed from the surface vessel, but in waters of 1000 m and below,
there are risks of an entanglement of the guide wire and the spool piece
deployment wire. This risk could be reduced with the use of buoyancy
devices in mid-waters for guide wire anchoring.
The operation is based on the following requirements:

The spool piece shall be installed with a minimum distance

between the spool piece terminations and the terminations on the
flow line and the subsea structure

Minimum size and weight of the equipment placed on the spool

piece termination.

Number of subsea operations should be kept to a minimum.

Only one vessel under all phases of the installation.

Only one work-class ROV under all phases of the installation.

A comparison of tie in tools and properties are given in Table 1.

Table 1. Comparison of tie in tools

--~.

,7"

,-~

g.

STATE OF ART OF T I E I N SYSTEMS

The technology associated with diver less connection systems has
developed greatly over the last decade and there are several companies
producing equipment for pull in and connection. The connection
methods that are used are basically vertically deployed pull in systems
and, more recently, horizontal pull in systems. Most of the early
systems involved connections that were vertically orientated to allow
direct access from the surface i.e. Stab and Hinge over systems.
However, one of the limitations in today's systems is the capability of
handling pipe dimensions over 22". In the following a presentation of
existing tie in methods and tools used for tie in operations is given.
Tools. There are basically to main types of tie in tool design used today,
Remotely Operated Tools (ROT) and Remotely Operated Vehicle
(ROV) based systems.
ROT
was originally developed to facilitate horizontal connection.
These modules typically use a guide wire system for deployment on the
seabed, and utilized a separate Pull-in Tool and Connection Tool
(PICT). These tools are controlled through a surface umbilical and
require dedicated handling systems for deployment. Newer versions of
these tools combine the pull-in and connection functions in one module.
A ROV with camera is needed to monitor the operation. A big
disadvantage of these systems is the possibility of entanglement of ROT
and ROV umbilical, especially in deep water.
R O V based systems. The need for deep-water operations from Diving
Support Vessel (DSV) has resulted in the development of ROV based
connection systems. There are several of these systems in use and in
development both by Subsea Hardware Manufacturers and by Subsea
Installation Contractors. Two design approaches are used for the ROV
based system, ROT Derived and ROV Derived.
ROT
derived systems are generally downscaled versions of the
original ROT system. They are either lowered down to the subsea
structure onto two guide posts by using to guide wires, or deployed on
the seabed in a basket and then located on the structure by the ROV.
Tools that are carried by a ROV has to be near neutral in water. The
ROV will then provide power and control services instead of using a
separate surface umbilical. When the connection is done, the tools is
flown by the ROV to the basket, or recovered direct from the subsea
structure with use of a crane on the installation vessel.
ROV Derived systems are "all-in-one" tools where the ROV and the
connection tools are integrated in the same module. They all use
intervention skids mounted on the underside of the ROV and operate on
the same basis i.e.

anchor the pull-in lines to the structure,

reverse to the termination and dock on,

pull-in to the structure and connect

yes

no

yes

14"

2 5x3.5x5

7.1

2000

40

500

Kongsberg
Offshore

CAT

no

yes

no

12"

lxlx2

ICARUS

yes

yes

yes

22"

lx2x0.5

1600

N/A

N/A

3.5

2000

20

250

Rockwater/
Haliburton
ABB

PICT

yes

no

yes

10"

2.5x3.6x5

12

Big B r o t h e r R T S

yes

yes

yes

28"

2.3x3.6x4

350

30

N/A

Kv2erner

1500

40

800

Kv~erner

UTIS

DFCS

yes

no

yes

18"

0 8x2x3.2

1.75

900

10

N/A

SonSub

DRT

no

yes

no

42"

5x6x7

60

600

N/A

N/A

CIF

no

yes

no

22"

5x4x6

25

600

N/A

1670

CVC

yes

yes

no

18"

4xl.5x2.1

N/A

N/A

N/A

Rockwater/
Stolt Comex
Rockwater/
Stolt Comex
Cameron

Operations. All systems used for connecting pipelines under water are
based on the following three main operations:

Pipeline terminations are pulled together

The terminations are aligned to each other

A physical connection is established between the terminations

Pull-in operations are mostly done with winch and wires. The tool is
connected to either the termination on the pipeline or on the subsea
template. A wire is then connected to the end opposite of the tool, and a
winch is used to pull the ends together. Tie-in systems for rigid steel
spools often use a mechanical connection, either between two tools at
each side of the ends to be connected, or a tool that enclose both ends.
Alignment. In order to connect a pipeline, the two ends that shall be
connected, have to be aligned to each other. In most of the tie in
systems that use wires for pull-in, the alignment operation is done
passively i.e. the end termination is pulled up in a guide funnel, and the
final alignment is done when the two flanges physically meets.
Connection. The connector is often placed on the spool termination,
and the other end is pulled into the connector. A metal seal is placed inbetween the two terminations. A tool, either separate or integrated in the
tie in tool, is used to clean the end terminations and replace the metal
seal if necessary. It also has a pressure test function to test the
connection for leaks.
Pipe Connectors. There are three main types of pipe connectors that
are of interest to use in deep waters, bolted flange, clamp connector and
Collet connector. Common requirements for all connectors are as
follows:
Possibility to test for leakage after installation.
Ability to install, test and recover without use of divers.
Possibility to disconnect and reconnect several times.
Same field life as the other subsea equipment.
Easy installation process.

The ROV derived systems all use two pull-in lines, have lightweight

20

 Possibility of connector seal replacement.

Table 3 gives an overview of weights of different spool configurations,
and based on chosen material properties.

INSTALLATION PROCEDURE
The main purpose here is to give a description of the tie in system
function, and the presentation is therefore simplified, leaving out some
irrelevant details. ROV activities are shown on a principal level, and
operations like seal cleaning, seal replacement and pressure testing are
left out. The installation process is divided into these main activities:

Table 3 Weight properties of different s 9ool sizes.

Spool size
Weight in
Weight in
Density Steel
(kg/m3)
air (kg)
water (kg)
15x30x15
35 000
30 400
7850
20x40x20
46 700
40 550
25x50x25
58 350
50 750
30x60x30
70 000
60 900
40x80x40
93 350
81 150
55xl10x55
128 350
111 600

Guide Post installation. The guide post installation is the first operation
done in the spool installation process. They are installed on the tie in
porch, at the first end and second end subsea structure. Both first end
and second end structure and all of its structural components have been
previously installed.
Spool deployment. The tools have been placed and locked onto the
spool prior to the spool deployment. This can be done onshore, or on
the installation vessel.

D E S I G N BASIS F O R N E W T I E I N T O O L
The tie in system shall be used for both first and second end tie in of a
rigid steel spool piece to respectively a subsea structure and a flowline.
Water depth is 1000 meters or deeper. The dimension of the pipeline is
28" nominal size or larger and the wall-thickness is set to be 35 mm.
The spool piece is chosen to have a Z-configuration because of its
flexibility. There are mainly two issues concerning the configuration of
a spool piece, expansion due to temperature changes and deflections
during installation of the spool. Forces and stresses due to deflection
during installation are of main interest, and this chapter will focus on
some elements regarding these issues, as well as installation aspects.
Pipeline material data and dimension of a 28" spool piece are listed in
Table 2.

(X65)
210000
448

..

f..

The ROV and the tie in equipment are taken to the surface.

Unit
meter
meter
meter

MPa
MPa

An installation vessel arrives the location with the spool and

installation equipment.
A ROV is launched to monitor and aid the installation process.
Guide wires are established between the seabed and the vessel.
The spool is deployed on the seabed between the two inboard hubs
with a lifting frame and lifting wires.
The lifting frame is disconnected and hoisted to the surface.
A tie in tool is lowered down and locks on the spool ends, or on a
separate running tool and flown to the spool by the ROV.
Seal cleaning, inspection and replacement operations are done if
necessary.
The tie in tool performs the pull in and alignment operations in the
first end of the spool powered by the ROV.
The ROV activates the connection unit and carry out a pressure
test of the connection.
The above operations are repeated in the second end of the spool.

Scale
0.711 (28")
0.641
0.035

f..

.C.

Deflection. The spool is subjected to high forces during the tie in

operation. These forces depend on the size and shape of the spool, and
the deflection of the spool terminations. Axial movement and
vertical/horizontal alignment of the spool end in the pull in operation
are the main causes of deflection.
Spool piece installation. The spool piece has to be installed after the
wellhead structure and the flow line are installed, and its configuration
based on careful geographical measurement of the seabed. The spool is
installed from a rig or a vessel, and is deployed on the seabed using a
lifting frame. An accurate configuration and installation of the spool is
very important regarding the tie in system design and operation.
Guiding mechanism. When installing the spool it is necessary to place
the spool at a right position on the seabed in proportion to the subsea
structure and the pipeline. It is also important to avoid any damage to
existing structures and components on the seabed during installation. To
achieve a safe and accurate installation, the usage of a guide system is
necessary.
General procedure. The main events of the spool installation process are
given below, see figure 1 and 2

A pipe-laying vessel installs the pipeline and the pipe termination

structure.

Accurate metrology of the installation site is perfomred. The spool

is constructed onshore

First end spool connection. After the spool has been deployed on the
seabed and the lifting frame removed, the first end connection operation
can start. This is the "easiest" of the two connection operations, and
requires the least forces.
Second end spool connection. The second end spool connection can
start after the first end is connected. The spool is firmly anchored in the
other end, and the spool requires both alignment forces as well as axial
pull-in force in the second end connection operation. The total force
needed here are much higher than in the first end connection.
First end tool removal & second end tool removal. After the spool has
been connected, the tie in tools are disconnected and hoisted to the
surface.

Table 2 Pipeline Data

Dimensions"
External Diameter (OD)
Internal Diameter (ID)
Wall thickness (T)
Material Data:
Material grade
Elasticity modulus (E)
Specified Minimum Yield Stress (SMYS)

Density Seawater
(kg/m3)
1025

The design should be based on the following general requirements

listed below:

The tie in tool should function without the use of guide wires.

All tie in procedures should be reversible.

Weight and size of the tie in tool should be kept to a

The spool piece is manufactured on the basis of accurate measurements

of the seabed (metrology) where the spool is to be installed. Today's
most sophisticated laser/sonar systems for measurement have a
horizontal and axial deviation of +50 mm, a vertical deviation of +20
mm and an angular deviation of +2.0 .

21

minimum.
The tie in system should consist of as few modules as
possible.

The tie in tool design should be as simple as possible.

The tie in system should permit minimum mobilization and

operational time.

ROV manipulation techniques shall be the primary means of

performing subsea function and control.

No phase of the installation procedure should require more

than one work-class ROV.
The tie in operation can only be done after the spool has been installed
between the incoming pipeline termination and the subsea wellhead that
should be connected, with in the given toleration limits. The main
purpose of the tie in tool is to connect the spool to the pipeline and the
subsea structure. This operation requires that the tie in tool is capable of
three vital operations:

Align pipe terminations to each other

Pull the ends towards each other

Install and/or activate the connection unit

These operations are quite general and are used by most of the existing
tie in tools. In addition to these operations it may be desirably to
incorporate other functions in the tool, like seal change out capability,
connection surface cleaning and pressure testing.
Specifications
On the background of the scenario given, a specification has been made
for the tie in system. These specifications are given in Table 4.

Pull-in beam. The main function of the pull-in beams is to transfer the
forces generated from the pull-in cylinders on the tool to the tie in porch
in each end of the spool. There is a beam on each side of the tool and
they have both mounted guide funnels on the first end tool, and grippers
on the second end tool.
Guide funnels. The guide funnels are mounted on the pull-in beams on
the first end tool. The funnels are used to guide the spool onto the tie in
porch on the subsea structure. A guide wire is threaded through one of
the funnels, and acts as guidance for the spool. Both funnels enter guide
pins located on the subsea structure, and this ensures a correct
placement of the spool on the seabed.
Grippers. The grippers are mounted on the pull-in beams on the second
end tool, and takes hold of the second end tie in porch configuration in
the tie in process. It consists of two saucer shaped plates mounted in the
end of a Y-beam. The gripper is connected to the pull-in beam in the
same way as the guide funnel.
Cylinders. There are six double acting hydraulic cylinders on the tool,
two large pull-in cylinders and four smaller locking cylinders. The
cylinders are powered with hydraulic pressure and actuation signal from
the ROV. This presentation of the cylinders merely presents the number
and location of the cylinders. Sizes and actual configuration depends on
factors, as force required, manufacturer etc.

Soft landing. There are two soft landing cylinders mounted onto the
main structure. These cylinders act as shock absorbers on the tool when
it is deployed on the tie in porch on the seabed. When the tool or spool
is lowered down to the seabed, it could receive quite a large impact
when the spool hitting the subsea structure. This impact could lead to
serious damage to both the spool, tool and subsea structure.
The basic principal behind the soft lands is an oil filled cylinder with a
piston moving back and forth. The piston has holes in it, allowing the
fluid to evacuate through it. This ensures that the piston can move
slowly in an axial direction. The piston is held in an extended position
by a spring mounted on the cylinder.
Corrosion anodes. The corrosion anodes prevent the tool from
corroding in periods of long seawater exposure. The anodes are made of
a zinc alloy, which corrodes instead of the metal of the tool. The
number and sizes of the anodes are dependent on the amount of
corrosion protection needed. Generally, it is wise to disperse the anodes
evenly around the tool to achieve the best effect. There are five anodes
placed on the tool, one on each of the three u-shaped plates of the main
structure, and one on each of the pull-in beams.
ROV interface. The ROV interface acts as an interface between the
ROV and the tool. It is mounted on top of the tool and provides docking
facility for the ROV to lock on to. It also has a panel with actuators
used by a ROV to manually control the hydraulic cylinders of the tool.
The ROV use a robotic arm to manipulate the actuators.

Table 4. Tie in system specifications.

Nominal diameter of pipe:
28"
Pull-in capacity:
30 tons
Alignment capacity:
800 kNm
Stroking length:
0.6 m
Pipeline location tolerances: *
- Axial
+/- 0.05 m
- Sideways
+/- 0.05 m
+/_ 2 0
- Horizontal angle
+/_ 20
- Vertical angle
Control system:
Actuation system:
System deployment:
Guiding system:
Power supply:
Light:
Camera:

Hydraulic
Hydraulic
Spool/Running tool
Guide wire
ROV
ROV
ROV

TIE I N T O O L P R E S E N T A T I O N
The conceptual design of the tie in tool is presented in the figure 3 and
4. The design that is shown in the figures represents the conceptual
design.
Main structure. The main structure makes up the frame of the tie in tool.
It provides structural stiffness and absorbs the main forces in the pull-in
operation. It also functions as a reference for the other parts of the tie in
tool. To make this as rigid as possible, it is important to have interacting
stiffeners both lateral and axial. The goal is to make it as stiff as
possible, and in the same time make it as light as possible.
Glide tubes. There are four glide tubes mounted on the tool. These tubes
are function as a reference structure for the pull-in beams mounted on
each side of the tool. The beam is held in place lateral and vertical by
the tubes, but is allowed to move freely in axial direction. These tubes
also contribute to the rigidity of the tool, being quite solid and placed on
each corner of the main structure.

STRESS ANALYSIS
Finite element analyses of the structures have been performed for
different load cases associated with first end and second end pull in.
The results show acceptable stress levels in the different parts of the
structure for actual load cases

RESULTS
Different properties of the new tie in tool that has been designed are
given in Table 5, together with properties of similar tie in tools used
today. The table has the same property categories as Table 1.
Table 5 Comparison matrix of the new tie in tool

22

~-~
.~:

~:
~-

~
~

of tool in both ends of the spool is also an advantage, because of the

reduced need for spear tools in the spool installation process.
The tie in system is characterized to be quite optimal regarding subsea
operations. The operations involved are basically required operations
like spool deployment, tool activation and tool removal. There are no
operations involving equipment movement or tool relocation on the
seabed. The elimination of subsea operations is vital to the overall cost
of the pipeline connection process, since 80-90% of the overall costs are
related to offshore installation.
FURTHER WORK

;z
t~

%"

~Z

t.<
c~

t<

AUSTIN

yes

yes

yes

28"

3xl.8xl.5

4.5

2500

30

800

ICARUS

yes

yes

yes

22"

lx2x0.5

3.5

2000

20

250

Authors
ABB

BBRTS

yes

yes

yes

28"

2.3x3.6x4

1500

40

800

Kva~rner

DRT

no

yes

no

42"

5x6x7

60

600

N/A

N/A

Rockwater/
Stolt C o m e x

CHC

yes

yes

no

18"

3xl.5x2.1

N/A

N/A

N/A

Cameron

Further, as an alternative to using ROV for tie in operations, there

should be a further study of elements on the first and second end
structure that are included in the tie in system. The reaction structure
and the lock pin configuration should be subjected to detailed structural
analysis. In addition, there should be performed detailed structural
analysis of critical elements of the tool, such as the grippers, which
have not been included in this part of the tool development process.
could be developed a complete hydraulic actuation and control system
for the tie in tool. The link between the tie in tool and surface could be
via cable or alternatively acoustic modems. To facilitate secondary
operating system, a ROV interface and communication system could
also be developed.
Small scale testing of the tool is recommended to verify principles and
concept.
In the final step of the tie in system developing process, there should be
a risk analysis based on the spool installation process. This will evaluate
different risk aspect connected to the installation, and possible risk
reducing alternations.

The new tie in tool is called AUSTIN (Autonomous Subsea Pipelines

Tie In System).

CONCLUSION
There are very few tie in systems on the market to day that are capable
of connecting big pipelines (28") on deep water levels (1000 m and
beyond). Kva~rner's Big Brother tie in system is the only one of the
systems evaluated that is capable of connecting a 28" pipeline at 1000
m. This system was used for the first time in the summer of 1999.
The tie in operation of a 28" rigid spool requires the use of relatively
high forces. The pull-in capacity of 300 kN and the alignment capacity
of 800 kNm sets high demands to performance and structural strength
of the tie in tool. The design has been modified through an iterative
process with the structural analysis, and the final design is optimized
with regards to structural strength and rigidity.

REFERENCES
Meling, M.O.(2000): "Autonomous Subsea Pipeline Tie In S y s t e m Mechanical Design", MSc Thesis Department of Mechanical
Enginering and Material Science, Stavanger University
College, Stavanger
Lien, A (2000):Autonomous Subsea Pipeline Tie In SystemMechanical Analysis, MSc Thesis Department of Civil
Engineering, Stavanger University College, Stavanger

The tool is quite simple. There are only three mechanisms on the tool,
the pull-in, spool lock-on and the tie in porch lock-on mechanism.
Having few mechanisms is considered to be an advantage, as the
possibility of failure is reduced on a simple tool. Use of the same type

--r--

Win~

Lifting wire

Guide line

~
W e l l l ~ Struct'~, ~
l
~

\
I

Guide funnel

Spool piece
~ N-] ~ ~
~
/--~).eline termination

23

Installation vessel

A: Establish guide pros guide posts and gmde.meswlres

B" Deploy spool piece

1"

"

Figure 1 Spool installation

Lifting wire

Tie in tool
2~ Guide funnel
Wellhead structure
~

Pipeline termination
J,

Spool
.

(~/: e~o~y~e'nt o /nt~~sp o

_-

Control Umbilical
Guide pin

Wellhead structure

ROV
-t

Pipeline termination

Tieintool

///////Z
D: Connect tie in tool to spool termination
E: Remove guide pin and guide line Why remove the guide posts on a first end tie-in?? Isn't the guide posts the reaction point during
stroking operation.

Control Umbilical

ROV
Wellhead structure

. ~ _
Tie in tool

?2%L.~.

24

Spool

F: ROV docks on the tie in tool and supplies hydraulic power and control signals
G: Tie in tool pull in spool end and align terminations
H. ROV activate connection unit
Figure 2 Tie in operation

Figur 3 AUSTIN First end tool

25

".~-i

', ~

"~t',<,,,.;;,~-.+'~-

/9'.

..: ~ , ,

x.

..,

, ,~.~y~,.

..,..
ai{~).....

.<-S;~>I i~:ig.:>~-:..;:
......
i!{~... :::}%
,'(>'%..~"
<7 ~;"
,>.>
, . . ~ ' , : .,0(~""
,
.,f../.-..: . .::'
. < < , ,SG~
..,t.. ........

Tool with guide funnels

.~!il

~i iii~>~"5~:>"
.~?'~i:!;;;
>~~:7:~','':-~
(

,,a

,";
,

.... / /

.,

(~..~,,x,~ .71,..*" /.

if"

. . . . ..%.-~.
/1

i: ~.i I
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........
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Tool with grippers

Isometric view from below

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Tool with pull-in beams extended

Figure 4 AUSTIN. Different tool configurations

26