Introduction to ROVs

June 7th 2014

Sergio Cassano
Contents
• Remote System Types
• ROV Tools & Tasks
• Limitations on ROV Use
• ROV Vessels
• ROV Launch and Recovery
• AUV Systems
• The Future
• Conclusions

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Remote Systems
• Unmanned underwater robots
• Designed to carry out tasks underwater without putting a man in the water
• May be neutrally buoyant (free swimming) or heavy in water (bottom
crawling)
• ROVs are connected to a surface control station by an umbilical cable

– Power, control and video signals

transmitted through the umbilical
– Usually powered electrically or electro-
hydraulically
– Controlled by an operator from the
surface control station
• AUVs are completely autonomous

– Neutrally buoyant
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History
Technology Date Status
Air divers Always
Sat Divers 1970 to Now Declining population
1Atmosphere Suits 1970 Never caught on
Manned Submersibles Early 1970’s Totally replaced
Eye Ball ROV 1970 to now Mature product
Work class ROV 1975 to now Mature product
Deep work class ROV 1985 to now Current technology
Scientific/Military AUV 1970 to now Active development
Oil and Gas AUV 2003 The future

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Remote Systems

Classes of ROV
• Observation Class (ObsROV)
• Work Class (WROV)
• Special
- Cable Burial
- Dredging
- Military
- Mining
Classes of AUV
• Non hover capable
• Hover capable

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Hercules Mk IIB Work Class ROV
• 3000m depth rating
• Neutrally buoyant
• Syntactic foam buoyancy
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• 125 Shaft HP hydraulic power unit
(3,000v)
• 8 Servo controlled hydraulic thrusters
• Thrust - Horizontal 850kg
- Vertical 450kg
• 2, 12 station solenoid valve packs
• Dimensions - Length
2400mm
- width 1850mm
- Height 2050mm
• Weight in air approx 3 Tonnes
• Single (dry) electronics pod with extra task
specific pods
• HV electrical supplies
• Fibre optic Data and video communications
• CCTV & digital stills cameras
• 2kW variable intensity lighting
• Auto heading, depth and altitude
• Pitch and roll control
Observation Class ROV

• All Electric
• Smaller size
• Less capability
• Can access smaller spaces
• Less cost
• Easier to mobilise
• ObsROV Tasks
- Diver Support
- Flying Camera
- Platform (Visual) Inspection
- FMD (Flooded Member Detection)
- CP (Cathodic Protection)
- WROV support

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“Special” ROVs - Diamond Mining Machine

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Control Station

• ROV & TMS/Garage Controls

– Joysticks
– Primary controls
• Touchscreen expandable Auxiliary
Controls
• CCTV, Sonar and navigation display
monitors
• Video Recording, Switching and
Distribution Systems

– 16 x 16 S-VHS
video switching and
distribution system
– DVDr
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Electrical Power Distribution
• ROV power distribution systems

– 440V to 3kV transformer systems

– Switching and circuit protection
– Ability to lock off for maintenance
– Line Insulation Monitoring
– Remote on/off control
– Voltage, current & Frequency monitoring

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ROV Tools & Tasks

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Inspection, Repair & Maintenance

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API 17H (Rotary Docking) Intervention Tools
HYDRAULIC POWER UNIT
• Mineral Oil, Control Fluid, Corrosion
• Inhibitor and Methanol Injection
HOTSTABS
• Single & Dual Port
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ALIGNMENT TOOL
• Shock Absorber
• Tool Pitch & Roll Functions
TORQUE TOOLS Rotary
Docking Class 1 to 6
• Valve Override
TORQUE ANALYSER
• Surface Torque Calibration
Linear Actuator Lock-Out
Tool (LALOT)
• Hydraulic Actuator Override
Standard Intervention Tooling

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Mooring Chain Inspection

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Suction Anchor Installation

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Connection Systems - Rigid & Flexible

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Trenching/Cable Burial

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Survey, Visual & Acoustic

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Applications - Umbilical Survey

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Limitations on ROV Use

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 Limitations on ROV Use

• System Types
– All ROV systems and installations are different
– Changes in ROV types and vessels can cause project problems and rework
• Extreme Currents
– Operations in currents of up to 2 knots are usually possible.
– Keeping deployed tether length to a minimum can assist when working in high
currents
• Extreme loads
– We can drag hydraulic flying leads (HFL) and electrical flying leads (EFL), cobra
head stabplates
– Typically start to struggle between 50 -100Kgs of in water weight,
– Stiffness of umbilicals can cause problems.
• Access
– ROV access needs careful consideration
– See ISO 13628-8
– ROV is right handed

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Limitations on ROV Use
• Large skids
– Increased in water drag
– More difficult to manoeuvre
– Can cause difficulties for launch and
recovery
• Manipulators
– Can lift 200kg max (120 kg at full reach)
– Requires the ROV to be sitting on
something hard!!
– Cannot lift it all if free flying, the ROV
effectively sinks
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– Ballast and trim of the ROV is critical
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 Limitations on ROV Use

• Rigging
– Big loads come from
rigging especially wire
ropes
– ROV compatible hooks
and shackles get bigger
as the loads increase
– Padeye needs to be
orientated to available
movement of hook
– Above 50-100kgs in
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water weight Kevlar
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Failures
• Operational damage
• Collisions with subsea hardware
• Launch/recovery in high sea
states/currents
• Tether damage
• Manipulators
• Manipulator mounting brackets
• Poor task planning
– Operational procedures
• Cables,TMS/ROV motors, thrusters,
cables
– Poor installation, inexperienced
operators

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Failures

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ROV Vessels

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Survey/ROV Support Vessel
KOMMANDOR 2000
• Length Overall - 78.5m
• Beam Moulded - 13.5m
• Deck Area - 275m²
• Main Crane - 5 tonnes
• Max Speed – 14 knots
• Accommodation – 60
• Moonpool launch ROV system
• Optional side launch ObsROV system

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Construction Support Vessel
SUBSEA VIKING
• Length Overall - 103 m
• Beam Moulded - 22 m
• Deck Area - 1150 m²
• ROV Systems : - 2 x 3000 m WROV
- 2000 m ObsROV
• Lay Capability : - 1 x 1200 T Carousel
- 4 x 8.5 m Vertical Reels
• Work moonpool 6 x 6.6 m
• ROV Moonpool - 6 x 5.4 m
• Main Crane - 100 tonnes
• Transit Speed - 13 knots
• Accommodation - 70

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Rigid Pipelay Vessel

Seven Oceans
• LOA - 157m
• Breadth - 28m
• Pipe capacity 3,500T
• Pipe diameter 6” – 16”
• 2 x Workclass ROVs (3,000m rated)
• 850m tether length
• Hanger based Trolley/Cursor deployment
• Integrated control rooms
• Main crane – 350T
• Accommodation - 120

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Advanced ROV Support Vessel
ROVSV
• LOA 113m
• Breadth 24m
• 6 ROVs systems
• 2 WROV, Moonpool deployed
• 2 ObsROV, Moonpool deployed
• 2 ObsROV Side guiderail deployed
• Full survey capability
• Flooded member & wall thickness measurement
• Hanger based module handling tower (35T)
• 140T Crane
• Chemical injection capability
• Accommodation – 90 persons

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ROV Deployment
• Tether Management System or Garage

–Heavy in water – improved

sink rate
–Lowered by surface winch
on armoured umbilical
–Fitted with •300
TMS or – 1500m
Garage ? of
• Garage advantages
“soft” tether on a drum
– Better protection

–Decouples ROV from vessel

– Improved tether angle
• Garage disadvantages
motion – Less flexibility

–Reduces current effects

– More weight
– More expense
–Controlled by– ROV operator
More difficult
maintenance
access for

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ROV Launch & Recovery Systems

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ROV Launch Systems
• ROVs are able to operate from a wide variety of vessels from Supply Boats
through to dedicated ROVSVs, Construction Support and Pipelay Vessels
• Supply Boats and “vessels of opportunity” are fitted with mobile ROV
Systems
• Dedicated support vessels are fitted with customised, in-built ROV Systems
• ROV Systems are also located on offshore drilling and production
installations, either on a mobile or customised basis
• Vessel type and capability can be the limiting factor for ROV Operations

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ROV Launch Systems
Outboard Launch Systems
• Crane/A Frame Launch (Non Guided)
• Rail Guided Launch Systems
Moonpool Launch Systems
• Rail guided Cursor Systems on Monohulls
• Wire Guided Cursor Systems on Semi Submersibles
• Guided systems May Be Cursor or Cursor and Latch Beam

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Typical GA Work ROV System

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A- Frame Launch System

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Not a wave in sight….
A Frame Launch system
• A Frame & winch with load bearing umbilical
• Off the shelf
• Road transportable
• System of opportunity
• Low speed – low power
• Less expensive
• May Limit Vessel Operations

Don’t forget the current!

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Wire Guided Cursor Launch Systems
• Custom Designed System Used to Deploy ROVs Through the Moonpool of a
Semi-Submersible Vessel
• Allows Heavy Weather ROV Operations from Semi-Submersible Vessels
• Able to Deploy ROVs at High Speeds
• Capable of Operating to Sea State 8
• Used to Launch Work Class ROVs

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Jack Bates Wire Guided Cursor Launch System

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Rail Guided Cursor Launch Systems
• Custom Designed System Used to Deploy ROVs through a moonpool or down
the Side of a Monohull Vessel
• Allows Heavy Weather ROV Operations from Monohull Vessels
• Able to Deploy ROVs at High Speeds
• May be Fitted with Heave Compensation System to Assist Launch and
Recovery
• Used to Launch Work Class ROVs

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Rail Guided Cursor Launch Systems

• Custom Installation
• Guided latch beam system

– Umbilical not load

bearing during launch
& recovery
– Load taken on latch
beam lift wires
• Custom design/installation

– Vessel specific
• Increased operating envelope
• High speed, high power

– (200 – 300kW)
• 100m/min average round trip possible
• Takes 30 mins from 3,000m
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Rail Guided Cursor Launch Systems

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Autonomous Underwater Vehicles (AUV)

• No umbilical

– Less drag,
– less power
requirement,
– less power
available
• No pilot
• No direct communications
• Pre-programmed
• Intelligent systems
• Collect data or perform a task
• The “free-up” conventional
offshore systems to do other tasks
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Typical Applications
Wide area survey (Route Survey)
• Being done now
Pipeline survey
• Requires intelligent pipe tracking
• Proving trials complete
Cable surveys
• Cables more difficult to track than pipes
Touch down monitoring
• Requires “hover capable AUV”
• Positioning issues
Inspection & Structured Intervention
• Possible for well planned tasks
• Requires hover capable AUV
Unstructured Intervention
• Requires a shift in technology

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Subsea 7 Geosub AUV
• Length : 6.8m
• Diameter : 0.9m
• Weight in air : 2400Kg
• Weight in water : 5Kg positive
• Depth rating : 3000m
• Power Source : Rechargeable
Lithium Ion batteries
• Continuous power : 2.2Kw Side scan sonar

• Endurance : 30 - 60 hours Sub bottom profiler

• Speed : 2 - 4knots (1 – 2 m/s) Doppler velocity log
• Recharge Cycle: 3 - 4 hours Multibeam echosounder
Obstacle avoidance sonar
Acoustic & radio modems
Capability to store data from 3, 24
Hour missions

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Digital Terrain Model

Sub Bottom Profiler

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