Autonome undervannsfarkoster (AUV) Eksempel: HUGIN - NTNU

Autonome undervannsfarkoster (AUV)
Eksempel: HUGIN
Nils Størkersen, FFI
Forelesning NTNU
23 februar 2007

Stikkord
• Hvorfor AUV og hva er AUVer gode på?
• HUGIN – Hva? Hvorfor? Hvem?
• Kronologisk gjennomgang av begivenheter i HUGINs historie
• Søke å belyse hvilke filosofier som ble benyttet (”tingene bak
tingene”). Hvilke ting ble gjort som løftet virksomheten videre.
• Nye anvendelser av AUV-teknonologi
• Masse eksempler

Begreper
• ROV: Remotely Operated Vehicle = Kabelbasert undervannsfarkost
• UUV: Unmanned (Untethered) Underwater Vehicle
= Kabeluavhengig undervannsfarkost
• AUV: Autonomous Underwater Vehicle = ”Autonom” undervannsfarkost
”Autonom” kan bety ”Frittsvømmende”, ”Preprogrammert”, ”Akustisk
kontrollert”, ”Virtuell kabel”, ”Selvstendig”, ”Adaptiv”
• USV: Unmanned Surface Vehicle = Fjernstyrt fartøy (drone) eller ”semi
submersible”
• UAV = Unmanned Airial Vehicle = Ubemannet fly
Forskjellige ”typer” autonomitet:
• Kontrollautonomitet (evne til selv å utføre handlinger)
• Signalautonomitet (evne til å klare seg uten ”fjernstyring”)
• Energiautonomitet (evne til å operere lenge og langt)
• Navigasjonsautonomitet (evne til presis navigasjon og
posisjonering uten ytre hjelpemidler)

Hvorfor AUV, hvorfor ikke ROV?
• Fordel: Ingen kabel
– Dybdeuavhengig operasjon
– Større effektivitet i forhold til ROV - økende med havdyp
– Bedre datakvalitet - mer stabil sensorplattform
– Mindre krav til moderfartøy - løsere integrasjon - ingen håndtering
av kabel
– Kan opereres uavhengig av moderfartøy
– Kan opereres i farlig og utilgjengelig farvann (minefelt, under is)
• Ulempe: Ingen kabel
– Feil kan fort få konsekvenser (hvor ble den av??!)
– Lokal strømkilde gir begrenset rekkevidde
– Kommunikasjon er vanskelig under vann (akustisk link)
– Mer avanserte systemer må bygges inn (”intelligens”,
sikkerhetssystemer, redundans, navigasjon, etc)
– Berging er annerledes enn for ROV (vanskeligere?)

Når bruker vi AUV og når bruker vi
ROV?
• AUV
– I prinsipp: Et survey-instrument
• Informasjonsplattform for stor arealdekning
• ROV
– I prinsipp: Et intervensjons-instrument
• Informasjons- og “håndterings”-plattform med liten
arealdekning (lokalt)

Typical applications
• AUV
– Offshore surveys, subsea inspection (and intervention)
– Ocean science (Climatology, Polar research, Marine
science, Fishery, Coral reefs, etc)
– Marine archaeology (search and mapping)
– Search operations (wrecks, casualties, lost objects, etc)
– Military applications (MCM, ISR, ASW, ..)
• ROV
– Subsea intervention and inspection (pipelines, site
development support, valve manipulation, detailed
inspection and documentation)
– Ocean science (photographic documentation, sampling,
coring, etc)
– Marine archeology (detailed documentation)
– Military applications (neutralisation of sea mines)

Enabling technologies for AUVs
• Mechanical systems and fundamental Physics
• Hydrodynamics
• Advanced power sources
• Control system technology
– Mission control (incl pre- and post mission support)
– Integrity, sustainability
– Adaptive behavior
• Precise autonomous navigation
• Communication (Acoustic, radio, satellite)
• High resolution, high coverage rate sensor technology
– SSS/SAS, MBE, SBP, CTD, ADCP, FE, LOPC, Lasercamera
Magnetometer, sniffers, samplers,….
• Automated sensor data analysis
– Object detection and classification
– Sensor and data fusion
– Information extraction and decision support
– Simulation, training and exercise

FFIs AUV-historie
AUV historie
1991-93: FFI utvikler og demonstrerer første AUV
1993-94: FFI analyserer potensielle bruksområder (militære og
sivile)
1995-98: HUGIN utvikles for offshoreformål (sjøbunnskartlegging)
1998- 2000: HUGIN kommersialiseres for offshoreformål. Utvikling
mot militære formål pågår parallelt
2001- 2002: Internasjonalt gjennombrudd i offshoremarkedet
1998-2002: HUGIN benyttes for innsamling av data for fiskeri- og
havforskning
1998-2001: Utvikling av et operasjonelt konsept for AUV-basert
minejakt. Operasjonell demo fra mineryddingsfartøy.
2002-2007: Utvikling/realisering av HUGIN MRS til en fullverdig
militær operasjonell kapasitet
2006- : HUGIN for havforskning blir et prioritert område

The LUNA27 Well Seawater Battery
Installation
• Deployed in Italy
January 1996
• Seawater battery for
powering well control
system on the LUNA
field
• Energy: 650 kWh
• Discharge time: 2-3
years

Lightbuoy with seawater
battery.
40 kWh battery.
Average load (in dark) 2W
Design used between 1991 and
1998.

AUV DEMO 1991-1993

Modellforsøk (1991)

Prosjekt 665 “AUV AUV 2000” 2000 (1994)
• Finne frem til interessante første-anvendelser av AUVteknologien,
sivilt og militært
• Utforme strategisk satsning på AUV-utvikling frem mot år 2000
• Identifiserte oppgaver:
– Sivilt: Havbunnskartlegging, rørinspeksjon
– Militært: Minejakt, anti-ubåt operasjoner

SONAR DATA DATA
VESSELSONAR
TOW
VESSEL
Survey with deep tow vehicle
4 HOUR SHIP
TURNS
SONAR POSITION
6 km
TOW
CABLE
2.5
kts
2 km
SONAR
POSITIO
N
SONAR
SIDE SCAN &
SUB-BOTTOM
SUB BOTTOM

SONAR DATA DATA
XSONAR
TOW
VESSEL
XTURNS
4 HOUR SHIP
TURNS
Survey with AUV
SONAR XPOSITION
POSITION
6 km
XTOW
TOW
CABLE
XON
POSSIBL
E
BOTTOM
COLLISI
ON
X
4.0
2.5
kts
kts
2 km
AUV
POSITI
ON &
DATA
AUV
SIDE SCAN,
SUB- SUB
BOTTOM, &
MULTIBEAM

HUGIN-prosjektet
HUGIN prosjektet – Noen særtrekk s rtrekk
• Ny teknologi
• Anvendelser ”finnes ikke” / Marked må opparbeides
• Operasjonsprosedyrerer må utvikles (CONOPS)
• Ingen eksisterende industribase
• Høy gevinstfaktor - Stor risiko
• Kostnadsintensiv bransje - Stor fallhøyde
• Inkluderer ”alle” fagfelt
• High-tech
• Lett å definere mål
• Lett å definere suksesskriterier
• Flere produkter i verdiskapningskjeden

HUGIN organisation
• FFI
– Systems development
• Kongsberg Maritime AS
– Systems development
– Commercial HUGIN products
• NUTEC/NUI AS, C&C Technologies Inc, Geoconsult AS, Fugro
– Commercial HUGIN services
• Statoil, Norsk Hydro, BP Amoco, Shell, IMR, RNoN…
– End customer
• SND
– Funding (early stage)

The ”food chain”
Value Oil industry
added
Survey Application industry
Kongsberg
Product
FFI Development & Kongsberg
FFI
Research & Technology

HUGIN prosjektgruppe (1995-98) (1995 98)
FFI:
Systemarkitektur
Batteriteknologi
Signalbehandling
Navigasjon og styring
Mekanisk design
NUI:
Operasjonell erfaring
Dedikert bruker
Kongsberg Simrad:
Akustisk kommunikasjon
Akustisk posisjonering
Sensorer
Markedsapparat
Statoil:
Behov
Dedikert kunde

HUGIN-prosjektet
HUGIN prosjektet - Filosofi
• Etablere en mest mulig komplett nasjonal basis for å lykkes
(Teknologisk – Kommersielt – Markedsmessig – Finansielt)
• Felles målsetning - Tett samhandling – Avklarte roller
• Integrert samarbeid – involvering av ”kundene”
• Høy målsetning – ”Vi skal helt fram”
• Hovedutfordring: Å opparbeide troverdighet
• Kortsiktig avtapning av resultater i et langsiktig perspektiv
• Skille ”snørr fra barter”. Hva er viktig, når? Være pragmatisk
• Bruke havet som laboratorium
• Fokus på ”vinduer mot verden”
• Vektlegge balansert design – ”estetisk” design
• Sterkt fokus på kritiske komponenter – Paranoid holdning
• Sterk kobling mellom utvikling og operasjon
• Prioritere demonstrasjoner, operasjonell validering og benchmarking
• Sømløs innfasing i bruksorganisasjonen – Ta ansvar og behold det!

The HUGIN programme
1993: AUV demo
2003: In NATO exercise
1997: First
commercial survey
2001: Military demonstrations
2004:
MCMFORNORTH deployment
• Dual use development:
– Develop systems and
technologies suitable for civilian
and military applications
– Shared funding, shared benefits
– Gain experience and build
credibility through commercial
AUV operations
• 9 vehicles sold to civilian and military
customers in Norway, USA and the
Netherlands
• Commercial operations since 1997
– More than 100,000 line km billed;
from the Barents Sea to Brazil
and Australia
• Military operations since 2001/02
– In NATO exercises since 2003

The HUGIN family
• AUV-Demo (1993) (FFI)
• HUGIN I (1996) (Statoil)
• HUGIN II (1998) (Statoil)
• HUGIN 3000 (2001) (C&C Technologies)
• HUGIN 3000 (2003) (Geoconsult)
• HUGIN 1000 (2004) (RNoN)
• HUGIN 3000 Fugro (2005) (Fugro)
• HUGIN 3000 (2005) (C&C Technologies)
• HUGIN 4500 (2006) (C&C Technologies)
• HUGIN 3000 (2007) (Fugro)
• HUGIN 1000-MR (2007) (RNoN)
• HUGIN 1000-HUS (2007) (FFI)

HUGIN 3000 main specifications
• Weight in air: 1200 kg
• Length: 5.3 meters
• Diameter: 1.0 meters
• Speed: 4 knots
• Depth rating: 3000 meter
• Battery: 45 kWh Al/HP semi
fuel cell (Endurance 50-60 50 60
hours)
• Sensors: MBE, SSS, SBP, CTD

HUGIN 3000 line drawing

HUGIN 1000 • Base vehicle for HUGIN MRS
• Modular design – centre section
can be adapted to different sensor
suites
• 10-30 hours endurance
• Speed 2-6 knots
• Volume and weight about 50% of
HUGIN 3000
• Common technology base with
HUGIN 3000 (commercial offshore
system)

HUGIN 1000 main components

MBE
SSS /
SBP
CTD
Others
Others
POS
Ethernet
Survey vessel
AUV
MBE
POS
HUGIN System Architecture
SSS
POS
Payload
Processor
Payload Network
(ethernet , serial lines)
NOS
HUGIN OS Ship
APOS
nav
(HiPAP)
sys
Navigation
Processor
IMU
Vehicle Service Network
(when AUV on survey vessel)
Vehicle Network
(ethernet )
Serial line
Gyro
comp
Serial lines
AEL /
HiPAP
AEL /
HiPAP
Serial lines
Cmd
link
Cmd
link
DVL Depth DGPS
Data
link
Data
link
Control
Processor
Alti -
meter
Serial lines
RF
Link
RF
Link
Collision
avoidance

Launch and recovery

HUGIN 3000 L&R

Første kommersielle
AUV-oppdrag:
Åsgard Transport
(1997)
Orknøyene
Shetland
Bergen
Stavanger
Trondheim
Oslo

HUGIN from the Ormen Lange field,
The North Sea
Ca. 2x2 km; the peaks are 30-50 m high
Courtesy of Norsk Hydro ASA

Sigsbee Escarpment - Gulf of Mexico
Courtesy of BP Amoco

Sigsbee Escarpment - Sonar “Abyssal” Floor

Swath Bathymetry and Sub-Seabed
Imagery, West Africa
Courtesy of C&C Technology

Courtesy Fugro
BP Egypt West Nile Delta - Raven

Courtesy Fugro
Data example - bathymetry

Data example – sub bottom profiler
Courtesy Fugro

Arbitrary survey patterns
Courtesy C&C C&C Technologies Inc.

Field experience
West Africa
36 %
Mediterranean
4 %
HUGIN Survey KM by Area (1997 - 2005)
> 60 000 KM
Brazil
3 %
North Sea
14 %
Gulf of Mexico
43 %

Clients
C & C Technologies, Inc.
AUV
BP Amer ica
BBC
0,1%
Nexen Petr oleum
0,1%
24.67%
Williams Pipeline
0,2%
LSU
0,1%
Bur l i ngton Resour ces
0,1%
El Paso Production
0,2%
Conoco
0,2%
Univer sity of Mississippi
0,3%
LLOG Expl or ati on
0,3%
Ocean Ener gy
T otal Fi na El f
0,4% Domi ni on E&P
0,6%
12,9%
Sai bos
0,6%
ENI Petroleum
1,6%
Anadar ko Petr oleum
Samedan
1,3%
0,8% Mar i ner Ener gy
Pioneer
1,1%
0, 7%
Shell Int E & P
9,5%
CSA / MMS
1,8%
Exxon
CNR
2,2%
9,1%
Woodsi de Petr ol eum
4,7%
BHP Billiton
5,1%
Kerr McGee
T echni p CSOI
2,0%
PetroBras
4,1%
Chevr onTexaco
Gl obal 3,0% Mar i ne
2,9%
2,3%
Gl obal I ndustr i es
2,3%
GulfTerra
2,2%
MedGaz
2,2%
AUV Clients
by K ilomet er s
J 13 2001 O t 20 2004

Alcoa Puritan
M/S Alcoa Puritan
120 kHz SSS 410 kHz SSS

Discovery of German submarine U-166.
(Gulf of Mexico, 1500 m water depth)
Courtesy of C&C Technologies

Nautilus (1916-1931)

HUGIN in marine research

Example data:
HUGIN II in fishery
research
Seen from
surface vessel
Seen from
HUGIN
Courtesy of
Norwegian Institute of Marine Research
HUGIN
School
of fish
School
of fish

HUGIN for environmental monitoring
Bathymetry of area with coral reefs off the coast of Western Norway
Data recorded for the Institute of Marine Research, Bergen, Norway

Militær Milit r utnyttelse av HUGIN-teknologien
HUGIN teknologien
• “Dual use”-prinsipp:
– Utvikle løsninger egnet både for sivile og militære
anvendelser, i all hovedsak med sivil finansiering
• Samtidig:
– Benytte finansiering fra Forsvaret til å utvikle kritiske
teknologier for å kunne realisere fullverdige militære AUVsystemer,
fase inn disse teknologiene i takt med modning
• Gunstige side-effekter:
– Bygge opp bærekraftig nasjonal AUV-industri
– Skaffe uvurderlig operasjonell erfaring

Military operations – What are the
characteristics?
Some Characteristics
• Dynamic
• Complex
• Time critical
• Unpredictable
• Resource intensive
• Extremely dangerous
• Coalition (multi-national)
Winning capabilities
• Technology superiority
• Information superiority
– Adaptivity / Flexibility
– Sustainability
– Deployability
– Precision
– Tempo
Technology drivers
• Over-the-horizon (global) information networks
• Information platforms (space, air, land, sea, sub-sea)
• Sensors
• Forward strike capabilities (unmanned systems)
• Command, control and decision support
INTEGRATED OPERATIONS

Naval operations – Knowledge
superiority
• Situation awareness (“Recognized Maritime Picture”)
– Networked, Secure, Global Military Information Infrastructure
– Surveillance of maritime, land and air assets using...
• Satellites
• Air planes and unmanned aerial vehicles (UAV)
• Electronic surveillance (EW, AIS, Radar, ..)
• Ships
• Submarines and autonomous underwater vehicles (AUV)
• Underwater surveillance networks
– Characterization of the threat and of the environment
• Above and under water
– Generation, distribution, presentation and update of
information (RMP)

Maritime (Littoral) warfare

Maritime operations - Knowledge superiority
• Situation awareness (“Recognized Maritime Picture”/”Common
Operational Picture”)
– Networked, Secure and Global Military Information
Infrastructure
– Surveillance of maritime, land and air assets using...
• Satellites
• Air planes and unmanned aerial vehicles (UAV)
• Electronic surveillance (EW, AIS, Radar, ..)
• Ships
• Submarines and autonomous underwater vehicles (AUV)
• Underwater surveillance networks
– Characterization of enemy deployments, threats and the
environment above and under water
– Generation, distribution, presentation and update of
information (RMP)

AUVs to force multiply MW operations
• MCM will be the first discipline to exploit AUV technology
• The main contribution in MCM will be to enhance the
performance of existing assets
– AUVs as organic components to MCMVs
– Extend the reach of the MCMVs in the littorals (e.g. shallow
waters)
– Reduces vulnerability (”keep the man out of the mine field”)
– Allows for covert operations (mine reconnaissance)
– Improves detection and classification probability / extend the
mine hunting capabilities to previously ”unhuntable areas”
– Increases area coverage rate / reduces time consumption
– Allows for parallel reconnaissance and neutralisation
– Improves effectiveness of neutralisation phase
– Acquires additional information “for free” (REA)
• Secondary: New MCM roles (VSW / amphibious ops, harbour
protection, etc)

The HUGIN Mine Reconnaissance
System (HUGIN MRS)
Establish an autonomous forward sensor capability for mine
hunting (MCM) and rapid environmental assessment (REA)
1998 1999 2000 2001 2002 2003 2004 2005 2006 2007 2008 2009
Technology and
concept development
HUGIN I
HUGIN II
HUGIN
3000
Development and production of
prototypes
Preliminary capability
(HUGIN 1000)
3000
GC
Operational Operational
testing & evaluation evaluation
Full capability system
(HUGIN 1000-MR)
3000
Fugro
HUGIN
4500
HUGIN
1030
Acquisition

The Norwegian military AUV program
CONOPS
CD&E
Royal Norwegian Navy
HUGIN
MRS
Commercial delivery
Support
FFI Kongsberg
Collaborative
development
Requirements

HUGIN MRS operations
• Seven distinct operations identified in MW:
1. Route survey
2. Exploratory mine reconnaissance
3. Mine detection, classification and positioning
4. Bathymetric mapping
5. REA category 2 (overt)
6. REA category 3 (covert)
7. REA category 4 (in-stride)
• CONOPS being defined by FFI and RNoN
• Experimental verification and tuning of CONOPS

HUGIN 1000

HUGIN MRS –
Typical modes of operation
1. Route surveys, overt REA, high precision mapping operations:
HUGIN operated close to mother ship
Acoustic communication and positioning
Operator intervention possible
Real-time REA information
High data quality (and QC), complete operational control, limited
effectiveness
2. Covert REA, forward mine hunting/reconnaissance:
HUGIN operates away from mother ship
MCMV to do regular minehunting and clearance in parallel
Sporadic RF/satellite communication and positioning
HUGIN returns to mother ship after mission
Data set downloaded, analysed and acted upon
Minelike objects (MLOs) are classified and localised
MLOs to be relocalised, identified and neutralised with Minesniper
Hostile areas, clandestine, rapid, force multiplier

Operational military experience
001 2002 2003
December: August:
Operational Permanent
demonstrations, installation of
Oslo Fjord HUGIN
infrastructure on
MCMV
Red: International ops
September:
Testing, training
and demonstrations,
Oslo Fjord
November:
Route survey,
Northern
Norway
May: REA and
route survey,
Western Norway
August:
MCM training,
Western
Norway
September:
Covert REA
survey for
NATO exercise
Northern
Light, UK
September:
MCM system
demonstrations
for Finnish
Navy, Finland
2004
February: Testing
and training,
Western Norway
March: NATO
exercise Joint
Winter, Northern
Norway
May: NATO
exercise Blue
Game, Southern
Scandinavia
September:
Signature
measurements,
FORACS range
January: AUS Navy
demo, Western Norway
Feb - Mar: Quay
launch SSS/SAS
tests
October -
December:
Deployment in
MCMFORNORTH
(Denmark,
Germany,
Lithuania, Latvia)
2005
April: Azalea Festival,
Norway/USA
May - June:
MCMOPLAT, Latvia
2006
March: NATO
exercise Cold
Response,
Northern Norway
August: U-864 mercury
contamination survey
September:
Signature
measurements,
Herdla range
Oct-Nov:
Submarine
interoperability
CD&E trials
Nov-Dec: NURC
MX3 and SWIFT
trials, Italy
Aug:
Submarine
rescue
exercise,
Sweden

3 – 4: Exploratory mine reconnaissance and mine
mapping
• Determine mine threat situation
• AUV in autonomous mode
• MCMV can perform other tasks
during AUV mission
• Procedure:
– Planning, launch, mission
execution, retrieval
– On board data processing
– Automatic detection of all minelike
objects
• Echo and shadow from SAS
• Bathymetry from SAS and/or
MBE
• Exclusion of pre-existing
MLOs
– Manual final classification
Cylinder
Cylinder
Truncated cone
(upside down)
Truncated
cone
Truncated
cone
NOMBO
Finland September 2003

Change Detction:
Before mine deployment…
Run 1
Run 2
and after… after

5-6: Overt and covert REA
• Autonomous or supervised mode
• Coverage rate: 1-2 km 2 /h
• Navigation and communication
techniques depend on discression
requirement
• Availability of data:
– Real time (if communication is
available)
• Sound speed, water
temperature, currents, Quick
look bathymetry, QC
imagery, vehicle status
– After retrieval and post
processing
• Full resolution bathymetry
• SAS imagery of seabed
• Seabed characteristics
• Objects with positioning
• Oceanographic information

HUGIN in Northern Light 2003
• NATO exercise
• 12 nmi x 500 m
corridor
• Verify historic
data
• Plan MCM
operations
• 4 6-hour
missions
executed within
48 hours
• Water depth
10-25 m
• Tidal currents
of up to 3 knots

Azalea Festival, Norfolk, VA
20 April 05
Real time:
• Ship position
• AUV status
• Mission plan
• Bathymetry
• Live video
NERA F77 satcom
128 kbit/sec over INMARSAT
VPN over Internet
Post-mission:
• Contacts
• Sonar mosaics
• DTM
HUGIN 1000 operated • etc
from KNM Karmøy
Bergen, Norway Norfolk, VA, USA

HUGIN 1000 deployed in NATO
Standing MCM Force North (2004)
• Operations in
Latvia, Lithuania,
Germany,
Denmark
• Mine hunting and
EOD in the Baltic
Sea
• Data given to
other vessels for
relocalisation,
identification and
disposal

NURC MX3 and SWIFT Trials, Italy
November – December 2005
Range 68 m
• Participation from several AUVs
(HUGIN, REMUS, Bluefin,
Gavia, Atlas)
– Assess maturity
– Compare performance
– Interoperability
• HUGIN uptime: 100%
• 14 missions/40 hours
Range 71 m

Syntetisk Aperture Sonar (SAS)
1. Øke bildeoppløsning ved matematisk å beregne en lang
syntetisk antenne - Øke evne til å klassifisere små objekter
(sjøminer)
2. Øke arealdekning pr tidsenhet (”Area Coverage Rate” - ACR) -
Redusere tidsforbruk ved minejaktoperasjoner

Depth 50 m
Altitude 15 m
Range 15-130 15 130 m

Manta mine shape
Range 84 m
Depth 2 m
Altitude 11 m
Range 13-93 13 93 m

HISAS prototype: 3x10 m barge
Range 30-140 m Range 55-68 m

SENSOTEK SAS: Ladder (partly buried)
7x10m around 88m range
1x1m

Submarine wreck: U-735
Range 30-170m Range 45-80m

HISAS prototype:
SAS image and bathymetry

AUV DEMO 1991-1993

CLIPPER
CLIPPER in the B600 towing tank ready for testing.
Δ = 3.9 m 3 . Ø = 1.2 m.
Bassin des Caréne d’Essais, Val de Reuil, March 2003.

1 (m)
0.5
0
CLIPPER
Independent battery flow control
sea water batteries
motors
stators
0 0.5 1 1.5 2 2.5 3 3.5 4
4.5
5
5.5 m
pump
shaft for pump
propeller

Deployment of test cell 6th February 2002.

CLIPPER endurance capacity

Surface independent inspection, maintenance
and repair (IMR) system
MARINTEK

Surface independent IMR
Hybrid ROV/AUV permanently installed on subea fields
Local infrastructure for remote operation from field control centre
Continuous presence on site
MARINTEK

An intervention hybrid AUV/ROV
parked in a subsea garage or docking
station
- operated from a field centre or shore
Always available, independent of
weather and support ships.
Capable of all types of inspection
Capable of ‘light’ intervention
Fast detection and handling of
incidents on subsea installations
Improved regularity, as the
vehicle is available when needed.
Reduced OPEX, as field
personnel will operate the AUV
MARINTEK

Hybrid AUV-ROV concept
AUV operated from field centre
(no ROV ship with a crew)
MARINTEK

What are the benefits?
Continuous presence (“Eyes and Hands”)
Knowledge (“Situation Awareness”)
Improved maintenance planning
Early detection of possible safety hazards
Rapid response to unforeseen events
Improved effectiveness of IMR operations
New possibilities for field optimization
Potential for cost savings
In line with arctic scenarios
Challenge: Secure continuous availability of
subsea IMR system (service intervals once per
year)
Hybrid AUV/ROVs
permanently stationed on site
Operated from a field centre
(ROV ship and crew not needed)
MARINTEK

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