Emerging Technology: Remote Controlled Hot Tap System for Subsea Pipelines

2012 ◽  
Author(s):  
George Lim
Keyword(s):  
Wave Breaking ◽  
Emerging Technology ◽  
Light Weight ◽  
Direct Control ◽  
Subsequent Removal ◽  
Remotely Operated Vehicle ◽  
Controlled System ◽  
Future Developments ◽  
Subsea Pipelines ◽  
And Control

Subsea hot tapping of pipelines is performed for a variety of reasons, including tie-ins, pipeline repair, insertion of instrumentation, facilitating chemical injection or providing access for temporary isolation tools. The full hot tap process — that is, installing the hot tap assembly, performing the tap and recovering the hot tap machine — is normally conducted with diver assistance. After bolting the assembly of the machine, isolation valve and fitting to the pipeline (or machine and isolation valve to a pre-installed flanged membrane on the pipeline), the divers then operate the machine to perform the tap, under instructions from — and supervision — by hot tap technicians located on deck of the diving support vessel (DSV). Subsequent unbolting and removal of the hot tap machine is also carried out by the divers. The demands of deep water have necessitated development of a totally diver-less, remote-controlled system. Diver operations are limited to a maximum of 300 meters of water depth, whereas a significant portion of existing subsea field infrastructure, as well as projected future developments, are in deeper waters in depths up to 3,000 meters. In addition, diver safety concerns in shallow water, as well as impaired diver efficiency in difficult environmental conditions such as wave breaking zones, prompts the call for a reduction of diver exposure or complete elimination of diver assistance. The recent completion of a remote-controlled hot tap machine (Subsea 1200RC) is an important step toward developing a totally diver-less system. The installation of the hot tap assembly and subsequent removal of the machine still require diver assistance, but the performance of the tap itself is remotely controlled by a hot tap technician from the deck of the DSV. The concept is a topside-driven hot tap machine with “passive Remotely Operated Vehicle (ROV) interface”, which means a stationary ROV with its hydraulics and control system is attached to the hot tap machine and operated from an onboard laptop. This results in a light weight hot tap frame and total direct control of the cutting process. The machine has been designed, built, tested and successfully deployed on a recent subsea tap for a pipeline operator in Asia. This technology promotes the “separation of man and machine” proposition. It reduces risk by reducing diver exposure, enhances safety, provides direct control and visibility from a laptop and facilitates fast and accurate execution. Ultimately, the concept may be extended toward onshore hot tap applications in risky environments calling for remotely operated systems. Diverless tapping is now also qualified and offered by others.

Design, Construction and Control of a Remotely Operated Vehicle (ROV)

2011 ◽  
Author(s):  
Alireza Marzbanrad ◽  
Jalil Sharafi ◽  
Mohammad Eghtesad ◽  
Reza Kamali
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Remotely Operated Vehicle ◽  
Six Degrees Of Freedom ◽  
Depth Sensors ◽  
Control Schemes ◽  
On Line ◽  
Operation Unit ◽  
And Control ◽  
Design Construction

This is report of design, construction and control of “Ariana-I”, an Underwater Remotely Operated Vehicle (ROV), built in Shiraz University Robotic Lab. This ROV is equipped with roll, pitch, heading, and depth sensors which provide sufficient feedback signals to give the system six degrees-of-freedom actuation. Although its center of gravity and center of buoyancy are positioned in such a way that Ariana-I ROV is self-stabilized, but the combinations of sensors and speed controlled drivers provide more stability of the system without the operator involvement. Video vision is provided for the system with Ethernet link to the operation unit. Control commands and sensor feedbacks are transferred on RS485 bus; video signal, water leakage alarm, and battery charging wires are provided on the same multi-core cable. While simple PI controllers would improve the pitch and roll stability of the system, various control schemes can be applied for heading to track different paths. The net weight of ROV out of water is about 130kg with frame dimensions of 130×100×65cm. Ariana-I ROV is designed such that it is possible to be equipped with different tools such as mechanical arms, thanks to microprocessor based control system provided with two directional high speed communication cables for on line vision and operation unit.

scholarly journals Sparse stabilization and control of alignment models

2014 ◽  
Vol 25 (03) ◽  
pp. 521-564 ◽  
Author(s):  
Marco Caponigro ◽  
Massimo Fornasier ◽  
Benedetto Piccoli ◽  
Emmanuel Trélat
Keyword(s):  
Policy Maker ◽  
Research Direction ◽  
Fundamental Question ◽  
Self Organization ◽  
Group Consensus ◽  
Future Developments ◽  
Consensus Dynamics ◽  
Time Optimal ◽  
And Control ◽  
Mathematical Justification

Starting with the seminal papers of Reynolds (1987), Vicsek et al. (1995), Cucker–Smale (2007), there has been a lot of recent works on models of self-alignment and consensus dynamics. Self-organization has so far been the main driving concept of this research direction. However, the evidence that in practice self-organization does not necessarily occur (for instance, the achievement of unanimous consensus in government decisions) leads to the natural question of whether it is possible to externally influence the dynamics in order to promote the formation of certain desired patterns. Once this fundamental question is posed, one is also faced with the issue of defining the best way of obtaining the result, seeking for the most "economical" way to achieve a certain outcome. Our paper precisely addressed the issue of finding the sparsest control strategy in order to lead us optimally towards a given outcome, in this case the achievement of a state where the group will be able by self-organization to reach an alignment consensus. As a consequence, we provide a mathematical justification to the general principle according to which "sparse is better": in order to achieve group consensus, a policy maker not allowed to predict future developments should decide to control with stronger action the fewest possible leaders rather than trying to act on more agents with minor strength. We then establish local and global sparse controllability properties to consensus. Finally, we analyze the sparsity of solutions of the finite time optimal control problem where the minimization criterion is a combination of the distance from consensus and of the ℓ1-norm of the control. Such an optimization models the situation where the policy maker is actually allowed to observe future developments. We show that the lacunarity of sparsity is related to the codimension of certain manifolds in the space of cotangent vectors.

scholarly journals Network Management and Control System for a Homogeneous Network using Light Weight SNMP

2015 ◽  
Vol V4 (04) ◽  
Author(s):  
Hamsaveni B S ◽  
Prof. Smitha Kurian ◽  
Keyword(s):  
Control System ◽  
Network Management ◽  
Light Weight ◽  
Homogeneous Network ◽  
And Control

On the small fiber-coupled laser controller for animal robot

2016 ◽  
Vol 36 (2) ◽  
pp. 146-151 ◽  
Author(s):  
Haixia Wang ◽  
Yuliang Wang ◽  
Yaozong Sun ◽  
Qiong Pu ◽  
Xiao Lu
Keyword(s):  
Design Methodology ◽  
High Stability ◽  
Small Volume ◽  
Modular Design ◽  
Current Amplitude ◽  
Light Weight ◽  
Controlled System ◽  
Content Type ◽  
Small Fiber ◽  
In Virtue Of

Purpose Because of the inconvenience and inflexibility of the laser controller, the applied range of optogenetics is limited. This paper aims to present the design of a portable remote-controlled laser controller system, including the remote-controlled system and the laser stimulator. Design/methodology/approach The remote-controlled system is handheld, which can wirelessly adjust the power and the emitting frequency of the laser by utilizing the ZigBee module. Findings The laser stimulator can be mounted on the animal as it is light weight (35 g) and small in size (40 × 40 × 20 mm), and its power and frequency can be appropriately adjusted by changing the current amplitude and duty radio. In the end, the experiments verify the reliability and effectiveness of the laser controller. Originality/value In virtue of the modular design of the driven circuit and the reasonable layout, the whole system has the advantages of small volume, convenient control and high stability, which provide the convenience for the development of portable optogenetics animal robot experiment and has broad market prospects.

scholarly journals Analysis of cable effect on dynamic motion of an underwater vehicle for welding of reaction pool

2019 ◽  
Vol 11 (11) ◽  
pp. 168781401988676
Author(s):  
Zhandong Li ◽  
Jianguo Tao ◽  
Hao Sun ◽  
Yang Luo ◽  
Jingkui Li ◽  
...  
Keyword(s):  
Differential Equation ◽  
Mechanical Characteristics ◽  
Three Dimensional ◽  
Dynamic Mechanism ◽  
Dynamic State ◽  
Remotely Operated Vehicle ◽  
Emergency Rescue ◽  
Mechanism Modeling ◽  
Reactor Pool ◽  
And Control

Remotely operated vehicle is a reliable tool in an emergency rescue and routing inspection of a reactor pool. In practice, a cable has been considered as an important part of a vehicle system (i.e. winch, vehicle, and cable) to evaluate and predict the mechanical characteristics, and this article presents a study on a dynamic mechanism modeling of a cable partially in water and air based on an omnidirectional motion, and a numerical simulation is employed. In this work, we programmed the model governed by a partial differential equation set, at the discrete time node which was transformed into an ordinary differential equation set regarded as an initial value problem. The dynamic mechanical characteristics of the lower endpoint (i.e. a connection point between vehicle and cable) and the upper endpoint (i.e. a connection point between cable and winch) were, respectively, quantified with acceleration and a compounded motion including a uniform and rolling motion. A dynamic-state mechanism test was carried out to verify an authenticity of the three-dimensional mechanical model and numerical solution in a circulating tank. The results demonstrated that the presented method was used to evaluate the dynamic mechanism, and held a potential to improve a vehicle design and control strategy.

A Shape Memory Alloy Driven Crawling Robot Utilizing a Bistable Mechanism

2019 ◽  
Author(s):  
Lingda Meng ◽  
Rongjie Kang ◽  
Dongming Gan ◽  
Guimin Chen ◽  
Jian S. Dai
Keyword(s):  
Shape Memory ◽  
Friction Surface ◽  
Static Model ◽  
Light Weight ◽  
Switching System ◽  
Reciprocating Motion ◽  
Control Logic ◽  
Anisotropic Friction ◽  
Bistable Mechanism ◽  
And Control

Abstract Shape memory alloys (SMA) can generate displacement and force via phase change and have been widely used as actuators in robotics due to their light weight and ease of control. This paper proposes a SMA-driven crawling robot which activates antagonistic SMA springs alternately through a mechanical on-off logic switching system. By introducing a cam based bistable mechanism, elastic energy is stored and released to regulate the reciprocating motion of a slider in the robot. Meanwhile, the robot feet with anisotropic friction surface are employed to convert the reciprocating motion of the slider to unidirectional locomotion of the robot. The static model of the SMA and control logic of the robot are analyzed and validated through experiments.

Efficiency and Risk Management Models for Cloud-Based Solutions in Supply Chain Management

2015 ◽  
Vol 2 (2) ◽  
pp. 14-30 ◽  
Author(s):  
Dothang Truong
Keyword(s):  
Cloud Computing ◽  
Risk Management ◽  
Supply Chain ◽  
Supply Chain Management ◽  
Rapid Growth ◽  
Emerging Technology ◽  
Supply Chain System ◽  
Chain Management ◽  
Practical Guidance ◽  
And Control

Cloud computing has been proven to have numerous benefits for organizations, especially in supply chain management. More and more organizations have adopted cloud-based solutions to be their primary sourcing applications. Nevertheless, this technology is not without challenges, and in order to deploy and implement cloud-based solutions successfully with minimal risks organizations need to have practical guidance on this emerging technology. Despite the rapid growth of cloud computing in supply chain areas, the existing literature is still conceptual, inadequate, and mainly focused on the pre-adoption stage of this technology. This research examines the post-adoption stage of cloud-based supply chain solutions from the decision science perspective and intends to provide organizations with practical guidance on how to ensure the efficiency of a cloud-based supply chain system and control risks associated with cloud-based solutions.

Detecting and Controlling the Southern Pine Beetle

1982 ◽  
Vol 6 (3) ◽  
pp. 153-159 ◽  
Author(s):  
R. C. Thatcher ◽  
G. N. Mason ◽  
G. D. Hertel ◽  
J. L. Searcy
Keyword(s):  
Pest Management ◽  
Dendroctonus Frontalis ◽  
Southern Pine Beetle ◽  
Direct Control ◽  
Southern Pine ◽  
Control Techniques ◽  
Pine Beetle ◽  
And Control ◽  
Detection Evaluation

Abstract This article summarizes four USDA agricultural handbooks dealing with detection, evaluation, suppression, and prevention of the southern pine beetle, Dendroctonus frontalis Zimmermann. Among topics covered are aerial location and evaluation of spots, techniques for assigning groundcheck and control priorities, and recommended direct-control techniques. Since the primary thrust of good pest management should be pest prevention by maintaining tree vigor, preventative silviculture guidelines are also presented.

scholarly journals Supervisor Reconfiguration for Deadlock Prevention by Resources Reallocation

2013 ◽  
Vol 2013 ◽  
pp. 1-11 ◽  
Author(s):  
Miao Liu ◽  
Shouguang Wang ◽  
Zhiwu Li
Keyword(s):  
Efficient Method ◽  
Flexible Manufacturing ◽  
Flexible Manufacturing Systems ◽  
Manufacturing Systems ◽  
Deadlock Prevention ◽  
Prevention Policy ◽  
Computationally Efficient ◽  
Controlled System ◽  
Plant Model ◽  
And Control

Analysis and control of deadlocks play an important role in the design and operation of automated flexible manufacturing systems (FMSs). In FMS, deadlocks are highly undesirable situations, which always cause unnecessary cost. The design problem of an optimal supervisor is in general NP-hard. A computationally efficient method often ends up with a suboptimal one. This paper develops a deadlock prevention policy based on resources reallocation and supervisor reconfiguration. First, given a plant model, we reallocate the marking of each resource place to be one, obtaining a net model whose reachable states are much less than that of the original one. In this case, we find a controlled system for it by using the theory of regions. Next, the markings of the resource places in the controlled system are restored to their original ones. Without changing the structure of the obtained controlled system, we compute the markings of the monitors gradually, which can be realized by two algorithms proposed in this paper. Finally, we decide a marking for each monitor such that it makes the controlled system live with nearly optimal permissive behavior. Two FMS examples are used to illustrate the application of the proposed method and show its superior efficiency.

DESIGN ANALYSIS OF THE PROPULSION AND CONTROL SYSTEM OF AN UNDERACTUATED REMOTELY OPERATED VEHICLE USING AXIOMATIC DESIGN THEORY — PART 1

2005 ◽  
Vol 15 (02) ◽  
pp. 153-160
Author(s):  
T. H. KOH ◽  
F. E. H. TAY ◽  
M. W. S. LAU ◽  
E. LOW ◽  
G. SEET
Keyword(s):  
Control System ◽  
System Design ◽  
Design Theory ◽  
Design Analysis ◽  
Design Concept ◽  
Pilot Training ◽  
Design Issues ◽  
Remotely Operated Vehicle ◽  
Axiomatic Design Theory ◽  
And Control

In this paper, the system design issues of the Propulsion and Control System of the ROV II are analyzed and addressed. The design concept, some of the upgraded features of the ROV II in comparison to ROV I and the unified pilot training and control system developed, will also be briefly discussed in this paper.

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