DUGi

I-AUV Docking and Panel Intervention at Sea

http://dugi.udg.edu/item/http:@@@@hdl.handle.net@@2072@@267577

The use of commercially available autonomous underwater vehicles (AUVs) has increasedduring the last fifteen years. While they are mainly used for routine survey missions, there is a set ofapplications that nowadays can be only addressed by manned submersibles or work-class remotelyoperated vehicles (ROVs) equipped with teleoperated arms: the intervention applications. To allowthese heavy vehicles controlled by human operators to perform intervention tasks, underwaterstructures like observatory facilities, subsea panels or oil-well Christmas trees have been adapted,making them more robust and easier to operate. The TRITON Spanish founded project proposes theuse of a light-weight intervention AUV (I-AUV) to carry out intervention applications simplifyingthe adaptation of these underwater structures and drastically reducing the operational cost. To provethis concept, the Girona 500 I-AUV is used to autonomously dock into an adapted subsea panel andonce docked perform an intervention composed of turning a valve and plugging in/unplugginga connector. The techniques used for the autonomous docking and manipulation as well as the designof an adapted subsea panel with a funnel-based docking system are presented in this article togetherwith the results achieved in a water tank and at sea

This work was supported by the Spanish project DPI2014-57746-C3 (MERBOTS Project) and by Generalitat Valenciana under Grant GVA-PROMETEO/2016/066. The University of Girona wants to thank the SARTI group for their collaboration with the TRITON project

MDPI (Multidisciplinary Digital Publishing Institute)