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Marine growth affects offshore structures, causing additional weight and roughened surfaces, increasing wave load. In order to reduce these issues, regular inspection and cleaning can be carried out using various methods, of which one is Remotely Operated Vehicle-based (ROV) operations. In the work presented here, the design of a task-specific ROV for marine-growth cleaning is described, which is differentiated from the normal general-purpose ROVs currently used for this purpose by specialized construction and the use of a simple yet flexible framework. Compared to existing solutions, the proposed framework requires limited low-level programming, which heavily simplifies the implementation and thus reduces the associated practical overhead. The presented ROV prototype design has been demonstrated in a test tank facility and will be validated in an offshore scenario in a future offshore campaign.
|Title of host publication||2022 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2022|
|Number of pages||6|
|Publication status||Published - 2022|
|Event||2022 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2022 - Singapore, Singapore|
Duration: 19 Sept 2022 → 21 Sept 2022
|Conference||2022 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2022|
|Period||19/09/2022 → 21/09/2022|
|Series||IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)|
Bibliographical noteFunding Information:
ACKNOWLEDGEMENTS The authors would like to thank for the support from the Energy Technology Development and Demonstration Programme (EUDP) via the ”ACOMAR – Auto Compact Marine Growth Remover” project (J.No. 64020-1093). Thanks also go to our project partners SubC Partner, Sihm Højtryk, Mati2ilt, Total E&P Denmark and Siemens Gamesa Renewable Energy, and our colleagues from Aalborg University, for many valuable discussions and technical support.
© 2022 IEEE.
- Marine Growth
- Underwater Robotics