INTERNAL DOCUMENT REVIEW STUDY ON THE REQUIREMENTS FOR DEEP OCEAN REMOTE HANDLING EQUIPMENT by N.C. Flemming and J.S.M. Rusby November 1983 -J. M ^ 1 nc [ This document should not be cited in a published bibliography, and is supplied for the use of the recipient only]. INSTITUTE OF \ aCEAIMOGRAPHIC SCIENCES 4 INSTITUTE OF OCEANOGRAPHIC SCIENCES Wormley, Godalming, Surrey GU8 5UB (042-879-4141) (Director: Dr. A. S. Laughton, FRS) Bidston Observatory, Bkkenhead, Merseyside L43 7RA (051-653-8633) (Assistant Director: Dr. D. E. Cartwright, FRS) REPORT TO EUROPEAN ATOMIC ENERGY COMMUNITY ISPRA Establishment of the Joint Research Centre Contract No: 2149-83-07 ED ISP GB REVIEW STUDY ON THE REQUIREMENTS FOR DEEP OCEAN REMOTE HANDLING EQUIPMENT by N.C. Flemming and J.S.M. Rusby November 1983 I.O.S. Internal Document No. 195 (Issue 2) Report compiled by; The Institute of Oceanographic Sciences Wormley Godalming Surrey England G&ME&46 NUMMARY . X Aas made of tAe Meedb of poteMt%2% wsers for remote AaMottng equtpmeMt, or ^eAtoZes, t&e deep oeeoM f2000-g000mj, and t%e degree of fwrt^er tec&M%ca% de^eZopmeMt required. 2%e 8twd# -CnGludes an analysis of these needs^ of the veh-Ccle types involved and tAe %e#e% and progress tM tAe 8%&-8#stem tec^MoZagy w&tcA wtZZ 6e reqwtred. An analysis of the future development and requirement, for such vehicles foZZows and t%e report coMoZ^des a set of recommeMded ueAto&e owd sub-system studies which could be considered in the second phase of this project. Annexes contain a list of people visited and a bibliography of those references used in the compilation of this report. CONTENTS Page Section 1. OBJECTIVES OF THE STUDY 1 2. SUMMARY OF CONCLUSIONS 2 2.1 Major vehicle projects recommended 2 2.2 Recommendations regarding subsystem development 3 3. DEFINITION OF DEEP OCEAN ' 6 4. RANGE AND LIMITATIONS OF THE STUDY 7 5. POTENTIAL USERS OF DEEP OCEAN REMOTE HANDLING EQUIPMENT . 8 5.1 Offshore oil and gas industry - exploration and production 9 5.2 Pipelaying 17 5.3 Cablelaying 18 5.4 Manganese nodule mining 19 5.5 Extraction of mineral muds and surface deposits 21 5.6 Commercial fisheries 22 5.7 Repair and maintenance of structures, pipelines, etc. 22 5.8 Inspection and non-destructive testing 24 5.9 Salvage of ships and cargo 24 5.10 Salvage of crashed aircraft 25 5.11 Deployment and recovery of instruments 26 5.12 Radioactive waste disposal 26 5.13 Torpedo recovery 27 5.14 Mine sweeping and removal 28 5.15 Submarine rescue 28 5.16 Biological research 29 5.17 Geophysical and geological research 34 5.18 Physical oceanography 38 5.19 Chemical oceanography 39 Page Section 6. DESCRIPTIONS OF EXISTING CLASSES OF VEHICLES AND REMOTE HANDLING SYSTEMS 41 6.1 Bottom landing static systems 41 6.2 Cable lowered bottom lander . 42 6.3 Remote operated vehicle (ROV) 42 6.4 Bottom tracked mobile vehicle 43 6.5 Untethered, free-swimming ROVs (URQV) 43 6.6 Towed unmanned systems 44 6.7 Manned submersibles 45 6.8 Towed and suspended manned systems 47 7. ANALYSIS OF THE DEVELOPMENT NEEDS OF VEHICLE SUB-SYSTEMS 48 7.1 Power storage, supply and conversion 48 7.2 Prime mover and propulsion systems 52 7.3 Umbilical design 54 7.4 Manipulators and robotic tools 56 7.5 Video systems and video transmission 57 7.6 Navigation, position fixing and track recording 59 7.7 Buoyancy control and payload 62 7.8 Pressure vessel construction and testing and hull throughputs 65 7.9 Data telemetry 67 7.10 Human control, sensory data, feedback, piloting, data display 69 7.11 Life support 71 7.12 Emergency and bale-out systems 72 7.13 Surface support ships, platforms and handling systems 73 7.14 Land, sea or air transportability 76 7.15 Maintenance problems 77 7.16 Scientific instruments for use with the vehicles 78 7.17 Scientific data recording on the vehicle 79 7.18 Hydraulic, electrical and mechanical components 83 7.19 The use of on-board computing and microprocessors 85 Page Section 8 ANALYSIS OF FUTURE REQUIREMENTS FOR REMOTE VEHICLES 88 8.1 Bottom landing static systems 88 8.2 Cable lowered bottom lander 89 8.3 Remote operated vehicle (ROV) 90 8.4 Bottom tracked mobile vehicle> 91 8.5 Untethered, free-swimming ROVs (UROV) 91 8.6 Towed unmanned systems 92 8.7 Manned submersibles 93 8.8 Towed and suspended manned systems 94 9 RECOMMENDATIONS 96 Acknowledgements Appendix 1 List of organisations and people visited 98 2 Bibliography of references used for the different sections 102 Annex to the report elaborating on the options given in Section 2 (written June 1984) - 1 - 1. OBJECTIVES OF THE STUDY (1) To classify potential users for deep ocean vehicles and handling systems, and estimate their technical requirements now, and over the next 10 years. (2) To summarise the characteristics of existing deep ocean vehicles and handling systems and to forecast technically possible future devices. (3) To identify technical obstacles to the development of new vehicles and handling systems, and to discuss the level and form of research investment required to achieve a solution. (4) To recommend ways of promoting the development of particular vehicles and handling systems, and of ensuring that the systems devised do in practice meet the requirements of users. (5) To recommend research and development priorities in respect of materials, components, and subsystems important to the particular vehicles proposed. (6) To provide a source of information and references for further development of this project. - 2 2. SUMMARY OF CONCLUSIONS This section contains the conclusions from section 9, 2.1 Major vehicle projects recommended Ispra is recommended to investigate in Phase II the feasibility of designing, building and operating in Europe:- 2.1.1 A 6000m manned submersible, capable of remaining submerged for at least 4 days, with provision for shifts of crew and scientific observers, sophisticated navigation and data logging, and provision for extensive experimental equipment, including the use of manipulators and work tools. 2.1.2 A hybrid "piggy-back" submersible system consisting of a large mother submarine capable of diving to 1000-2000m and carrying a smaller deep ocean vehicle capable of descending to 6000m with a useful work payload. 2.1.3 An Untethered Remote Operated Vehicle with a depth capability of 6000m and useful payload, including integrated navigation with 'intelligent' control systems, 24 hours endurance and a high rate of data gathering with large volume storage. 2.1.4 A 6000m Remote Operated Vehicle, lowered in a 'garage', and capable of conducting sorties from the garage using an umbilical connection. Required to carry sophisticated work tools and video equipment. - 3 - 2.2 Recommendations regarding subsystem development Ispra is recommended in Phase II to investigate the feasibility of aiding the development of the following subsystems and technologies within Europe:- 2.2.1 New materials, including carbon/graphite/kevlar fibre composites, metal-ceramic composites, etc., should be tested and developed for the construction of large pressure vessels, and other components in manned and unmanned vehicles for deep ocean use. 2.2.2 The use of novel energy sources, particularly the closed cycle Stirling and diesel engine and their associated fuel systems, and certain secondary batteries, should be investigated. Comparative trials, and development and modifications should be carried out to evaluate the potential of each type of power source in realistic working conditions at sea. 2.2.3 Advanced computer and processing techniques, including the development of artificial intelligence, should be applied to the problems of controlling Untethered Remote Operated.Vehicles and other systems to minimise the effects of low data rate and delay in signal transmission. 2.2.4 Development should be undertaken in advanced navigation systems for both manned and unmanned vehicles, integrating the optimum performance available from systems employing acoustic beacons, electro-magnetic logs, inertial navigation, etc. Terrain following systems should be investigated for fast near-bottom surveys and the safe operation of manned and unmanned free vehicles. 2.2.5 Improved visualisation and acoustic imaging techniques, including pattern recognition schemes, should be developed for the better control of ROVs and work tools. Stereographic and holographic systems should be investigated. - 4 - 2.2.6 Further development is needed, and test facilities are required, for umbilical cables capable of combining fibre optics with strain members and other conductors, with a maximum length of 10km. 2.2.7 Test facilities should be developed for investigating the performance of materials, submersible components, subsystems, and assemblies at depths of up to 6000m, both in the laboratory and at sea, with the possibility of leaving materials or systems exposed for long periods. 2.2.8 The French submersible "Argyronete" project should be examined with a view to supporting its development as an underwater test-bed for the sea trials of closed cycle engines and other energy sources, and the testing of other large components and subsystems in realistic operational conditions. 2.3 Procedural recommendations The discussion throughout this report and the recommendations listed in sections 2 and 9 are based on some general assumptions and judgements concerning the optimum allocation of research and development effort between Ispra and other organisations and users of remote handling systems in the deep ocean. As follows:- 2.3.1 Delegation and decentralisation should be encouraged where possible. If a technique or system can be developed by one laboratory, company, or nation, then it may be wasteful to try and develop it at a European level. 2.3.2 Where a proposed project is too large to be carried out by one laboratory, company, or nation, then there is a strong case that it should be carried out at a European level, provided that the need has been demonstrated.