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The ROV manual : a user guide for remotely operated vehicles /

Many underwater operations that were once carried out by divers can now be carried out more efficiently and safely with ROVs. Their use has spread rapidly too as the technology has become more efficient and affordable, with application now commonly seen in marine research and surveying, nuclear, hyd...

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Detalles Bibliográficos
Clasificación:	Libro Electrónico
Autores principales:	Christ, Robert D. (Autor), Wernli, Robert L. (Autor)
Formato:	Electrónico eBook
Idioma:	Inglés
Publicado:	Oxford : Butterworth-Heinemann, 2013.
Edición:	Second edition.
Temas:	Remote submersibles > Handbooks, manuals, etc. Robots sous-marins > Guides, manuels, etc. Remote submersibles handbooks. manuals (instructional materials) Handbooks and manuals Handbooks and manuals. Guides et manuels.
Acceso en línea:	Texto completo

Tabla de Contenidos:

Machine generated contents note: pt. 1 INDUSTRY AND ENVIRONMENT
ch. 1 The ROV Business
1.1. The ROV
1.1.1. What is an ROV?
1.1.2. ROV size classifications
1.1.3. Vehicle shape versus mission
1.1.4. ROV depth rating by classification
1.1.5. Size versus ability to deploy sensors/tooling
1.2. Types of ROV services
1.2.1. Call-out versus contract work
1.2.2. Day rate versus project management
1.2.3. Strategy for service package deployment
1.3. ROV economics
1.3.1. Capital expenditure (CAPEX) versus day rate
1.4. ROV services by industry
1.4.1. Science
1.4.2. Fisheries and aquaculture
1.4.3. Military
1.4.4. Homeland security
1.4.5. Public safety
1.4.6.O & G drill support
1.4.7. Inspection, repair, and maintenance
1.4.8. Construction (O & G as well as civil)
1.5. Conclusions
ch. 2 The Ocean Environment
2.1. Physical oceanography
2.1.1. Distribution of water on earth
2.1.2. Coastal zone classifications and bottom types
Note continued: 2.2. Chemical oceanography
2.2.1. Salinity
2.2.2. Pressure
2.2.3.Compressibility
2.2.4. Conductivity
2.2.5. Water temperature
2.2.6. Density
2.2.7. Depth
2.2.8. Sonic velocity and sound channels
2.2.9. Viscosity
2.2.10. Water flow
2.2.11. Turbidity
2.2.12. Chlorophyll
2.2.13. Water quality
2.2.14. Dissolved gases
2.2.15. Ionic concentration
2.2.16. Solar radiation
2.2.17. Light and other electromagnetic transmissions through water
2.3. Ocean dynamics
2.3.1. Circulation
2.3.2. Effects of wave pattern upon ROV operation
pt. 2 THE VEHICLE
ch. 3 Design Theory and Standards
3.1.A bit of history
3.1.1. Introduction
3.1.2. In the beginning
3.2. Underwater vehicles to ROVs
3.2.1. Power source for the vehicle
3.2.2. Degree of autonomy
3.2.3.Communications linkage to the vehicle
3.2.4. Special-use ROVs
3.3. Autonomy plus: "why the tether?"
3.3.1. An aircraft analogy
Note continued: 3.3.2. Underwater vehicle variations
3.3.3. Why the tether?
3.3.4. Teleoperation versus remote control
3.3.5. Degrees of autonomy
3.4. Vehicle classifications
3.4.1. Size classifications of ROVs
3.4.2. Today's observation-class vehicles
3.4.3. Today's mid-sized vehicles
3.4.4. The ROV "spread"
3.5. Design theory
3.5.1. Unmanned underwater vehicle objectives
3.5.2. Designing for mission efficiency
3.5.3. Drag discussion
3.6. Standards and specifications
ch. 4 Vehicle Control and Simulation
4.1. Vehicle control
4.1.1. Basic thruster control
4.1.2. Autostabilization
4.1.3. ROV dynamic positioning
4.1.4. Logic-driven control
4.1.5. Logic drive with goal orientation
4.2. Simulation
4.2.1. Enter the ROV simulator
4.2.2. Physics simulation
4.2.3. The future
ch. 5 Vehicle Design and Stability
5.1. Vehicle design
5.1.1. Frame
5.1.2. Buoyancy
5.2. Buoyancy and stability
5.2.1. Hydrostatic equilibrium
Note continued: 5.2.2. Transverse stability
5.2.3. Water density and buoyancy
ch. 6 Thrusters
6.1. Propulsion and thrust
6.1.1. Propulsion systems
6.1.2. Thruster basics
6.1.3. Thruster design
6.2. Thrusters and speed
6.3. Electric versus hydraulic
ch. 7 Power and Telemetry
7.1. Electrical considerations
7.1.1."So you wanna design an ROV
are you sure?"
7.1.2. Power systems (general)
7.1.3. Power system arrangements
7.1.4. Rotary joints (a/k/a "slip rings")
7.1.5. The ubiquitous ground fault
7.1.6. The tether
7.1.7. Power source
7.2. Control systems
7.2.1. The control station
7.2.2. Motor control electronics
ch. 8 Cables and Connectors
8.1. Introduction
8.2. Definitions
8.3. Applications and field requirements, writing specifications
8.4. Underwater connector design
8.5. COTS underwater connectors
8.5.1. Mated pairs
8.5.2. Advanced designs
8.6. Reliability and quality control
8.7. Field maintenance
Note continued: 8.8. Underwater cable design
8.8.1. Umbilical and tether cables
8.8.2. Power requirements
8.8.3. Signal requirements
8.8.4. Strength requirements
8.8.5. Construction
8.8.6. Cable design methodology
8.8.7. Conductors
8.8.8. Insulation
8.8.9. Jacket/sheath
8.8.10. Strength member
8.8.11. Spare conductors
8.8.12. Interconnect cables
8.8.13. EM terminations and breakouts
8.8.14. Bonding
8.8.15. Cable design summary
8.9. Testing and troubleshooting
8.9.1. Electrical testing, troubleshooting, and predeployment checkout
8.9.2. Ohm sift or continuity test
8.9.3. MegOhm testing or insulation resistance
8.9.4. Hi-Pot or voltage withstand test
8.9.5.A time-domain reflectometer
8.9.6. Mechanical testing and troubleshooting
8.10. Tips from the field
8.11. Summary
Bibliography
ch. 9 LARS and TMS
9.1. Free-flying vehicle deployment techniques
9.1.1. Directly deployed/free-flying
Note continued: 9.1.2. Tether management system
9.2. TMS-based vehicle deployment techniques
9.2.1. Winches
9.2.2. Tether management systems
9.2.3. Launch and recovery systems
9.3. Currents and tether management
9.3.1. Tether effects
9.3.2. Currents
9.3.3. Teamwork and proper tether management
9.3.4. Tether snags
9.3.5. Tether guides and ROV traps
9.3.6. Clump weights and usage
9.3.7. Rules for deployment/tether management
ch. 10 Video
10.1. History
10.2. How it works
10.2.1. The camera
10.2.2. Lens optics
10.2.3. The signal
10.2.4. The display
10.2.5.Composite (baseband) video
10.2.6. The transmission (RF modulation)
10.3. Digital video
10.4. Video capture
10.5. Video compression
10.6. Video over Internet protocol
10.7. Video documentation
10.8. Documentation and disposition
10.9. Underwater optics and visibility
10.9.1. Focus error
10.9.2. FOV errors
10.9.3. Distortion
10.9.4. Absorption
Note continued: 10.9.5. ROV visual lighting and scattering
ch. 11 Vehicle Sensors and Lighting
11.1. Vehicle sensors
11.1.1. Vehicle navigation sensors
11.1.2. Vehicle health monitoring sensors
11.2. Vehicle lighting
11.2.1. Lighting theory
11.2.2. Practical applications
pt. 3 PAYLOAD SENSORS
ch. 12 Sensor Theory
12.1. Theory
12.1.1. History
12.1.2. Function of sensors
12.1.3. Sensor output
12.1.4. Types of sensors
12.1.5. Data acquisition
12.1.6. Systems
12.1.7. Installation
12.2. Sensor categories
12.2.1. Acceleration/shock/vibration
12.2.2. Biosensors
12.2.3. Chemical sensors
12.2.4. Capacitive/inductive sensors
12.2.5. Electromagnetic sensors
12.2.6. Flow/level
12.2.7. Force/load/weight
12.2.8. Humidity
12.2.9. Optical and radiation
12.2.10. Other sensors
12.3.Common ROV sensors
12.3.1. Sensor by job type
12.3.2. Aquaculture
12.3.3. Construction
12.3.4. Salvage
12.3.5. Science
Note continued: 12.3.6. Structural inspection
12.4. The future
ch. 13 Communications
13.1. Overview
13.1.1. What is communication?
13.1.2. Evolution of data communication
13.1.3. Data networking and ROVs
13.1.4. Transmission versus communication
13.1.5. The OSI networking model
13.2. Transmission
13.2.1. Basic data transmission model
13.2.2. Electrical signal transmission
13.2.3. Line characteristics
13.2.4. Metallic transmission media
13.2.5. Optical fiber
13.2.6. Radio
13.2.7. The ubiquitous decibel
13.2.8. Baseband transmission
13.2.9. Modulation
13.2.10. Multiplexing
13.2.11. Binary signals
13.2.12. Directionality
13.3.Communication
13.3.1. Of bits and bytes
13.3.2. Data representation
13.3.3. Error control
13.3.4. Protocols
13.4. Standard protocols
13.4.1. TIA/EIA standards
13.4.2. RS-232
13.4.3. RS-422/485
13.4.4. Ethernet
13.4.5. Universal serial bus
13.4.6. Protocol converters
Note continued: ch. 14 Underwater Acoustics
14.1. Introduction
14.2. Sound propagation
14.2.1. Pressure
14.2.2. Intensity
14.2.3. Decibel
14.2.4. Transmission loss
14.3. Transducers
14.3.1. Construction
14.3.2. Efficiency
14.3.3. Transducer bandwidth
14.3.4. Beam pattern
14.3.5. Directivity index
14.3.6. Transmitting response
14.3.7. Source level
14.3.8. Medium beam/narrow beam transducer
14.4. Acoustic noise
14.4.1. Environmental
14.4.2. Noise level calculations
14.4.3. Thruster noise
14.4.4. Sound paths
14.4.5. Sound velocity
14.4.6. Reflections
ch. 15 Sonar
15.1. Sonar basics
15.1.1. Why sound?
15.1.2. Definition of sonar
15.1.3. Elements required for sonar equipment
15.1.4. Frequency and signal attenuation
15.1.5. Active versus passive sonar
15.1.6. Transducers
15.1.7. Active sonar
15.1.8. Terminology
15.1.9. Sonar equations
15.1.10. Reflectivity and gain setting
15.1.11. Sound backscatter
Note continued: 15.1.12. Single- versus multibeam
15.1.13. Frequency versus image quality
15.2. Sonar types and interpretation
15.2.1. Imaging sonar
15.2.2. Profiling sonar
15.2.3. Side-scan versus mechanically/electrically scanning
15.2.4. Single-/dual-/multifrequency versus tunable frequency
15.2.5. CHIRP technology and acoustic lens systems
15.3. Sonar techniques
15.3.1. Using an imaging sonar on an ROV
15.3.2. Technique for locating targets with ROV-mounted scanning sonar
15.3.3. Interpretation of sonar images
15.4. New and emerging technologies
15.4.1. Image capture
15.4.2. Image rendering
ch. 16 Acoustic Positioning
16.1. Acoustic positioning
a technological development
16.2. What is positioning?
16.3. Theory of positioning
16.4. Basics of acoustic positioning
16.5. Sound propagation, threshold, and multipath
16.5.1. Weak signals
16.5.2. Noise
16.5.3. Multipath
16.6. Types of positioning technologies
Note continued: 16.6.1. Frame of reference
16.6.2. Short baseline
16.6.3. Ultrashort baseline
16.6.4. Long baseline
16.7. Advantages and disadvantages of positioning system types
16.8. Capabilities and limitations of acoustic positioning
16.9. Operational considerations
16.9.1. Operations in open ocean
16.9.2. Operations in ports and harbors
16.9.3. Operations in close proximity to vessels and underwater structures
16.10. Position referencing
16.10.1. Geo-referencing of position
16.10.2. Vessel referencing of position
16.10.3. Relative referencing of position
16.11. General rules for use of acoustic positioning systems
ch. 17 Navigational Sensors
17.1. Payload sensors versus vehicle sensors
17.1.1. Division of responsibility between ROV and survey functions
17.1.2. Typical survey pod/mux configuration
17.2. Gyros
17.2.1. Mechanical gyros
17.2.2. Ring laser gyros
17.2.3. Fiber-optic gyros
17.2.4. MEMS-based gyros
Note continued: 17.3. Accelerometers
17.3.1. Pendulum accelerometers
17.3.2. MEMS-based accelerometers
17.4. Inertial navigation systems
17.5. Bathymetric sensors
17.6. Conductivity, temperature, depth (CTD) sensors
17.7. Altimeters
17.8. Doppler velocity logs
17.9. Inclinometers
17.10. Long baseline arrays
17.11. Ultrashort baseline arrays
17.12.Combined instruments
ch. 18 Ancillary Sensors
18.1. Nondestructive testing definition and sensors
18.1.1. Magnetic particle inspection
18.1.2. Alternating current field measurement
18.1.3. Ultrasonic flaw detection
18.2. Metal object detection
18.2.1. Active versus passive
18.2.2. Active pulse inductance
18.2.3. Passive inductance
18.2.4. Magnetometers and gradiometers
18.3. Hooded Member Detection (FMD)
18.3.1. Acoustic FMD
18.3.2. Radiographic FMD
18.4. Cathodic potential sensors
18.5. Ultrasonic metal thickness
pt. 4 MANIPULATORS AND TOOLING
ch. 19 Manipulators
Note continued: 19.1. Background
19.1.1. Basic robotics
19.1.2. Manipulator mechanics and control
19.2. Manipulator types
19.2.1. Grabbers
19.2.2. Dexterous arms
19.3. Joint design
19.4. Range of motion and workspace
19.5. Types of controllers
19.5.1. Rate control
19.5.2. Position control
19.5.3. Force feedback control
19.6. Hydraulic versus electrical power
19.7. Subsea interface standards
19.7.1. Manipulator operation of the interface
19.7.2. Manipulator-held tooling
19.7.3. Tool deployment unit
19.7.4. Remotely operated tooling (dual downline intervention)
19.7.5. Tool skid
19.7.6. Tooling stabilization techniques
19.7.7. Standards summary
19.7.8. Subsea facility and tooling design
19.7.9. Specific interface standards
ch. 20 Tooling and Sensor Deployment
20.1. Manipulator-operated tooling
20.2. Remotely operated (ROV-positioned) tooling and sensors
20.2.1. Tooling and sensor skids
20.2.2. Tooling deployment unit
Note continued: 20.2.3. Remotely operated tooling (dual down line ROT)
20.2.4. Hydraulics
20.2.5. Electrical actuation
20.3. Conclusion
pt. 5 IN THE FIELD
ch. 21 Practical Applications
21.1. Explosive ordnance disposal and mine countermeasures
21.1.1. Background
21.1.2. EOD applications
21.1.3. MCM today
21.2.Commercial, scientific, and archeological operations
21.2.1. High current operations
21.2.2. Operations on or near the bottom
21.2.3. Enclosed structure penetrations
21.2.4. Aquaculture and scientific applications
21.3. Public safety diving
21.3.1. Public safety diving defined
21.3.2. Mission objectives and finding items underwater with the ROV
21.3.3. When to use the diver/when to use the ROV
21.3.4. Search theory and electronic search techniques
21.4. Homeland security
21.4.1. Concept of operations
21.4.2. Tactics, techniques, and procedures
21.4.3. Operating characteristics of ROV size categories
Note continued: 21.4.4. Port security needs
21.4.5. Underwater environment of ports
21.4.6. Navigation accessories
21.4.7. Techniques for accomplishing port security tasks
21.4.8. Development of TTPs for port security
21.4.9. Results of procedure testing by sizes
21.4.10. Inland
21.4.11. Offshore
21.5. Conclusion
ch. 22 It's the Little Things That Matter
22.1. Standard operating procedures
22.1.1. Overall operational objectives
22.1.2. Equipment mobilization
22.1.3. Operational considerations
22.1.4. Predive operations and checks
22.1.5. Specific consideration for operational deployment of ROVs
22.1.6. Task list and guidelines
22.1.7. Postdive procedures
22.2. Servicing and troubleshooting
22.2.1. Maintenance
22.2.2. Basics of ROV troubleshooting
22.2.3. Tools and spares for fieldwork
22.2.4. Standard preventative maintenance checklist
22.2.5. Operational forms
22.3. Putting it all together
22.3.1. Attention to detail
Note continued: 22.3.2. Training and personnel qualifications
22.3.3. Equipment setup considerations
22.3.4. Division of responsibility
22.3.5. Boat handling
22.3.6. Marking the target(s)
22.3.7. Methods for navigating to the target
22.3.8. Sonar/ROV interaction
ch. 23 The Future of ROV Technology
23.1. Standard ROVs
23.2. Fiber-optic linked ROVs
23.3. Autonomous ROVs
23.3.1. Structurally compliant vehicles
23.3.2. AUVs
23.3.3. Hybrids
23.4. The crystal ball
23.5. The bottom line.

The ROV manual : a user guide for remotely operated vehicles /

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