Search Results (4)

To date, the development of unmanned technologies using autonomous underwater vehicles (AUVs) has become an urgent demand for solving the problem of inspecting industrial subsea structures. A key issue here is the precise localization of AUVs relative to underwater objects. However, the impossibility of using GPS and the presence of various interferences associated with the dynamics of the underwater environment do not allow high-precision navigation based solely on a standard suite of AUV navigation tools (sonars, etc.). An alternative technology involves the processing of optical images that, at short distances, can provide higher accuracy of AUV navigation compared to the technology of acoustic measurement processing. Although there have been results in this direction, further development of methods for extracting spatial information about objects from images recorded by a camera is necessary in the task of calculating the exact mutual position of the AUV and the object. In this study, in the context of the problem of subsea production system inspection, we propose a technology to recognize underwater objects and provide coordinate references to the AUV based on stereo-image processing. Its distinctive features are the use of a non-standard technique to generate a geometric model of an object from its views (foreshortening) taken from positions of a pre-made overview trajectory, the use of various characteristic geometric elements when recognizing objects, and the original algorithms for comparing visual data of the inspection trajectory with an a priori model of the object. The results of experiments on virtual scenes and with real data showed the effectiveness of the proposed technology. Full article

A complete subsea production system (SPS) is assembled by interconnecting subsea manufacturing facilities through subsea connectors. To ensure the reliability and longevity of the SPS, it is imperative to thoroughly investigate the mechanical behavior and sealing performance of the subsea connector’s core-sealing components. In this study, the loading conditions of the subsea clamp connector are examined to analyze the load transfer relationship between its components under different modes. A mathematical model for the load transfer between locking torque and sealing contact pressure is developed for the preloading mode, and the concept of mechanical transfer efficiency is introduced. Another mathematical model for the load transfer between the locking torque and the design pressure is developed for the operation mode. Furthermore, a three-dimensional full-size finite element model of the subsea clamp connector is established to analyze the effects of complex loads on the mechanical behavior and sealing performance of its core-sealing components. The simulation results indicate that internal pressure loading positively affects the sealing of the subsea connector, and that the stress distribution in the core-sealing components under bending moment loading exhibits significant asymmetric characteristics. Additionally, the superposition of axial tensile loads reduces the effect of the bending moment on the strength of the core seal member but further weakens the seal. Finally, an experimental system is designed to validate the simulation results. Full article

The use of an autonomous underwater vehicle (AUV) to inspect underwater industrial infrastructure requires the precise, coordinated movement of the AUV relative to subsea objects. One significant underwater infrastructure system is the subsea production system (SPS), which includes wells for oil and gas production, located on the seabed. The present paper suggests a method for the accurate navigation of AUVs in a distributed SPS to coordinate space using video information. This method is based on the object recognition and computation of the AUV coordinate references to SPS objects. Stable high accuracy during the continuous movement of the AUV in SPS space is realized through the regular updating of the coordinate references to SPS objects. Stereo images, a predefined geometric SPS model, and measurements of the absolute coordinates of a limited number of feature points of objects are used as initial data. The matrix of AUV coordinate references to the SPS object coordinate system is computed using 3D object points matched with the model. The effectiveness of the proposed method is estimated based on the results of computational experiments with virtual scenes generated in the simulator for AUV, and with real data obtained by the Karmin2 stereo camera (Nerian Vision, Stuttgart, Germany) in laboratory conditions. Full article

The Next Generation Subsea Production System (NextGen SPS) is considered as a competitive alternative system used for offshore petroleum production in ultra-deep sea based on the artificial seabed technology. The Immersed Buoyant Platform (IBP), which is located at a constant depth below the free surface of the water to minimize wave loading, provides a buoyant stable platform for supporting the well completion equipment. Therefore, the hydrodynamic characteristics of IBP in the currents play an essential role in determining the global responses of NextGen SPS. In this paper, aiming at acquiring an optimum structural form of IBP, the hydrodynamic characteristics of the flow past the cylindrical IBP with different height-to-diameter ratios are systematically investigated by use of the large eddy simulation (LES) approach. The simulations with fifteen different height-to-diameter ratios ($H/D$) are investigated. The Reynolds numbers are ranged from $0.94\times {10}^6$ to $3.45\times {10}^6$. It can be verified that the separated fluid reattaches on the surface of the cylinder when the aspect ratio is between 0.1 and 0.4. Due to the specific shape ratio and obvious 3D effect of the cylindrical IBP, no significant vortex shedding has been clearly observed when the aspect ratio is between 0.1 and 0.4. In the case of $0.4\le H/D\le 5.0$, a series of regular and alternating vortex street shedding appear behind the circular cylinder. The simulation results also show that the recirculation region length behind the cylindrical IBP can be significantly reduced with the decreasing aspect ratio. It can be concluded that the cylindrical IBP performs the best hydrodynamic characteristics when the aspect ratio is between 0.3 and 0.4. The research findings will be of great significance to providing valuable reference and foundation to determine the optimum form of underwater structures, such as the buoyancy cans of the hybrid riser system. Full article