2020-12-08 09:57:23 +00:00
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2020-12-16 16:41:24 +00:00
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2020-12-08 09:57:23 +00:00
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\pdf_title "Net-zero Cable Repair Ship"
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2020-12-08 09:57:23 +00:00
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\pdf_author "Andy Pack"
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2020-12-08 09:57:23 +00:00
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\begin_layout Right Footer
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Andy Pack
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\end_layout
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\begin_layout Left Footer
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January 2021
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\end_layout
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\begin_layout Left Header
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Sustainable Cable Ship - Group 1
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\end_layout
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2020-12-08 10:06:25 +00:00
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\begin_layout Part
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Vessel Study
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\end_layout
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\begin_layout Section
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Propulsion
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\end_layout
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\begin_layout Subsection
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Power Requirements
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\end_layout
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\begin_layout Subsubsection
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Hotel Load [AP]
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\end_layout
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2020-12-08 09:57:23 +00:00
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\begin_layout Section
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2020-12-08 10:06:25 +00:00
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Efficiency Investigations
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\end_layout
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\begin_layout Subsection
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Solar [AP]
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\end_layout
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\begin_layout Section
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Energy Storage [AP]
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\end_layout
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\begin_layout Subsection
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Battery Chemistry
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\end_layout
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\begin_layout Subsection
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Time-dependent Modelling
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\end_layout
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\begin_layout Section
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Mission Ops
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\end_layout
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2020-12-16 16:41:24 +00:00
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\begin_layout Subsection
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Grapnel-based Operations [AP]
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\end_layout
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\begin_layout Standard
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While the use of robotics has made sub-sea cable repair operations more
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efficient, durable and accurate, as will be discussed there are situations
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where this is not available and it is worth briefly outlining how grapnels
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are used in repair operations.
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\end_layout
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\begin_layout Standard
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Grapnels are specialised tools attached to lengths of chain which trail
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the stern of the ship.
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For cable repair operations, a cut & hold grapnel is used
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\begin_inset CommandInset citation
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LatexCommand citep
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key "cut-and-hold-paper,cut-and-hold-eta-product"
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literal "false"
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\end_inset
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.
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With knowledge of the path of the subject cable and the location of the
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fault, the grapnel is lowered before the boat makes a pass perpendicular
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to the cable.
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As the grapnel makes contact it is able to both cut and grip the cable
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before being raised to the surface vessel.
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\begin_inset Flex TODO Note (Margin)
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status open
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\begin_layout Plain Layout
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Disadvantages
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\end_layout
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\end_inset
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\end_layout
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2020-12-08 10:06:25 +00:00
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\begin_layout Subsection
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2020-12-14 20:24:08 +00:00
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Unmanned Underwater Vehicle Operations [AP]
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\end_layout
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\begin_layout Standard
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The following section outlines how the use of an unmanned underwater vehicle
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(UUV) can make mission operations more efficient and precise.
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The state of current UUV usage throughout cable repair operations is outlined
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in order to identify the critical capabilities and requirements.
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The future of the domain is then explored and the challenges identified
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before exploring how these can be overcome in order to meet the determined
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requirements.
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Prior to this, the domain of UUVs as a whole is described in order to outline
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the scope of available vehicles.
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\begin_inset Flex TODO Note (Margin)
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status open
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Why ROVS?
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\end_layout
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\end_inset
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2020-12-14 20:24:08 +00:00
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\end_layout
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\begin_layout Subsubsection
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UUV Classes
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\end_layout
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\begin_layout Paragraph
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ROVs and AUVs
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\end_layout
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2020-12-16 16:41:24 +00:00
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\begin_layout Standard
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UUVs are generally divided into two categories, remotely operated underwater
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vehicles (ROV) and autonomous underwater vehicles (AUV) with the distinction
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being between whether a human is controlling the vehicle or whether it
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operates independently; as such they have different applications.
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ROVs have been the vehicle class of choice where intervention and actuation
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is required such as offshore oil and gas operations and cable repair.
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A human operator controls the vehicle from the surface vessel, bi-directional
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communication including data, control, video and power are transmitted
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through an umbilical cord tether between the two vessels.
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AUVs on the other hand have primarily been used for survey and research
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purposes.
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\begin_inset Flex TODO Note (Margin)
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status open
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\begin_layout Plain Layout
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No umbilical cord?
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\end_layout
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\end_inset
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\end_layout
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\begin_layout Standard
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This distinction in responsibilities is not static, however.
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Like other robotics domains such as auto-mobiles and ships, autonomy is
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a rapidly developing area of research and development and newer vehicles
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are able to complete many more complex operations without human intervention
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and with longer endurance.
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\end_layout
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\begin_layout Paragraph
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Physical Configuration
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\end_layout
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\begin_layout Standard
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The physical layout of a UUV can generally be described by one of two classes,
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box frames or torpedo shaped.
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\begin_inset Flex TODO Note (Margin)
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status open
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\begin_layout Plain Layout
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determined by the size and range of the vehicle.
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\end_layout
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\end_inset
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Box frame UUVs are typically larger with more space for instruments and
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actuators but are not expected to make longer distance journeys as a result
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of their poor hydrodynamic profile.
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Torpedo shaped vehicles tend to be smaller without actuators; their hydrodynami
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c profile makes them well suited for faster, longer distance missions however
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this comes at the cost of reduced stability and control.
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\end_layout
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2020-12-14 20:24:08 +00:00
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\begin_layout Subsubsection
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Current ROV Usage
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\end_layout
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2020-12-16 16:41:24 +00:00
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\begin_layout Standard
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Cable repair operations are currently undertaken, where possible, with human-con
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trolled ROVs.
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With visual contact and direct actuation at the seabed, the ROV is used
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to identify, cut and grip the cable for retrieval to the surface-vessel.
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In doing so the need for repeated motions of the ship across the cable
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is removed, saving time and fuel.
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Instead the surface vessel uses dynamic positioning in order to maintain
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it's position above the ROV and cable.
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\end_layout
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\begin_layout Standard
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While this finer control is a key benefit for ROV use over grapnels, one
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of the most important benefits is the ability to bury repaired cables in
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the sea floor using high-powered water jets.
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70% of cable damage is caused by man-made activity, of which over a third
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is a result of fishing activity; another quarter is as a result ship anchors
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\begin_inset CommandInset citation
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LatexCommand citep
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key "ultra-map-cable-damage-causes"
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literal "false"
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\end_inset
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.
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As such, the ability to protect sub-sea cables in shallower waters by burying
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them from human intervention is a key parameter in protecting cables from
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further damage.
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While this can be completed with a separate plough, this would require
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more deck space, motion of the surface vessel.
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Ploughs are also typically extremely heavy pieces of equipment and would
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make the vessel less efficient overall.
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\end_layout
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\begin_layout Standard
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The need for fine movement control and actuators with which to manipulate
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cables has led to box frame vehicles dominating this field, figure
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\begin_inset CommandInset ref
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LatexCommand ref
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reference "fig:The-HECTOR-7-ROV"
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plural "false"
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caps "false"
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noprefix "false"
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\end_inset
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shows SIMEC Technology's HECTOR-7 ROV, a typical design for sub-sea cable
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repair vehicles.
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\end_layout
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\begin_layout Standard
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\begin_inset Float figure
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wide false
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sideways false
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status open
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\begin_layout Plain Layout
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\noindent
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\align center
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\begin_inset Graphics
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filename hector-7.jpg
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lyxscale 50
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width 50col%
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\end_inset
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\end_layout
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\begin_layout Plain Layout
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\begin_inset Caption Standard
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\begin_layout Plain Layout
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SIMEC Technology's HECTOR-7 ROV used on Orange Marine's Pierre de Fermat,
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\begin_inset CommandInset citation
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LatexCommand citep
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key "rov-hector-7-datasheet"
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|
literal "false"
|
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|
|
\end_inset
|
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|
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|
|
\begin_inset CommandInset label
|
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|
LatexCommand label
|
|
|
|
name "fig:The-HECTOR-7-ROV"
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|
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|
|
\end_inset
|
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|
\end_layout
|
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|
|
\end_inset
|
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\end_layout
|
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\end_inset
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|
|
\end_layout
|
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\begin_layout Standard
|
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|
\begin_inset Flex TODO Note (Margin)
|
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|
status open
|
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|
\begin_layout Plain Layout
|
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|
Limited depth
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\end_layout
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|
\end_inset
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\end_layout
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|
\begin_layout Standard
|
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|
Table
|
|
|
|
\begin_inset CommandInset ref
|
|
|
|
LatexCommand ref
|
|
|
|
reference "tab:ROV-specs"
|
|
|
|
plural "false"
|
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|
|
caps "false"
|
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|
|
noprefix "false"
|
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|
|
|
|
\end_inset
|
|
|
|
|
|
|
|
lists the specifications for the ROVs currently being used as part of the
|
|
|
|
ACMA cable repair agreement along with similarly classed vehicles from
|
|
|
|
other providers.
|
|
|
|
\end_layout
|
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|
|
\begin_layout Standard
|
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|
|
\begin_inset Float table
|
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|
|
wide false
|
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|
|
sideways false
|
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|
|
status open
|
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|
|
\begin_layout Plain Layout
|
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|
|
\noindent
|
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|
|
\align center
|
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|
|
\begin_inset Tabular
|
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|
|
<lyxtabular version="3" rows="8" columns="5">
|
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|
|
<features tabularvalignment="middle">
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|
<column alignment="center" valignment="top">
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|
<column alignment="center" valignment="top">
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|
<column alignment="center" valignment="top" width="0pt">
|
|
|
|
<column alignment="center" valignment="top">
|
|
|
|
<column alignment="center" valignment="top">
|
|
|
|
<row>
|
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|
|
<cell alignment="center" valignment="top" bottomline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
|
|
|
|
\series bold
|
|
|
|
HECTOR-7
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
|
|
|
|
\series bold
|
|
|
|
Atlas
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
|
|
|
|
\series bold
|
|
|
|
ST200
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
|
|
|
|
\series bold
|
|
|
|
QTrencher 600
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
</row>
|
|
|
|
<row>
|
|
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
|
|
|
|
\series bold
|
|
|
|
Company
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell alignment="center" valignment="top" leftline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
SIMEC Technology
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell multicolumn="1" alignment="center" valignment="top" leftline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
Global Marine
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell multicolumn="2" alignment="center" valignment="top" leftline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell alignment="center" valignment="top" leftline="true" rightline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
SMD
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
</row>
|
|
|
|
<row>
|
|
|
|
<cell multirow="3" alignment="center" valignment="middle" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
|
|
|
|
\series bold
|
|
|
|
Vessel
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell multirow="3" alignment="center" valignment="middle" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
Pierre de Fermat
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
Wave Sentinel
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell multirow="3" alignment="center" valignment="middle" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
Cable Innovator
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell multirow="3" alignment="center" valignment="middle" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
N/A
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
</row>
|
|
|
|
<row>
|
|
|
|
<cell multirow="4" alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell multirow="4" alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
C.S Sovereign
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell multirow="4" alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell multirow="4" alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
</row>
|
|
|
|
<row>
|
|
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
|
|
|
|
\series bold
|
|
|
|
Depth Rating
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
3,000 m
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
2,000 m
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
2,500 m
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
3,000 m
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
</row>
|
|
|
|
<row>
|
|
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
|
|
|
|
\series bold
|
|
|
|
Weight in Air
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
9 t
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
10.6 t
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
6.5 t
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
11 t
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
</row>
|
|
|
|
<row>
|
|
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
|
|
|
|
\series bold
|
|
|
|
Power
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
300 kW
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
300 kW
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
-
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
450 kW
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
</row>
|
|
|
|
<row>
|
|
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
|
|
|
|
\begin_inset Text
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
|
|
|
|
\series bold
|
|
|
|
Burial Depth
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
</cell>
|
|
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
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\begin_inset Text
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\begin_layout Plain Layout
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2 m
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\end_layout
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\end_inset
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</cell>
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<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
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\begin_inset Text
|
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\begin_layout Plain Layout
|
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2 m
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\end_layout
|
|
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\end_inset
|
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</cell>
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<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
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\begin_inset Text
|
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\begin_layout Plain Layout
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1.5 m
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\end_layout
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\end_inset
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</cell>
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<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
|
|
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|
\begin_inset Text
|
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\begin_layout Plain Layout
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|
3 m
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\end_layout
|
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\end_inset
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</cell>
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</row>
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</lyxtabular>
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\end_inset
|
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\begin_inset VSpace smallskip
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\end_inset
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\end_layout
|
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\begin_layout Plain Layout
|
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|
\begin_inset CommandInset citation
|
|
|
|
LatexCommand citep
|
|
|
|
key "rov-hector-7-datasheet,global-marine-atlas-data-sheet,glboal-marine-st200-datasheet,smd-qtrencher-600-datasheet"
|
|
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|
literal "false"
|
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|
\end_inset
|
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|
|
\end_layout
|
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|
\begin_layout Plain Layout
|
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|
\begin_inset Caption Standard
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
Relevant specifications and operating capabilities for sub-sea cable repair
|
|
|
|
ROVs
|
|
|
|
\begin_inset CommandInset label
|
|
|
|
LatexCommand label
|
|
|
|
name "tab:ROV-specs"
|
|
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|
|
|
|
|
\end_inset
|
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\end_layout
|
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\end_inset
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\end_layout
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\end_inset
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\end_layout
|
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|
|
2020-12-14 20:24:08 +00:00
|
|
|
\begin_layout Paragraph
|
|
|
|
Requirements Specification
|
|
|
|
\end_layout
|
|
|
|
|
2020-12-16 16:41:24 +00:00
|
|
|
\begin_layout Standard
|
|
|
|
Using this information the requirements for a cable repair UUV could be
|
|
|
|
described as the following,
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\begin_layout Enumerate
|
|
|
|
The UUV should have actuators in order to both cut and grip cables
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\begin_layout Enumerate
|
|
|
|
The UUV should be able to operate to at least 2 km of depth
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\begin_layout Enumerate
|
|
|
|
The UUV should be able to locate the cable without visual information i.e.
|
|
|
|
electromagnetically
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\begin_deeper
|
|
|
|
\begin_layout Enumerate
|
|
|
|
In shallower water the cable is buried and will not be able to be visually
|
|
|
|
identified
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_deeper
|
|
|
|
\begin_layout Enumerate
|
|
|
|
The UUV should be able to re-bury the cable in shallower waters
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\begin_deeper
|
|
|
|
\begin_layout Enumerate
|
|
|
|
This should provide more protection to the cable from interference including
|
|
|
|
fishing operations
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_deeper
|
2020-12-14 20:24:08 +00:00
|
|
|
\begin_layout Subsubsection
|
|
|
|
Current AUV Usage
|
|
|
|
\end_layout
|
|
|
|
|
2020-12-16 16:41:24 +00:00
|
|
|
\begin_layout Standard
|
|
|
|
Autonomous underwater vehicles are well suited to survey and research operations
|
|
|
|
, without human intervention they sweep a given area collecting data for
|
|
|
|
analysis.
|
|
|
|
This can include bathymetry
|
|
|
|
\begin_inset Foot
|
|
|
|
status open
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
The measurement of the depth of a body of water
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
|
|
|
|
, surveys and chemical composition investigations such as pH and toxin levels.
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\begin_layout Standard
|
|
|
|
\begin_inset Float figure
|
|
|
|
wide false
|
|
|
|
sideways false
|
|
|
|
status open
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\noindent
|
|
|
|
\align center
|
|
|
|
\begin_inset Graphics
|
|
|
|
filename hugin-superior.jpg
|
|
|
|
lyxscale 30
|
|
|
|
width 60col%
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
|
|
|
|
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\begin_inset Caption Standard
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
Kongsberg Maritime's HUGIN Superior AUV,
|
|
|
|
\begin_inset CommandInset citation
|
|
|
|
LatexCommand citep
|
|
|
|
key "auv-hugin-superior-datasheet"
|
|
|
|
literal "false"
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
|
|
|
|
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
|
|
|
|
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
|
|
|
|
|
|
|
|
\end_layout
|
|
|
|
|
2020-12-14 20:24:08 +00:00
|
|
|
\begin_layout Subsubsection
|
|
|
|
Domain Challenges
|
|
|
|
\end_layout
|
|
|
|
|
2020-12-16 16:41:24 +00:00
|
|
|
\begin_layout Paragraph
|
|
|
|
Navigation
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\begin_layout Standard
|
|
|
|
One of the main advantages of using an autonomous vehicle for sub-sea cable
|
|
|
|
repairs would be the physical de-coupling of the vehicles, however this
|
|
|
|
also poses the most significant challenge.
|
|
|
|
In typical ROV operations, the operator has knowledge of the location of
|
|
|
|
the ROV relative to the surface vessel.
|
|
|
|
As the surface vessel is GNSS-enabled (Likely GPS) it has knowledge of
|
|
|
|
its position in world co-ordinates and the operator can use this to reduce
|
|
|
|
the ROV's cable search space.
|
|
|
|
\begin_inset Flex TODO Note (Margin)
|
|
|
|
status open
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
Diagram?
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
|
|
|
|
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\begin_layout Standard
|
|
|
|
Decoupling the vehicles introduces complications that are not necessarily
|
|
|
|
typical to the existing use cases for AUVs.
|
|
|
|
The frequency of EM waves used by GNSS systems do not penetrate deep through
|
|
|
|
the water and an AUV must be able to operate without world co-ordinates
|
|
|
|
provided in this manner.
|
|
|
|
As such, navigation systems used by AUVs are typically
|
|
|
|
\emph on
|
|
|
|
dead reckoning
|
|
|
|
\emph default
|
|
|
|
systems.
|
|
|
|
This is a form of navigation that operates relative to a known fixed point
|
|
|
|
(where a UUV is deployed for example) as opposed to one relative to world
|
|
|
|
co-ordinates.
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\begin_layout Standard
|
|
|
|
With an accurate system, this will satisfy many surveying and research use
|
|
|
|
cases where relative location data can be transformed to world-coordinates
|
|
|
|
after the fact.
|
|
|
|
This will prove less effective when the vehicle is expected to autonomously
|
|
|
|
navigate to a specific location (the cable fault).
|
|
|
|
A dead reckoning system as described above uses relative sensors to measure
|
|
|
|
it's speed and infer it's current location however these relative sensors
|
|
|
|
have associated measurement errors which accumulate over time.
|
|
|
|
This would be more pronounced under the water where sea currents are liable
|
|
|
|
to accentuate these errors, the efficacy of an AUV's fault location capabilitie
|
|
|
|
s may be reduced to the point of unacceptability.
|
|
|
|
\begin_inset Flex TODO Note (Margin)
|
|
|
|
status open
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
Kalman filter now?
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
|
|
|
|
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\begin_layout Paragraph
|
|
|
|
Launch & Recovery
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\begin_layout Standard
|
|
|
|
\begin_inset Flex TODO Note (Margin)
|
|
|
|
status open
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
Top hat or garage TMS to act as LARS interface?
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
|
|
|
|
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\begin_layout Subsubsection
|
|
|
|
Proposed Design
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\begin_layout Standard
|
|
|
|
The vehicle will be designed for hybrid ROV/AUV operations.
|
|
|
|
The vehicle should be able to complete missions independently of the surface
|
|
|
|
vessel with the ability to operate in a similar fashion to existing ROVs
|
|
|
|
(human controller, tethered power and data connection).
|
|
|
|
This will have a number of benefits, primarily that the vehicle should
|
|
|
|
be able to benefit from autonomous operation with the ability for direct
|
|
|
|
human control in missions deemed to complex for autonomous control.
|
|
|
|
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\begin_layout Standard
|
|
|
|
The existing remit of AUV operations is primarily survey, inspection and
|
|
|
|
light intervention, it is likely that the autonomous capabilities of this
|
|
|
|
vehicle would not be capable of conducting all existing cable repair missions
|
|
|
|
which involve a lot more involved intervention.
|
|
|
|
It is important that enabling autonomous operations does not ultimately
|
|
|
|
reduce it's operating capabilities.
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\begin_layout Standard
|
|
|
|
As previously described, box frame UUVs are well suited to sub-sea cable
|
|
|
|
operations where fine movement control and space for actuators are critical.
|
|
|
|
As such a box frame of similar specifications to those currently used,
|
|
|
|
|
|
|
|
\begin_inset CommandInset citation
|
|
|
|
LatexCommand cite
|
|
|
|
key "global-marine-atlas-data-sheet,rov-hector-7-datasheet"
|
|
|
|
literal "false"
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
|
|
|
|
will be used.
|
|
|
|
The vehicle will likely be at the larger and heavier end of existing ROVs
|
|
|
|
as the vehicle must now have the onboard energy capabilities to complete
|
|
|
|
a mission without a constant power supply from the surface vessel.
|
|
|
|
\end_layout
|
|
|
|
|
2020-12-14 20:24:08 +00:00
|
|
|
\begin_layout Subsubsection
|
|
|
|
Navigation
|
|
|
|
\end_layout
|
|
|
|
|
2020-12-16 16:41:24 +00:00
|
|
|
\begin_layout Standard
|
|
|
|
As previously described, the navigation system will primarily be built on
|
|
|
|
the principle of
|
|
|
|
\emph on
|
|
|
|
dead reckoning
|
|
|
|
\emph default
|
|
|
|
using an inertial navigation system (INS).
|
|
|
|
An INS uses input from many types of sensor such as accelerometers and
|
|
|
|
gyroscopes to measure the movement of the vehicle and hence infer it's
|
|
|
|
location.
|
|
|
|
None of these could individually provide an accurate determination of location
|
|
|
|
and as such
|
|
|
|
\emph on
|
|
|
|
sensor fusion
|
|
|
|
\emph default
|
|
|
|
is employed.
|
|
|
|
Each sensor has an associated measurement uncertainty which compounds over
|
|
|
|
time, sensor fusion allows all the sensor measurements to be combined in
|
|
|
|
such a way as to produce a single output measurement with an uncertainty
|
|
|
|
smaller than any of each sensor individually.
|
|
|
|
A common method for implementing sensor fusion is using a
|
|
|
|
\emph on
|
|
|
|
Kalman filter
|
|
|
|
\emph default
|
|
|
|
|
|
|
|
\begin_inset Flex TODO Note (Margin)
|
|
|
|
status open
|
|
|
|
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
reference, explain?
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
|
|
|
|
.
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\begin_layout Standard
|
|
|
|
However, despite the use of a Kalman filter allowing more precise approximations
|
|
|
|
of the vehicles relative location, the lack of external calibrating updates
|
|
|
|
means that the overall uncertainty will still continually increase over
|
|
|
|
time.
|
|
|
|
In land-based robotics this is mitigated through the use of periodic GPS
|
|
|
|
measurements which have low uncertainty and help to place an upper bound
|
|
|
|
on the overall error.
|
|
|
|
As previously mentioned, GNSS systems do not work deep underwater and as
|
|
|
|
such, another method for providing these external updates must be used.
|
|
|
|
\end_layout
|
|
|
|
|
2020-12-14 20:24:08 +00:00
|
|
|
\begin_layout Paragraph
|
|
|
|
Underwater Acoustic Positioning
|
|
|
|
\end_layout
|
|
|
|
|
2020-12-16 16:41:24 +00:00
|
|
|
\begin_layout Paragraph
|
|
|
|
Underwater Acoustic Communications
|
|
|
|
\end_layout
|
|
|
|
|
2020-12-14 20:24:08 +00:00
|
|
|
\begin_layout Paragraph
|
|
|
|
Acoustic Doppler Current Profiling
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\begin_layout Subsubsection
|
|
|
|
Control
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\begin_layout Subsubsection
|
|
|
|
Summary
|
2020-12-08 09:57:23 +00:00
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\begin_layout Standard
|
|
|
|
\begin_inset Newpage newpage
|
|
|
|
\end_inset
|
|
|
|
|
|
|
|
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\begin_layout Standard
|
|
|
|
\begin_inset CommandInset label
|
|
|
|
LatexCommand label
|
|
|
|
name "sec:bibliography"
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
|
|
|
|
|
|
|
|
\begin_inset CommandInset bibtex
|
|
|
|
LatexCommand bibtex
|
|
|
|
btprint "btPrintCited"
|
|
|
|
bibfiles "references"
|
|
|
|
options "bibtotoc"
|
|
|
|
|
|
|
|
\end_inset
|
|
|
|
|
|
|
|
|
|
|
|
\end_layout
|
|
|
|
|
|
|
|
\begin_layout Standard
|
|
|
|
\begin_inset Newpage pagebreak
|
|
|
|
\end_inset
|
|
|
|
|
|
|
|
|
|
|
|
\end_layout
|
|
|
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\begin_layout Section
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\start_of_appendix
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appendix placeholder
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\end_layout
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\end_body
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\end_document
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