TY - JOUR
T1 - Multi-robot system for inspection of underwater pipelines in shallow waters
AU - Patel, Sahejad
AU - Abdellatif, Fadl
AU - Alsheikh, Mohammed
AU - Trigui, Hassane
AU - Outa, Ali
AU - Amer, Ayman
AU - Sarraj, Mohammed
AU - Al Brahim, Ahmed
AU - Alnumay, Yazeed
AU - Felemban, Amjad
AU - Alrasheed, Ali
AU - Halawani, Abdulwahab
AU - Jifri, Hesham
AU - Jaleel, Hassan
AU - Shamma, Jeff
N1 - Publisher Copyright:
© The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd. 2024.
PY - 2024/3
Y1 - 2024/3
N2 - Shallow Water Inspection & Monitoring Robot (SWIM-R) is designed to quickly and safely inspect oil and gas pipelines in extremely shallow waters. Divers clean and inspect pipeline joints. However, diving operations are slow in shallow waters as diving support ships cannot access shallow depths. Remotely operated vehicles (ROVs) that can perform cleaning and inspection are typically suited for deeper regions and are too large for smaller boats that navigate in shallow areas. To resolve this challenge, two SWIM-R vehicles and a companion Autonomous Surface Vehicle (ASV) were developed as a multi-robot system to minimize the reliance on divers for pipeline inspection. A unique mission architecture is presented that avails three operating modes depending on the depth; direct control from the shore, relayed control via the ASV, and direct control from a small zodiac. The mission architecture includes two ROVs; a Cleaning SWIM-R fitted with a water-jet nozzle to clean marine growth from the surface to be inspected, and an Inspection SWIM-R fitted with a neutrally-buoyant multi-functional robotic arm to inspect the surface and crawling tracks to traverse the seafloor. This multi-robot system was field tested, which proved its efficacy in inspecting oil and gas assets in shallow waters.
AB - Shallow Water Inspection & Monitoring Robot (SWIM-R) is designed to quickly and safely inspect oil and gas pipelines in extremely shallow waters. Divers clean and inspect pipeline joints. However, diving operations are slow in shallow waters as diving support ships cannot access shallow depths. Remotely operated vehicles (ROVs) that can perform cleaning and inspection are typically suited for deeper regions and are too large for smaller boats that navigate in shallow areas. To resolve this challenge, two SWIM-R vehicles and a companion Autonomous Surface Vehicle (ASV) were developed as a multi-robot system to minimize the reliance on divers for pipeline inspection. A unique mission architecture is presented that avails three operating modes depending on the depth; direct control from the shore, relayed control via the ASV, and direct control from a small zodiac. The mission architecture includes two ROVs; a Cleaning SWIM-R fitted with a water-jet nozzle to clean marine growth from the surface to be inspected, and an Inspection SWIM-R fitted with a neutrally-buoyant multi-functional robotic arm to inspect the surface and crawling tracks to traverse the seafloor. This multi-robot system was field tested, which proved its efficacy in inspecting oil and gas assets in shallow waters.
KW - Collaborative robots
KW - Inspection
KW - Modular design
KW - Remotely operated vehicle
KW - Robotic arm
KW - Shallow water
KW - Underwater robot
UR - http://www.scopus.com/inward/record.url?scp=85181947111&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85181947111&partnerID=8YFLogxK
U2 - 10.1007/s41315-023-00309-8
DO - 10.1007/s41315-023-00309-8
M3 - Article
AN - SCOPUS:85181947111
SN - 2366-5971
VL - 8
SP - 14
EP - 38
JO - International Journal of Intelligent Robotics and Applications
JF - International Journal of Intelligent Robotics and Applications
IS - 1
ER -