Essay: Design and model of the real ROV Crawler

2.1 Introduction
This chapter discussed the design and model of the real ROV Crawler created by numerous company in the world. The information will be used to construct this ROV to ensure it functions as objective needs.
2.2 History of development in ROV
Exactly who to credit with developing the first ROV will probably remain clouded, however, there are two who deserve the credit. The PUV (Programmed Underwater Vehicle) was a torpedo developed by Luppis-Whitehead Automobile in Austria in 1864, however, the first tethered ROV, named POODLE, was developed by Dimitri Rebikoff in 1953.
The United States Navy is credited with advancing the technology to an operational state in its quest to develop robots to recover underwater ordnance lost during at-sea tests.
The US Navy funded most of the early ROV technology development in the 1960s into what was then named a “Cable-Controlled Underwater Recovery Vehicle” (CURV). This created the capability to perform deep-sea rescue operation and recover objects from the ocean floor, such as a nuclear bomb lost in the Mediterranean Sea after the 1966 Palomares B-52 crash and then saved the pilots of a sunken submersible off Cork, Ireland, the Pisces in 1973, with only minutes of air remaining.
The next step in advancing the technology was performed by commercial firms that saw the future in ROV support of offshore oil operations.
Building on this technology base, the offshore oil & gas industry created the work class.
ROV to assist in the development of offshore oil fields. Two of the first ROVs developed for offshore work were the RCV-225 and the RCV-150 developed by HydroProducts in the U.S. Many other firms developed a similar line of small inspection vehicles. More than decade after they were first introduced, ROVs became essential in the 1980s when much of the new offshore development exceeded the reach of human divers.
2.3 Classification of ROV
Modern ROV systems can be categorized by size, depth capability, onboard horsepower, and whether they are all-electric or electro-hydraulic. In general, ROVs can be grouped as follows:
• Micro – typically Micro class ROVs are very small in size and weight. Today’s Micro Class ROVs can weigh less than 3 kg. These ROVs are used as an alternative to a diver, specifically in places where a diver might not be able to physically enter such as a sewer, pipeline or small cavity.
• Mini – typically Mini Class ROVs weigh in around 15 kg. Mini Class ROVs are also used as a diver alternative. One person may be able to transport the complete ROV system out with them on a small boat, deploy it and complete the job without outside help. Occasionally both Micro and Mini classes are referred to as “eyeball” class to differentiate them from ROVs that may be able to perform intervention tasks.
• General – typically less than 5 horsepower(hp) (propulsion); occasionally small three finger manipulators grippers have been installed, such as on the very early RCV 225. These ROV may be able to carry a sonar unit and are usually used on light survey applications.
Typically the maximum working depth is less than 1,000 meters though one has been developed to go as deep as 7,000 m.
• Light Workclass – typically less than 50 hp (propulsion). These ROVs may be able to carry some manipulators. Their chassis may be made from polymers such as polyethylene rather than the conventional stainless steel or aluminium alloys. They typically have a maximum working  depth less than 2000 m.
• Heavy Workclass – typically less than 220 hp (propulsion) with an ability to carry at least two manipulators. They have a working depth up to 3500m
• Trenching/Burial – typically more than 200 hp (propulsion) and not usually greater than 500 hp (while some do exceed that) with an ability to carry a cable laying sled and work at depths up to 6000 m in some cases.
• Autonomous underwater vehicle (AUV) – a robot which travels underwater without input from an operator. AUVs constitute part of a larger group of undersea systems known as unmanned underwater vehicles, a classification that includes non-autonomous remotely operated underwater vehicles (ROVs),  controlled and powered from the surface by an operator/pilot via an umbilical or using remote control. In military applications AUVs more often referred to simply as unmanned undersea vehicles (UUVs).
2.4 Development of Cost in ROV
Commercially available ROV’s range from small, portable units used for shallow-water inspection to the heavy work class, deep-water ROV’s used by the offshore oil and gas industry and the military. Weight ranges from a minimum of about 1 ton to 9 tons. Small ROV’s are usually powered by electric motor thruster of less than 20 horsepower(hp) and operate in depths less than 300meter. This kind of ROV relatively inexpensive, price ranging from USD 10,000 to USD 100,000 (Committee on Exploration of the Seas 2003). They are not readily portable but are typically semi-permanent installation on support vessels (Marco, 2013)
Marine researches use these vehicles for video exploration and photographic document, instrument placement and oceanographic data recording, as well as sample gathering. Heavy-class ROV’s provide the maximum underwater performance. They are equipped with 500horsepower(hp) can reach depths and move, and sometimes up to 5000m. Otherwise, it can carry heavy payloads and a wide variety of additional tools.
The cost of this ROV can up to USD 2.5 million. Consequently, there are seldom used outside the offshore oil and gas sector and the military. The price of ROV’s with very deep dive capability is much higher. The Jason 11 ROV, projected by the Deep Submergence Laboratory to construct, while the Japanese full-ocean-depth ROV Kaiko, lost at sea during a typhoon in the pacific Ocean in March 2003, had a cost of more than USD 60 million. (Committee on Exploration of the Seas 2003)
2.5 Modern Technology of Hull Crawler
Hull Crawler from the Qinetic North America removes the immediate danger associated with Explosive Ordnance Disposal (EOD) diver inspections. It provides operators with high-quality sonar imagery (tagged with appropriate target localization information) coupled with up-close video to minimize false detections.
Hull Crawler is a two-vehicle system deployed to survey an underwater structure, determine the presence of an object of interest (OOI), transmit the image for operator evaluation, mark the position for further evaluation and return to the object for detailed visual assessment and potential neutralization.
The Swimmer Carrier Vehicle (SCV) is ideal for harbor incursion. Its dual thrusters allow it to turn within its hydrodynamic center so that it is highly maneuverable in tight spaces. In addition to housing the inspection sonar, the SCV carries the small, crawling robot for deploying near OOI’s for up-close visual inspections as needed.
The small crawling robot can be deployed from the SCV, placed from the ship’s deck or manually placed onto the hull. Crawling with fixed permanent magnets, it provides a unique underwater inspection tool to increase the capabilities of the sonar imaging system on the SCV and provides unique access to areas unreachable by any swimming robot.
In the case study of Fugro, with the continuing focus on extending field life, ensuring the integrity of Floating Offshore Installation (FOI) hulls is increasingly seen as a high priority by operators in the offshore Oil & Gas industry.
In the traditional marine industry covered by the Class rules, a ship’s hull undergoes a thorough integrity survey every five years involving dry-docking the vessel, with external hull maintenance carried out as required (cleaning and painting). In contrast, offshore oil and gas operators need to schedule the ship hull inspection repair and maintenance tasks around their production requirements.
The submerged hull of an FOI therefore has to be inspected on location, with minimal interruption to production Marine growth on a submerged hull can prevent the effective inspection of the external hull plating, welds and coating, therefore effective cleaning is crucial for successful integrity inspection results.
To help operators mitigate hull structural risks, Fugro Subsea Services Ltd has developed an innovative method of effective hull cleaning and inspection. The Fugro Hull Cleaning and Inspection Robot is a hydraulically powered crawler that navigates on the ship’s hull using magnetic track units. It is controlled from the surface via a laptop and a hand controller, routed through the host ROV’s telemetry system.
Cleaning is achieved using a combination of water jetting and rotating brushes. Further cleaning methods are also available (cavi-jet, ultrasonic) to suit different marine growth types. The model of cleaning and inspection robot is as shown in Figure 2.1. The 3D view of interior of the robot is as shown in Figure 2.2.