Following the system development and the extensive testing in both dry and wet conditions, the Advanced TElerobotic System (ATES), incorporating innovatory robotics technologies such as supervisory control, telepresence and scene reconstruction fully integrated into a suitable work class vehicle capable to replace divers in a large spread of underwater tasks like construction support and platform inspection, has demonstrated its capabilities in real offshore operating conditions.
The paper describes the operational results, pointing out how the field feedback has been incorporated in the next system prototype.
DIVERLESS TIE-IN AND CONNECTION OF PIPELINES/FLOWLINES BY USE OF HARD PIPE SPOOLS
Bjorn E. Hal s, Sanjay K. Reddy and Larry D. Douglas
ABSTRACT
Diverless pipeline connection operations by use of custom built hard pipe spools has proven to be an economically viable approach. Over the last few years, required tooling and methods to perform subsea measurements and subsequent construction of such custom built jumper spools has been developed and successfully demonstrated. This allows a field operator a high degree of flexibility in his scheduling and selection of surface support for tie-in operations. Tie-in of pre-laid pipe/flowlines can be performed from unsophisticated vessels as no ROT systems are required. An ROV deploys and operates simple tools to perform linear and angular position recordings for the adjacent hubs. These measurements are used to duplicate the actual hub configurations on jig fixtures located on a surface vessel or at an onshore fabrication base. The jumper is then built to fit between these hubs. This form of diverless connection systems has proven to be cost effective and at the same time eliminate the need for high energy connection methods such as direct deflection and pull-in systems. A thorough understanding of the tooling as well as handling and installation of the jumper spools is of essence to achieve a successful connection. Clearly defined design parameters is a pre-requisite to ensure that the spool configuration and geometry will accommodate loads and deflections experienced throughout the service life of the spool.
