STAR (Subsea Tools Application Research) design of a general purpose subsea torque tool for ROV or UUV

Author

Fan, M. ; Low, Y.B. ; Smith, J.S. ; Evans, J.C. ; Seim, J.

Author_Institution

Dept. of Electr. Eng. & Electron., Liverpool Univ., UK

Volume

2

fYear

2001

fDate

2001

Firstpage

1073

Abstract

STAR (Subsea Tools Application Research) was an underwater technology development project to develop advanced tools and control techniques for remote subsea intervention in diverless operations. As part of the STAR project an all-electric torque tool control system for underwater operation was developed. Its mechanical and control system design is modular, allowing a ROV or AUV to perform a range of subsea tasks such as bolt tightening/slackening, drilling, stabbing and metering. An important feature of the design philosophy was its modular, hierarchical control structure. The hierarchical design and utilization of controller area network (CAN) technology made it possible to implement a sophisticated real-time control system. This paper gives an overview of the STAR project, technical details of multilayer control system and its communications structure. Details of the testing procedures, and application areas are also discussed

Keywords

control system synthesis; hierarchical systems; mobile robots; real-time systems; torque control; underwater vehicles; CAN; ROV; STAR; Subsea Tools Application Research; UUV; all-electric torque tool control system; bolt tightening/slackening; communications structure; control system design; controller area network; drilling; general purpose subsea torque tool; mechanical design; metering; modular hierarchical control structure; multilayer control system; real-time control system; remote subsea intervention; stabbing; underwater technology development project; Communication system control; Control systems; Drilling; Fasteners; Nonhomogeneous media; Real time systems; Remotely operated vehicles; Testing; Torque control; Underwater technology;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS, 2001. MTS/IEEE Conference and Exhibition

Conference_Location

Honolulu, HI

Print_ISBN

0-933957-28-9

Type

conf

DOI

10.1109/OCEANS.2001.968265

Filename

968265