Multi-robot system for inspection of underwater pipelines in shallow waters
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....
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| Veröffentlicht in: | International journal of intelligent robotics and applications Online 2024-03, Vol.8 (1), p.14-38 |
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| creator | Patel, Sahejad Abdellatif, Fadl Alsheikh, Mohammed Trigui, Hassane Outa, Ali Amer, Ayman Sarraj, Mohammed Al Brahim, Ahmed Alnumay, Yazeed Felemban, Amjad Alrasheed, Ali Halawani, Abdulwahab Jifri, Hesham Jaleel, Hassan Shamma, Jeff |
| description | 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. |
| doi_str_mv | 10.1007/s41315-023-00309-8 |
| format | Article |
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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.</description><identifier>ISSN: 2366-5971</identifier><identifier>EISSN: 2366-598X</identifier><identifier>DOI: 10.1007/s41315-023-00309-8</identifier><language>eng</language><publisher>Singapore: Springer Nature Singapore</publisher><subject>Artificial Intelligence ; Cathodic protection ; Computer Science ; Control ; Design ; Diving ; Electronics and Microelectronics ; Energy industry ; Gas pipelines ; Inspection ; Instrumentation ; Jet nozzles ; Machines ; Manufacturing ; Mechatronics ; Modularity ; Multiple robots ; Natural gas ; Ocean floor ; Petroleum pipelines ; Pipe cleaning ; Processes ; Regular Paper ; Remotely operated vehicles ; Robot arms ; Robotics ; Shallow water ; Shoreline protection ; Support ships ; Surface vehicles ; Swimming ; Underwater pipelines ; User Interfaces and Human Computer Interaction ; Zodiac</subject><ispartof>International journal of intelligent robotics and applications Online, 2024-03, Vol.8 (1), p.14-38</ispartof><rights>The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd. 2024. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.</rights><woscitedreferencessubscribed>false</woscitedreferencessubscribed><cites>FETCH-LOGICAL-c270t-9dd209f836bf4b0bae312fab5aa8a8055ec0488fd56f42f65b7a4652c100987d3</cites><orcidid>0000-0001-7948-851X</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://link.springer.com/content/pdf/10.1007/s41315-023-00309-8$$EPDF$$P50$$Gspringer$$H</linktopdf><linktohtml>$$Uhttps://link.springer.com/10.1007/s41315-023-00309-8$$EHTML$$P50$$Gspringer$$H</linktohtml><link.rule.ids>314,776,780,27901,27902,41464,42533,51294</link.rule.ids></links><search><creatorcontrib>Patel, Sahejad</creatorcontrib><creatorcontrib>Abdellatif, Fadl</creatorcontrib><creatorcontrib>Alsheikh, Mohammed</creatorcontrib><creatorcontrib>Trigui, Hassane</creatorcontrib><creatorcontrib>Outa, Ali</creatorcontrib><creatorcontrib>Amer, Ayman</creatorcontrib><creatorcontrib>Sarraj, Mohammed</creatorcontrib><creatorcontrib>Al Brahim, Ahmed</creatorcontrib><creatorcontrib>Alnumay, Yazeed</creatorcontrib><creatorcontrib>Felemban, Amjad</creatorcontrib><creatorcontrib>Alrasheed, Ali</creatorcontrib><creatorcontrib>Halawani, Abdulwahab</creatorcontrib><creatorcontrib>Jifri, Hesham</creatorcontrib><creatorcontrib>Jaleel, Hassan</creatorcontrib><creatorcontrib>Shamma, Jeff</creatorcontrib><title>Multi-robot system for inspection of underwater pipelines in shallow waters</title><title>International journal of intelligent robotics and applications Online</title><addtitle>Int J Intell Robot Appl</addtitle><description>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.</description><subject>Artificial Intelligence</subject><subject>Cathodic protection</subject><subject>Computer Science</subject><subject>Control</subject><subject>Design</subject><subject>Diving</subject><subject>Electronics and Microelectronics</subject><subject>Energy industry</subject><subject>Gas pipelines</subject><subject>Inspection</subject><subject>Instrumentation</subject><subject>Jet nozzles</subject><subject>Machines</subject><subject>Manufacturing</subject><subject>Mechatronics</subject><subject>Modularity</subject><subject>Multiple robots</subject><subject>Natural gas</subject><subject>Ocean floor</subject><subject>Petroleum pipelines</subject><subject>Pipe cleaning</subject><subject>Processes</subject><subject>Regular Paper</subject><subject>Remotely operated vehicles</subject><subject>Robot arms</subject><subject>Robotics</subject><subject>Shallow water</subject><subject>Shoreline protection</subject><subject>Support ships</subject><subject>Surface vehicles</subject><subject>Swimming</subject><subject>Underwater pipelines</subject><subject>User Interfaces and Human Computer Interaction</subject><subject>Zodiac</subject><issn>2366-5971</issn><issn>2366-598X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2024</creationdate><recordtype>article</recordtype><recordid>eNp9kE1LxDAQhoMouKz7BzwFPEcnSZOmR1n8whUvCt5C2ibapdvUJGXZf2_cFb15moF53hnmQeicwiUFKK9iQTkVBBgnABwqoo7QjHEpiajU2_FvX9JTtIhxDQAMCikLOUOPT1OfOhJ87ROOu5jsBjsfcDfE0Tap8wP2Dk9Da8PWJBvw2I227wYbM4Ljh-l7v8X7UTxDJ8700S5-6hy93t68LO_J6vnuYXm9Ig0rIZGqbRlUTnFZu6KG2lhOmTO1MEYZBULYBgqlXCukK5iToi5NIQVr8rOVKls-RxeHvWPwn5ONSa_9FIZ8UrNK8uyBK5EpdqCa4GMM1ukxdBsTdpqC_vamD9505vXem1Y5xA-hmOHh3Ya_1f-kvgCpw3DA</recordid><startdate>20240301</startdate><enddate>20240301</enddate><creator>Patel, Sahejad</creator><creator>Abdellatif, Fadl</creator><creator>Alsheikh, Mohammed</creator><creator>Trigui, Hassane</creator><creator>Outa, Ali</creator><creator>Amer, Ayman</creator><creator>Sarraj, Mohammed</creator><creator>Al Brahim, Ahmed</creator><creator>Alnumay, Yazeed</creator><creator>Felemban, Amjad</creator><creator>Alrasheed, Ali</creator><creator>Halawani, Abdulwahab</creator><creator>Jifri, Hesham</creator><creator>Jaleel, Hassan</creator><creator>Shamma, Jeff</creator><general>Springer Nature Singapore</general><general>Springer Nature B.V</general><scope>AAYXX</scope><scope>CITATION</scope><scope>JQ2</scope><orcidid>https://orcid.org/0000-0001-7948-851X</orcidid></search><sort><creationdate>20240301</creationdate><title>Multi-robot system for inspection of underwater pipelines in shallow waters</title><author>Patel, Sahejad ; Abdellatif, Fadl ; Alsheikh, Mohammed ; Trigui, Hassane ; Outa, Ali ; Amer, Ayman ; Sarraj, Mohammed ; Al Brahim, Ahmed ; Alnumay, Yazeed ; Felemban, Amjad ; Alrasheed, Ali ; Halawani, Abdulwahab ; Jifri, Hesham ; Jaleel, Hassan ; Shamma, Jeff</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c270t-9dd209f836bf4b0bae312fab5aa8a8055ec0488fd56f42f65b7a4652c100987d3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2024</creationdate><topic>Artificial Intelligence</topic><topic>Cathodic protection</topic><topic>Computer Science</topic><topic>Control</topic><topic>Design</topic><topic>Diving</topic><topic>Electronics and Microelectronics</topic><topic>Energy industry</topic><topic>Gas pipelines</topic><topic>Inspection</topic><topic>Instrumentation</topic><topic>Jet nozzles</topic><topic>Machines</topic><topic>Manufacturing</topic><topic>Mechatronics</topic><topic>Modularity</topic><topic>Multiple robots</topic><topic>Natural gas</topic><topic>Ocean floor</topic><topic>Petroleum pipelines</topic><topic>Pipe cleaning</topic><topic>Processes</topic><topic>Regular Paper</topic><topic>Remotely operated vehicles</topic><topic>Robot arms</topic><topic>Robotics</topic><topic>Shallow water</topic><topic>Shoreline protection</topic><topic>Support ships</topic><topic>Surface vehicles</topic><topic>Swimming</topic><topic>Underwater pipelines</topic><topic>User Interfaces and Human Computer Interaction</topic><topic>Zodiac</topic><toplevel>online_resources</toplevel><creatorcontrib>Patel, Sahejad</creatorcontrib><creatorcontrib>Abdellatif, Fadl</creatorcontrib><creatorcontrib>Alsheikh, Mohammed</creatorcontrib><creatorcontrib>Trigui, Hassane</creatorcontrib><creatorcontrib>Outa, Ali</creatorcontrib><creatorcontrib>Amer, Ayman</creatorcontrib><creatorcontrib>Sarraj, Mohammed</creatorcontrib><creatorcontrib>Al Brahim, Ahmed</creatorcontrib><creatorcontrib>Alnumay, Yazeed</creatorcontrib><creatorcontrib>Felemban, Amjad</creatorcontrib><creatorcontrib>Alrasheed, Ali</creatorcontrib><creatorcontrib>Halawani, Abdulwahab</creatorcontrib><creatorcontrib>Jifri, Hesham</creatorcontrib><creatorcontrib>Jaleel, Hassan</creatorcontrib><creatorcontrib>Shamma, Jeff</creatorcontrib><collection>CrossRef</collection><collection>ProQuest Computer Science Collection</collection><jtitle>International journal of intelligent robotics and applications Online</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Patel, Sahejad</au><au>Abdellatif, Fadl</au><au>Alsheikh, Mohammed</au><au>Trigui, Hassane</au><au>Outa, Ali</au><au>Amer, Ayman</au><au>Sarraj, Mohammed</au><au>Al Brahim, Ahmed</au><au>Alnumay, Yazeed</au><au>Felemban, Amjad</au><au>Alrasheed, Ali</au><au>Halawani, Abdulwahab</au><au>Jifri, Hesham</au><au>Jaleel, Hassan</au><au>Shamma, Jeff</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Multi-robot system for inspection of underwater pipelines in shallow waters</atitle><jtitle>International journal of intelligent robotics and applications Online</jtitle><stitle>Int J Intell Robot Appl</stitle><date>2024-03-01</date><risdate>2024</risdate><volume>8</volume><issue>1</issue><spage>14</spage><epage>38</epage><pages>14-38</pages><issn>2366-5971</issn><eissn>2366-598X</eissn><abstract>Shallow Water Inspection & Monitoring Robot (SWIM-R) is designed to quickly and safely inspect oil and gas pipelines in extremely shallow waters. 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| ispartof | International journal of intelligent robotics and applications Online, 2024-03, Vol.8 (1), p.14-38 |
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| subjects | Artificial Intelligence Cathodic protection Computer Science Control Design Diving Electronics and Microelectronics Energy industry Gas pipelines Inspection Instrumentation Jet nozzles Machines Manufacturing Mechatronics Modularity Multiple robots Natural gas Ocean floor Petroleum pipelines Pipe cleaning Processes Regular Paper Remotely operated vehicles Robot arms Robotics Shallow water Shoreline protection Support ships Surface vehicles Swimming Underwater pipelines User Interfaces and Human Computer Interaction Zodiac |
| title | Multi-robot system for inspection of underwater pipelines in shallow waters |
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