Energy
Renewable Offshore Energy
Advanced Infrastructure For Underwater Robotics Research Autonomous Surface Cleaning Prior to Cathodic Protection Testing
Autonomous surface cleaning is a critical preparatory step in subsea operations, particularly before conducting cathodic protection (CP) testing. This process ensures that surfaces, such as pipelines or structures, are free from marine growth, corrosion deposits, or other debris that could affect the accuracy and reliability of CP measurements.
Brush Mounted on a 6-DOF Arm
The actual cleaning mechanism involves a brush mounted on a 6-DOF robotic arm. This arm allows for precise positioning and effective surface cleaning, even on curved or irregular geometries.
Force Control
A sophisticated force control system ensures optimal pressure is applied during cleaning. This prevents surface damage while effectively removing debris and marine growth.
Key Features
Dual Arm Intervention AUV
The system is deployed via an advanced Autonomous Underwater Vehicle (AUV) equipped with dual robotic arms for precise intervention tasks. The dual arms enable coordinated cleaning operations and increase operational flexibility.
Magnetic Docking with a 4-DOF Arm:
A magnetic docking system securely attaches the AUV to the target structure using a robotic arm with 4 degrees of freedom (DOF). This ensures stability during cleaning operations, even in strong currents or turbulent underwater environments.
Technology Readiness Level (TRL)
TRL 4
The system has been validated under controlled laboratory conditions, demonstrating its feasibility and functionality.
TRL 5
Preliminary testing has been conducted in a pilot infrastructure, providing initial field data and highlighting the system's potential for real-world applications.