A methodological framework for developing ROV-manipulator systems for underwater unmanned intervention

Oil drilling operations around the world are moved into deeper waters compared with those only a few years ago, and the humans can not be present in water depths below 500-600 meters maximum. So to be able to work on with the sub-sea installations, to conduct inspection, repair and maintenance (IRM) operations there is a need to have automatic equipment with the necessary capability to perform both planned and unplanned intervention tasks. This paper gives a general architecture for development of ROV-manipulator systems used in underwater intervention operations. First we identify a set of intervention operations, then put focus on the capability requirements connected to these operations. Operations (tasks) and capabilities make a requirement 2D-matrix. Then we identify all sub-systems that will be effected by the requirement matrix. From this a 3D architecture for methodology research in the development of ROV-manipulator systems arise