Thrusters Composite pressure vessels • Batteries • Power distribution • Control system • IMU Proven chassis configuration/materials Sabertooth has a behaviour based control system • Several goals simultaneously, e.g. run a track from one end of a structure to the other with a second objective of always having a standoff of 1.5 meters and a third objective avoiding obstacles. The Sabertooth can be operated in 3 different modes • Autonomous mode, the vehicle is instructed to perform a specific task or mission plan, such as a transit to a location or a pre-programmed inspection/survey. • Operator assisted mode, using through water communications, the vehicle is given step by step instructions to perform a task by an operator. Manoeuvres are subject to constraints such as standoff distance and speed. Each step of the operation is verified by video or sonar data sent back to the operator. • Manual mode, the vehicle is operated manually with assistance from onboard IMU/doppler allowing slow (limited by bandwidth) operation. This can be used in the final approach and operation of a valve for example. Sabertooth Control system Navigation • IMU/DVL • USBL • Sonar for navigation relative to terrain or a structure • Passive nodes/landmarks for local navigation (RFID, reflectors) • Image processing • Laser profiling Sabertooth Navigation Electromagnetic (RF) Acoustic modem Free space optics Short communication tether Fibre tether (Thin & Thick) Power & fibre tether Sabertooth Communication Sample JPEG compressed 10 kB image that takes 1 second to upload on a 100 kb link. Similar to a conventional ROV console Multiple computer screens • Mission planning • 3D visualization • Sonar, video & instrumentation data Sabertooth Man Machine Interface Intervention The vehicle swims off on a programmed track to a work site. IMU/doppler navigation keeps the vehicle on track while the sonar based standoff behavior stops the vehicle 3 meters in front of the site. Step by step control At this point the vehicle goes into operator assisted mode. The vehicle is directed step by step to perform the task(s). Low bandwidth images are sent back confirming each move. Perform operation Operation is completed. The vehicle returns and initiates docking. Target objects Targets can be selected for each move. Secure stowing place. Power and communication interface Non Galvanic charging, data up and download Storage for new tools and payloads Control module with the following functions: • даркнет официальный сайт kraken kraken ссылка tor kraken one com kraken darknet market зеркало kraken clear 169 0 9 169 0 10 169 0 1 170 0 2 170 0 3 170 0 4 170 0 5 170 0 6 170 0 7 170 0 8 170 0 9 170 0 10 170 0 1 171 0 2 171 0 Power transformer/switching • Ethernet switch • Interface to the through water communication network Sabertooth Docking Station & Charging Survey & Bathymetry • Sidescan sonar • Multibeam sonar • Sound Velocity Probes • Sub-bottom profilers NDT • Cathodic Potential Probe(CP) • Ultrasonic Thickness Gauges • Flooded Member Detector (Ultrasonic) Routine Inspection • Cameras • Multibeam sonar Environmental • Hydrocarbon leak detectors Sabertooth Sensor examples Rotating torque tool (class 1-4) • Loads on the valve is limited by a number of design features: • Small weight and size •
Neutrally buoyant • Balancing thrust from the AUV • Flexible joint Tool skids • On board power • Same principles used for communication and power transfer as vehicle platform • Tool skids can work independent of vehicle platform • Docking stations provide:-• Recharge • Multi-unit stowage • Protection • In field distribution Sabertooth Tooling examples 9km long Ø3.6mm Umbilical 24km fibre spool Very small footprint (single 20' cabin) Fast/Simple mobilisation Long Excursion ROV Touchdown Monitoring Real time video Real time multibeam ≥ 9km tether 24km fibre spool (disposable) Automatic tether release and return to garage in the event of tether entrapment Dual vehicle "tag team" configuration to accommodate charge cycle/continuous operation Tunnel inspection 9km umbilical/constant tension winch 24km fibre spool "Tunnel behaviour" Complete survey, including:-• Tunnel trajectory • Tunnel wall distortion • Roof collapse • Rock trap contents • Crack detection Environmental Monitoring Sensor payload Broadly defined mission • Waypoints • Obstacle avoidance Reactive control system • Payload triggers new search actions Operating either as an ROV from a small vessel of opportunity or as AUV • Seabed • Scouring • Pipeline General Survey Data Harvesting Flyby capability to down/up load data from/to pre-deployed sensors e.g. CP monitor on an anode Sensor battery recharge through inductive power transfer Resident System Capability • The system is able to do visual inspection of an entire Subsea Production System (SPS). • The system is able to do operation of valves in auxiliary piping. • The system is able to operate valves inside the SPS. • The vehicle shall remain on the bottom for 12 months without requiring service. • The docking station shall remain on the bottom for at least 5 years. • The system allows for the addition of new/future functionality. Thank you for your attention Кто выступит на Admitad Expert 2021? Admitad Admitad Expert Самое крупное digital-событие осени близко! Уже 17 сентября эксперты в области интернет-рекламы расскажут участникам о последних трендах, удачных и провальных кейсах и ответят на вопросы веб-мастеров. УЧАСТВОВАТЬ Кто выступит на Admitad Expert 2021? Дмитрий Селихов Дмитрий Селихов | Директор по развитию бизнеса AliExpress Россия Участник дискуссионной панели «Работа с маркетплейсами» Дмитрий участвовал в локализации бизнеса AlIExpress в России, также отвечает за его развитие. Вячеслав Прохоров Вячеслав Прохоров | Digital-евангелист «ВКонтакте». Тема: Как структурировать работу с продающим текстом Вячеслав занимается цифровой рекламой больше 10 лет. Работал в myTarget, Google, «Одноклассниках» и RealWeb. Сергей Аникушкин Сергей Аникушкин | Генеральный директор Bankiros.ru Тема: Достаем лиды на финансы из Tiktoka Работать в Tiktok с финансовыми партнерскими программами возможно! Сергей расскажет, как. Полный список спикеров смотрите здесь. Хотите скидку? Участвуйте в квизе! Мы увеличили скидку на билет до 1 тысячи рублей. Получить ее можно, пройдя квиз по кнопке ниже. Вперед! ПОЛУЧИТЬ СКИДКУ Все на pre-party в нашем чате! Присоединяйтесь к нашему уютному чату в Telegram, где вы сможете познакомиться со спикерами, следить за скидками и новостями о мероприятии и задать любой вопрос организаторам!
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