Proceedings of the ... International Conference on Offshore Mechanics and Arctic Engineering, Volume 15, Part 6American Society of Mechanical Engineers, 1996 - Arctic regions |
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Page 46
... position within the tunnel complex . Although location markers are installed inside the tunnels , the use of a conventional system based upon for example paid - out length of umbilical and estimations of distance and direction from last ...
... position within the tunnel complex . Although location markers are installed inside the tunnels , the use of a conventional system based upon for example paid - out length of umbilical and estimations of distance and direction from last ...
Page 99
... position and attitude in order to keep the end effector aligned to the surface . The ATES Supervisory Control includes also the Hybrid Position / Force Control of the manipulator , thanks to the measures from the Force / Torque Sensor ...
... position and attitude in order to keep the end effector aligned to the surface . The ATES Supervisory Control includes also the Hybrid Position / Force Control of the manipulator , thanks to the measures from the Force / Torque Sensor ...
Page 100
... position and force control performances , with and without Base Motion Compensation . Position control End effector speed ( mm / s ) Position error ( mm ) No base motion Position error ( mm ) With Base Motion Compensation Force control ...
... position and force control performances , with and without Base Motion Compensation . Position control End effector speed ( mm / s ) Position error ( mm ) No base motion Position error ( mm ) With Base Motion Compensation Force control ...
Contents
Operational | 1 |
Technological Problems Associated With Subsea Development of High Pressure | 17 |
New Concept for a General Purpose Subsea Installation System | 23 |
Copyright | |
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Common terms and phrases
Agip alignment ball valves boosting unit bore buoy buoyancy cable chain clamps completion configuration connection control force Control System cost crane vessel deep water deepwater deployed deployment line DFCS DIVERLESS downhole drilling end effector equipment feedback field Figure flowline flowline connector fluid Gulf of Mexico heave compensated horizontal Hurricane Opal hydrate hydraulic inspection integration interface jumper LAPV loads located lube oil measurement meters modules motion Motion Compensation multiphase boosting multiphase flow objective trajectory offshore operation package performed phase pipe pipeline Popeye Popeye installation position pressure pull-in pump realized trajectory retrieval Riser and Control riser joint RUNNING TOOL SAF system Scene Reconstruction simulation skid Snamprogetti Sonsub spool Statoil subsea production system subsea structure subsea tree Surface Tree tasks TElerobotic thrusters tie-in tubing hanger tunnel umbilical underwater valves vehicle vessel water depth wellhead winch wireline WOCS