Application of robotics in offshore oil and gas industry— A review Part II

Bai, 2010 C.A. Miller, Energy resources and policy: Vulnerability of energy resources and resource availability—Fossil fuels (oil, coal, natural gas, oil shale). H. Devold, S. Taylor, Oil and gas—the energy we love to hate. Sandrea, 2010, Deepwater crude oil output: How large will the uptick be?, Oil Gas J., 108 Hamilton, 2012 2012 D.C. Chen, Understanding the plunge in oil prices: Sources and implications, Tech. Rep., GLOBAL ECONOMIC PROSPECTS, 2015. D.A. Anisi, E. Persson, C. Heyer, Real-world demonstration of sensor-based robotic automation in oil and gas facilities, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2011, pp. 235–240. Griggs, 2011, BP gulf of mexico oil spill, Energy Law J., 32, 57 D. Water, The gulf oil disaster and the future of offshore drilling, Report to the President [of the USA]. D. Wethe, Robots: the future of the oil industry, November 2012. Valentine, 2013, Characterization of epibenthic and demersal megafauna at mississippi canyon 252 shortly after the deepwater horizon oil spill, Mar. Pollut. Bull., 77, 196, 10.1016/j.marpolbul.2013.10.004 Kujawinski, 2011, Fate of dispersants associated with the deepwater horizon oil spill, Environ. Sci. Technol., 45, 1298, 10.1021/es103838p Camilli, 2010, Tracking hydrocarbon plume transport and biodegradation at deepwater horizon, Science, 330, 201, 10.1126/science.1195223 Leifer, 2012, State of the art satellite and airborne marine oil spill remote sensing: Application to the bp deepwater horizon oil spill, Remote Sens. Environ., 124, 185, 10.1016/j.rse.2012.03.024 Anon., Deepwater horizon oil spill, February 2013. Anon., Deepwater horizon accident and response. H.N. Psaraftis, N.P. Ventikos, An intelligent robot system to respond to oil spills: the eu-mop project, in: The Proceedings of the INTERSPILL, 2006, pp. 1–10. D. Fritsch, K. Wegener, R.D. Schraft, Control of a robotic swarm for the elimination of marine oil pollutions, in: IEEE Swarm Intelligence Symposium, 2007, pp. 29–36. J. Ferentinos, Global offshore oil and gas outlook, 2013. Hook, 2009, Giant oil field decline rates and their influence on world oil production, Energy Policy, 37, 2262, 10.1016/j.enpol.2009.02.020 Skourup, 2008, Enhanced awareness for offshore teleoperation Sheridan, 2002 B. Robins, K. Dautenhahn, R. Boerkhorst, A. Billard, Robots as assistive technology—does appearance matter? in: IEEE International Workshop on Robot and Human Interactive Communication, 2004. ROMAN 2004. 13th, 2004, pp. 277–282. Goodrich, 2007, Human–robot interaction: A survey, Found. Trends Hum.–Comput. Interact., 1, 203, 10.1561/1100000005 Rodriguez-Seda, 2009, Experimental comparison study of control architectures for bilateral teleoperators, IEEE Trans. Robot., 25, 1304, 10.1109/TRO.2009.2032964 Delgado, 2013, Generic approach to stability under time-varying delay in teleoperation: Application to the position-error control of a gantry crane, IEEE/ASME, 18, 1581, 10.1109/TMECH.2012.2208758 Ye, 2013, Bilateral teleoperation with time-varying delay: A communication channel passification approach, IEEE/ASME, 18, 1431, 10.1109/TMECH.2013.2255882 Hua, 2013, A new coordinated slave torque feedback control algorithm for network-based teleoperation systems, IEEE/ASME, 18, 764, 10.1109/TMECH.2012.2185506 Haupt, 1989, A survey of priority rule-based scheduling, Oper.-Res.-Spektrum, 11, 3, 10.1007/BF01721162 Li, 2009, Scheduling projects with multi-skilled personnel by a hybrid milp/cp benders decomposition algorithm, J. Sched., 12, 281, 10.1007/s10951-008-0079-3 Dahl, 2009, Multi-robot task allocation through vacancy chain scheduling, Robot. Auton. Syst., 57, 674, 10.1016/j.robot.2008.12.001 T. Zheng, J. Li, Multi-robot task allocation and scheduling based on fish swarm algorithm, in: Intelligent Control and Automation, 2010, pp. 6681–6685. B. Graf, K. Pfeiffer, H. Staab, Mobile robots for offshore inspection and manipulation, in: Proc of the Int Petroleum Tech Conf, Dubai, 2007, pp. 1–6. B. Graf, K. Pfeiffer, Mobile robotics for offshore automation, in: Proceedings of the EURON/IARP International Workshop on Robotics for Risky Interventions and Surveillance of the Environment, Benicassim, Spain, 2008. M. Bengel, K. Pfeiffer, B. Graf, A. Bubeck, A. Verl, Mobile robots for offshore inspection and manipulation, in: IEEE Conf on Intelligent Robots and Sys, 2009, pp. 3317–3322. Marce, 1987, Dynamic localization of a mobile robot through range measurements, 274 Jalving, 2008, Payload sensors, navigation and risk reduction for AUV under ice surveys, 1 A. Transeth, O. Skotheim, H. Schumann-Olsen, G. Johansen, J. Thielemann, E. Kyrkjebo, A robotic concept for remote maintenance operations: A robust 3D object detection and pose estimation method and a novel robot tool, in: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2010, pp. 5099–5106. I. Schjolberg, Development of robotic solutions for oil/gas, aluminum and manufacturing industry, in: Emerging Tech. Factory Auto, ETFA, 2012, pp. 1–4. F. Albring Guth, L. Silveira, M. Amaral, S. Botelho, P. Drews, Underwater visual 3D slam using a bio-inspired system, in: 2013 Symposium on Computing and Automation for Offshore Shipbuilding, NAVCOMP, 2013, pp. 87–92. Smith, 1998, A multiple-hypothesis approach to concurrent mapping and localization for autonomous underwater vehicles, 237 Williams, 2000, Autonomous underwater simultaneous localisation and map building, 1793 Ruiz, 2001, Feature extraction and data association for auv concurrent mapping and localisation, 2785 Caiti, 2005, Localization of autonomous underwater vehicles by floating acoustic buoys: a set-membership approach, IEEE J. Ocean. Eng., 30, 140, 10.1109/JOE.2004.841432 Corke, 2007, Experiments with underwater robot localization and tracking, 4556 Maurelli, 2008, A particle filter approach for auv localization, 1 He, 2009, Underwater simultaneous localization and mapping based on EKF and point features, 4845 Bahr, 2009, Cooperative localization for autonomous underwater vehicles, Int. J. Robot. Res., 28, 714, 10.1177/0278364908100561 Jaulin, 2009, A nonlinear set membership approach for the localization and map building of underwater robots, IEEE Trans. Robot., 25, 88, 10.1109/TRO.2008.2010358 Hildebrandt, 2014, A validation process for underwater localization algorithms, Int. J. Adv. Rob. Syst., 11, 1, 10.5772/58581 Ditchburn, 1996, Ndt of welds: state of the art, NDT & E Int., 29, 111, 10.1016/0963-8695(96)00010-2 Makar, 1999, Inspecting systems for leaks, pits, and corrosion, J. Am. Water Works Assoc., 91, 36, 10.1002/j.1551-8833.1999.tb08663.x R. Bickerstaff, M. Vaughn, G. Stoker, M. Hassard, M. Garrett, Review of sensor technologies for in-line inspection of natural gas pipelines, Sandia National Lab, Albuquerque, NM. Rose, 2002, A baseline and vision of ultrasonic guided wave inspection potential, J. Press. Vessel Technol., 124, 273, 10.1115/1.1491272 Jiao, 2002, Application of ultrasonic guided waves in pipe’s NDT, J. Exp. Mech., 1 Reber, 2002, A new generation of ultrasonic in-line inspection tools for detecting, sizing and locating metal loss and cracks in transmission pipelines, 665 Shafeek, 2004, Assessment of welding defects for gas pipeline radiographs using computer vision, NDT & E Int., 37, 291, 10.1016/j.ndteint.2003.10.003 J. Pretlove, C. Skourup, J. Gunnar, A. Røyrøy, Robotics for integrated remote operations, in: Society of Petroleum Engineers, 2010, p. 1. D.A. Anisi, C. Skourup, A step-wise approach to oil and gas robotics, in: IFAC Workshop on Automatic Control in Offshore Oil and Gas Production, 2012, pp. 47–52. C. Skourup, J. Pretlove, Remote inspection and intervention-remote robotics at work in harsh oil and gas environments, January 2012. Skourup, 2009, The robotized field operator, ABB Rev., 1, 68 D. McLeod, Emerging capabilities for autonomous inspection repair and maintenance, in: OCEAN, 2010, pp. 1–4. K. Pfeiffer, M. Bengel, A. Bubeck, Offshore robotics—survey, implementation, outlook, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, pp. 241–246. J. Albiez, M. Hildebrand, T. Vogele, S. Joyeux, F. Kirchner, Robust robots for arctic exploration, in: OTC Arctic Technology Conference, 2011. J. Cui, S. Tosunoglu, R. Roberts, C. Moore, D.W. Repperger, A review of teleoperation system control, in: Proceedings of the Florida Conference on Recent Advances in Robotics. P.C. Leger, A. Trebi-Ollennu, J.R. Wright, S.A. Maxwell, R.G. Bonitz, J.J. Biesiadecki, F.R. Hartman, B.K. Cooper, E.T. Baumgartner, M.W. Maimone, Mars exploration rover surface operations: driving spirit at gusev crater, in: IEEE International Conference on Systems, Man and Cybernetics, 2005, pp. 1815–1822. S. Stramigioli, R. Mahony, P. Corke, A novel approach to haptic tele-operation of aerial robot vehicles, in: IEEE International Conference on Robotics and Automation, ICRA. P. Wells, D. Deguire, TALON: A universal unmanned ground vehicle platform, enabling the mission to be the focus, in: Proc of SPIE, Unmanned Ground Vehicle Technology, 2005. Agba, 1995, SeaMaster: an ROV-manipulator system simulator, IEEE Comput. Graph. Appl., 15, 24, 10.1109/38.364959 Sayers, 1998, Teleprogramming for subsea teleoperation using acoustic communication, IEEE J. Ocean. Eng., 23, 60, 10.1109/48.659450 Flemmer, 1999, Control design and stability analysis of a surgical teleoperator, Mechatronics, 9, 843, 10.1016/S0957-4158(99)00035-5 Halme, 1999, Applying telepresence and augmented reality to teloperate field robots, Robot. Auton. Syst., 117, 10.1016/S0921-8890(99)80001-3 S. All, I.R. Nourbakhsh, Insect telepresence: Using robotic tele-embodiment to bring insects face to face with humans, in: Automous Robots, Special Issue on Personal Robotics, 2001. P. Milgram, J. Ballantyne, Real word teleperation via virtual environment modelling, in: International Conference on Artificial Reality and Tele-Existence. Honga, 1998, Artificial force reflection control for teleoperated mobile robots, Mechatronics, 8, 707, 10.1016/S0957-4158(98)00006-3 S. Soldan, G. Bonow, A. Kroll, Robogasinspector—a mobile robotic system for remote leak sensing and localization in large industrial environments: Overview and first results, in: Proceedings of the 2012 IFAC Workshop on Automatic Control in Offshore Oil and Gas Production, 2012, pp. 33–38. C. Heyer, Human–robot interaction and future industrial robotics applications, in: IEEE/RSJ, 2010, pp. 4749–4754. Burleson, 1999 B. Solvang, Z. Deng, T.K. Lien, A methodological framework for developing ROV-manipulator systems for underwater unmanned intervention, in: OCEANS, 2001. MTS/IEEE Conference and Exhibition, Vol. 2, 2001, pp. 1085–1091. From, 2010 Eppig, 1981, Vehicle maneuverability augments remote controlled manipulator task capability, 1143 I.W. Johnston, H.L. Young, J.R. Huntington, Toward unmanned oil and gas production offshore, in: Society of Petroleum Engineers, 1986, p. 1. D. Langrock, Application of dynamic positioning techniques to working class remotely operated vehicles (ROVs), in: IEE Colloquium on Control and Guidance of Underwater Vehicles, 1993, pp. 9/1–9/5. A. Pinosofa, A. Ramirez, O.S.C. Cruz, Y. Ravelo, G. Yermagaliyeva, Unmanned offshore platforms: Automation kit, in: Society of Petroleum Engineers: One Petro, 2010, pp. 1–6. I.H.F. Santos, G.M. Ribeiro, F. Coutinho, L. Hsu, A. Raposo, F. Carvalho, F. Lizarralde, A robotics framework for planning the offshore robotizing using virtual reality techniques, in: Offshore Technology Conference, 2013. H. Devold, Oil and gas production handbook an introduction to oil and gas production, transport, refining and petrochemical industry, ABB Oil and Gas. H. Chen, S. Stavinoha, M. Walker, B. Zhang, T. Fuhlbrigge, Opportunities and challenges of robotics and automation in offshore oil & gas industry, Intelligent Control and Automation 2014. Gary, 2010 Leffler, 2011 G. Hughes, M. Gittleman, Offshore oil and gas field development and applications of underwater autonomous vehicles, in: Int Symp on Unmanned Untethered Submersible Technology, Vol. 3, 1983, pp. 231–241. Davis, 1992, Shallow gas: an overview, Cont. Shelf Res., 12, 1077, 10.1016/0278-4343(92)90069-V H. Takahashi, T. Yonezawa, Y. Takedomi, Exploration for natural hydrate in nankai-trough wells offshore japan, in: Offshore Technology Conference, 2001. Judd, 1992, The evidence of shallow gas in marine sediments, Cont. Shelf Res., 12, 1081, 10.1016/0278-4343(92)90070-Z Devereux, 1999 D.M. Sheppard, Offshore structures, in: Introduction to Coastal and Oceanographic Engineering. C.C. Wan, Use of unmanned platforms in an offshore environment, in: Offshore Technology Conference, 1988, pp. 1–6. A.C.C. Wan, Use of unmanned platforms in an offshore environment. Anon., Types of offshore oil and gas structures, 2008. Y. Leprevost, P. Lefevre, Tele operation of anguille central production platform offshore gabon: A step toward platine-unmanned offshore field research project, in: Offshore Technology Conference, 1989, p. 1. O. Alyafei, Well services operations in offshore unmanned platform; challenges and solutions, in: International Petroleum Technology Conference, 2014, pp. 1–6. Chen, 2014, Exploring robotic applications in offshore oil & gas industry, 563 Yuh, 1993, An intelligent control system for remotely operated vehicles, IEEE J. Ocean. Eng., 18, 55, 10.1109/48.211496 D. Broome, T. Larkum, M. Hall, Subsea weld inspection using an advanced robotic manipulator, in: OCEANS’95. MTS/IEEE. Challenges of Our Changing Global Environment. Conference Proceedings, Vol. 2, 1995, pp. 1216–1224. J. Elvander, G. Hawkes, ROVs and AUVs in support of marine renewable technologies, in: Oceans, 2012, pp. 1–6. Raine, 1996, ROV inspection of welds: a reality, Insight, 38, 346 M.W. Bessa, Controlling the dynamic positioning of a ROV, in: OCEANS 2003. Proceedings, Vol. 2, 2003. A. Shepard, Applications of human occupied vehicles at hydrocarbon seeps and vents in the gulf of Mexico, in: OCEANS, MTS/IEEE, Vol. 2, 2001, pp. 799–806. Whitcomb, 2000, Underwater robotics: Out of the research laboratory and into the field, 709 M. Costa, P. Goncalves, A. Martins, E. Silva, Vision-based assisted teleoperation for inspection tasks with a small ROV, in: Oceans, 2012, pp. 1–8. P.E. Hagen, T.G. Fossum, R.E. Hansen, Applications of AUVs with SAS, in: OCEANS 2008, 2008, pp. 1–4. T. Hiller, A. Steingrimsson, R. Melvin, Expanding the small AUV mission envelope; longer, deeper amp; more accurate, in: Autonomous Underwater Vehicles, AUV, 2012 IEEE/OES, 2012, pp. 1–4. Edwards, 2001, Bistatic synthetic aperture target detection and imaging with an AUV, IEEE J. Ocean. Eng., 26, 690, 10.1109/48.972112 J.E. Fernandez, J.T. Christoff, D.A. Cook, Synthetic aperture sonar on AUV, in: OCEANS, Vol. 3, 2003, pp. 1718–1722. T.J. Sutton, H.D. Griffiths, J. Robinson, Synthetic aperture sonar imaging using an unmanned underwater vehicle, in: Proc. IOA Conference on Acoustics, Salford, England, 2002. J.N. Morrison, B.S. Evans, T.S. James, K.D. Allen, Gambit MCM AUV: overview and system performance, in: OCEANS 2003. Proceedings, vol. 3, 2003, pp. 1723–1729. Hansen, 2003, Signal processing for AUV based interferometric synthetic aperture sonar, 2438 R.E. Hansen, T.O. Saebo, H.J. Callow, P.E. Hagen, E. Hammerstad, Synthetic aperture sonar processing for the HUGIN AUV, in: Oceans, Vol. 2, 2005, pp. 1090–1094. T.G. Fossum, P.E. Hagen, R.E. Hansen, Three dimensional synthetic and real aperture sonar technologies with doppler velocity log and small fiber optic gyrocompass for autonomous underwater vehicle, in: UDT Conf. Europe, 2008. Brissette, 1999, Side scan versus multibeam echo sounder object detection: Comparative analysis, Int. Hydrogr. Rev., 76, 21 A. Asada, T. Ura, Three dimensional synthetic and real aperture sonar technologies with doppler velocity log and small fiber optic gyrocompass for autonomous underwater vehicle, in: Oceans, 2012, pp. 1–5. E. Thurman, J. Riordan, D. Toal, Automated optimisation of simultaneous multibeam and sidescan sonar seabed mapping, in: OCEANS 2007–Europe, 2007, pp. 1–6. Wunderlich, 2005, High-resolution echo-sounding and detection of embedded archaeological objects with nonlinear sub-bottom profilers, Mar. Geophys. Res., 26, 123, 10.1007/s11001-005-3712-y Zhou, 2007, Application of side scan sonar and sub-bottom profile in the checking of submerged pipeline in hangzhou bay, Hydrogr. Surv. Charting, 4, 0 Y.R. Petillot, S.R. Reed, J.M. Bell, Real time AUV pipeline detection and tracking using side scan sonar and multi-beam echo-sounder, in: OCEAN, Vol. 1, 2002, pp. 217–222. Hyne, 2012 Boesch, 2003 P.A. Dickey, C.R. Shriram, W.R. Paine, Abnormal pressures in deep wells of southwestern louisiana: High fluid pressures are associated with slump-type faults and shed light on processes of compaction, in: Society of Petroleum Engineers, 1968. P.J. Eadington, F.W. Krieger, M. Lisk, Identifying oil well sites, US Patent 5,543,616, August 1996. Saegusa, 2006, Development of a multibottle gas-tight fluid sampler WHATS II for japanese submersibles/ROVs, Geofluids, 6, 234 D. Garbe-Schonberg, A. Koschinsky, V. Ratmeyer, H. Jahmlich, U. Westernstroer, KIPS—a new multiport valve-based all-teflon fluid sampling system for ROVs, in: Geophys. Res. Abstr, Vol. 8, 2006, p. 07032. H. Miller, G. Nunn, J. Newman, Recon II—an unmanned remote-operated work vehicle, in: OCEANS’76, 1976, pp. 637–641. P.G.S. Dove, T.M. Fulton, J.J. Treu, G.R. Wilde, Recoverable system for mooring mobile offshore drilling units, US Patent 6,009,825, January 4 2000. W.V. Eberstein, ROV installed suction piles, US Patent 6,719,496, April 2004. S. Alhayari, Seabed anchoring system and method for such a system, WO Patent App. PCT/EP2012/070,374, April 2013. M.A. Wishahy, Drilling riser retrieval in high current, WO Patent App. PCT/US2013/041,438, December 2013. Y.L. Moign, W. Siersdorfer, J.B. Blamengin, J.L. Monnac, System and method for well clean-up. P. Crowhurst, J. Lowe, Exploration and resource drilling of seafloor massive sulfide (SMS) deposits in the bismarck sea, papua new guinea, in: OCEANS 2011, 2011, pp. 1–6. Crook, 2010, Deep-sea technology [robotics subsea], Eng. Technol., 5, 36, 10.1049/et.2010.0104 Craig, 2012, Integrated power system design for offshore energy vessels and deepwater drilling rigs, IEEE Trans. Ind. Appl., 48, 1251, 10.1109/TIA.2012.2200091 Freudenthal, 2009, Advantages and limitations of remotely operated sea floor drill rigs, vol. 11, 5073 B. Zhong, H. Du, The research in new architecture of petroleum drilling instrument system, in: Int Conf on Internet Technology and Applications, 2010, pp. 1–4. Baker, 1999, Reliability-based methods in the inspection planning of fixed offshore steel structures, J. Construct. Steel Res., 52, 117, 10.1016/S0143-974X(99)00031-0 Moan, 2005, Reliability-based management of inspection, maintenance and repair of offshore structures, Struct. Infrastruct. Eng., 1, 33, 10.1080/15732470412331289314 Onoufriou, 1999, Reliability based inspection planning of offshore structures, Mar. Struct., 12, 521, 10.1016/S0951-8339(99)00030-1 Dover, 2003, Inspection reliability for offshore structures, 295 Nixondg, 1987, A survey of underwater welding techniques, Endeavour, 11, 143, 10.1016/0160-9327(87)90203-1 Anon., Schilling robotics, 2014. URL: Available: http://www.schilling.com/products/manipulators/Pages/default.aspx. Anon., Atlas hybrid manipulator, 2014. URL: http://www.oceaneering.com/rovs/rov-technologies/atlas-hybrid-manipulator/. Anon., Eca robotics, 2014. URL: http://www.eca-robotics.com/en/control-command-security/robotics/2.htm. Aggarwal, 2015, Haptic object recognition in underwater and deep-sea environments, J. Field Robot., 32, 167, 10.1002/rob.21538 Taylor, 1993, Design issues for underwater manipulator systems, Mechatronics, 3, 419, 10.1016/0957-4158(93)90015-T Rizzo, 2013, NDE/SHM of underwater structures: a review, Adv. Sci. Technol., 83, 208, 10.4028/www.scientific.net/AST.83.208 Brooker, 1986, ROV inspection system (ROVIS), 199 Harris, 1999, Lamp ray: ship hull assessment for value, safety and readiness, 493 X.E. Gros, P. Strachan, D. Lowden, Fusion of multiprobe NDT data for ROV inspection, in: OCEANS’95. MTS/IEEE. Challenges of Our Changing Global Environment, Vol. 3, 1995, pp. 2046–2050. D.G. Langrock, D.R. Broome, Advanced telerobotic controller, in: OCEANS, Vol. 2, 1994, pp. II/157–II/162. M.C. Lugg, Applications of acfm for weld inspection by ROV. Carvalho, 2003, On the reliability of an automated ultrasonic system for hull inspection in ship-based oil production units, Appl. Ocean Res., 25, 235, 10.1016/j.apor.2004.02.004 L. Jeppesen, J. Dam, H.O. Olsen, Subsea automated ultrasonic inspection, in: Middle East Nondestructive Testing Conference and Exhibition, 2005. Negahdaripour, 2006, An ROV stereovision system for ship-hull inspection, IEEE J. Ocean. Eng., 31, 551, 10.1109/JOE.2005.851391 Baldwin, 1984, An underwater photogrammetric measurement system for structural inspection, Int. Arch. Photogramm., 25, 49 F. Ricci, Use of ROV’s in operation of ean underwater installation in the north sea, in: Intervention Sous-Marine ISM 90, Toulon, France, 3–5 December 1990, 1990. Webb, 1981, Inspection and repair of oil and gas production installations in deep water, Ocean Manag., 7, 313, 10.1016/0302-184X(81)90018-4 H.T. Wyeth, Weld inspection by ROV, in: Offshore Technology Conference, Offshore Technology Conference, 1989. M.R. Hedayati, A.A. Amidian, S.A. Sadr, A. Razazan, Intelligent ship hull inspection and ndt using rov based flux leakage expert system, in: 2010 Second International Conference on Computational Intelligence, Modelling and Simulation, CIMSiM, 2010, pp. 412–415. Heale, 1999, ARM and Rovsim: extending our reach, Ind. Robot: Int. J., 26, 202, 10.1108/01439919910266866 F. Sun, J. Yu, D. Xu, Visual measurement and control for underwater robots: A survey, in: Control and Decision Conference, CCDC, 2013 25th Chinese, 2013, pp. 333–338. S. Reed, J. Wood, C. Haworth, The detection and disposal of IED devices within harbor regions using AUVs, smart ROVs and data processing/fusion technology, in: Waterside Security Conference, WSS, 2010 International, 2010, pp. 1–7. L. Drolet, F. Michaud, J. Cote, Adaptable sensor fusion using multiple kalman filters, in: 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2000. IROS 2000. Proceedings. vol. 2, 2000, pp. 1434–1439. D.R. Yoerger, J.-J.E. Slotine, Supervisory control architecture for underwater teleoperation, in: IEEE International Conference on Robotics and Automation, vol. 4, 1987, pp. 2068–2073. C.L. Collins, ARMS: A proven, remotely operated manipulator system ready now to support offshore drilling in depths to 13,000 feet, in: OCEANS 81, 1981, pp. 1165–1167. H.P. Hopper, ROV intervention on subsea equipment, US Patent 4,943,187, July 24 1990. Lane, 1999, The AMADEUS dextrous subsea hand: design, modeling, and sensor processing, IEEE Ocean. Eng., 24, 96, 10.1109/48.740158 Lane, 1997, AMADEUS: advanced manipulation for deep underwater sampling, IEEE Robot. Autom. Mag., 4, 34, 10.1109/100.637804 Lane, 1998, The AMADEUS dexterous underwater grasping system, Int. J. Syst. Sci., 29, 445, 10.1080/00207729808929536 Robinson, 1998, Mechanical design, operation and direction prediction of the AMADEUS gripper system, Int. J. Syst. Sci., 29, 455, 10.1080/00207729808929537 Brien, 1998, Force and explicit slip sensing for the AMADEUS underwater gripper, Int. J. Syst. Sci., 29, 471, 10.1080/00207729808929538 Bartolini, 1998, Vibration damping and second-order sliding modes in the control of a single finger of the AMADEUS gripper, Int. J. Syst. Sci., 29, 497, 10.1080/00207729808929540 Angeletti, 1998, The control architecture of the AMADEUS gripper, Int. J. Syst. Sci., 29, 485, 10.1080/00207729808929539 Lane, 1998, Task planning for dextrous manipulation using blind grasping tele-assistance, Int. J. Syst. Sci., 29, 513, 10.1080/00207729808929541 Veruggio, 1998, The AMADEUS man machine interface, Int. J. Syst. Sci., 29, 529, 10.1080/00207729808929542 A. Meyer, A. Roos, J.F.d. Santos, D. Gibson, G. Blakemore, R. Hammerin, Subsea robotic friction-welding-repair system, in: Offshore Technology Conference, 2001. Nixon, 1986, The application of ROV’s to underwater welding repair tasks, 151 N. Bailey, Welding under water—a metallurgical appraisal, in: Int Offshore and Polar Eng Conf, 1991. Nixon, 2000 Aust, 1988 U.U. Ofem, Laser assisted arc welding process for dry hyperbaric deep water application. I.M. Richardson, N.J. Woodward, J. Billingham, Deepwater welding for installation and repair—a viable technology, in: 12th Int Conf on Offshore and Polar Engineering, 2002. A. Meyer, D. Pauly, J.F.D. Santos, G. Pinheiro, G.A. Roos, G. Dave, G.R. Blakemore, Considerations on robotic friction stitch welding for the repair of marine structures, in: Proceedings of 20th International Conference on Offshore Mechanics and Arctic Engineering, 2001, pp. 145–151. M.J. Sadigh, E. Arjmand, A multi-task fuzzy control for underwater welding manipulator, in: IEEE Int. Conf. on Robotics and Biomimetics, 2009, pp. 1157–1163. G.R. Vossoughi, A. Meghdari, H. Borhan, Dynamic modeling and robust control of an underwater ROV equipped with a robotic manipulator arm, in: 2004 Japan USA Symposium on Flexible Automation, Denver USA, 2004. P.O. Rushfeldt, A. Conter, D.L. McLeod, State-of-the-art ROV and control system for deepwater pipe repair, in: Offshore Technology Conference, 1987. Menegaldo, 2009, Development and navigation of a mobile robot for floating production storage and offloading ship hull inspection, IEEE Trans. Ind. Electron., 56, 3717, 10.1109/TIE.2009.2025716 J. Crowell, Small AUV for hydrographic applications, in: OCEANS 2006, 2006, pp. 1–6. A. McMurtrie, The efficiencies of low logistics man-portable AUVs for shallow water surveying, in: Oceanology International, 2010. Hiller, 2011, Producing chart data from interferometric sonars on small AUVs, Int. Hydrogr. Rev., 43 B. Allen, R. Stokey, T. Austin, N. Forrester, R. Goldsborough, M. Purcell, C. Alt, REMUS: a small, low cost AUV; system description, field trials and performance results, in: OCEANS, Vol. 2, 1997, pp. 994–1000. V.E. Gornak, A.V. Inzartsev, O.Y. Lvov, Y.V. Matvienko, A.P. Scherbatyuk, MMT 3000—small AUV of new series of IMTP FEB RAS, in: OCEANS, 2006, pp. 1–6. S. Araki, K. Ishii, Development of glider type small auv seabird, in: Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies, 2007. 2007, pp. 320–325. C. Osterloh, T. Pionteck, E. Maehle, MONSUN II: a small and inexpensive AUV for underwater swarms, in: German Conf. on ROBOTIK, 2012, pp. 1–6. J. Crowell, Design challenges of a next generation small AUV, in: Oceans—San Diego, 2013, 2013, pp. 1–5. Y. Sun, Q. Zhang, L. Wan, Study on algorithm for small AUV attitude estimation from vector observations, in: Mechatronics and Automation, ICMA, 2009, pp. 4833–4838. Yun, 1999, Testing and evaluation of an integrated GPS/INS system for small AUV navigation, IEEE J. Ocean. Eng., 24, 396, 10.1109/48.775301 L. Whitcomb, D. Yoerger, H. Singh, J. Howland, Advances in underwater robot vehicles for deep ocean exploration: Navigation, control, and survey operations, in: Navigation, Control and Survery Operations, in: The Ninth International Symposium on Robotics Research, Citeseer, 1999. J.G. Bellingham, T.R. Consi, U. Tedrow, D. Di Massa, Hyberbolic acoustic navigation for underwater vehicles: Implementation and demonstration, Sea Grant College Program, Massachusetts Institute of Technology, 1993. Peyronnet, 1998, Posidonia 6000: a new long range highly accurate ultra short base line positioning system, 1721 Feder, 1998, Adaptive sensing for terrain aided navigation, 336 Thrun, 2005 Thrun, 2006, The graph slam algorithm with applications to large-scale mapping of urban structures, Int. J. Robot. Res., 25, 403, 10.1177/0278364906065387 Newman, 2003, Pure range-only sub-sea SLAM, 1921 Mallios, 2010, EKF-SLAM for AUV navigation under probabilistic sonar scan-matching, 4404 Durrant-Whyte, 2003, A Bayesian algorithm for simultaneous localisation and map building, 49 Jaulin, 2011, Set-membership localization with probabilistic errors, Robot. Auton. Syst., 59, 489, 10.1016/j.robot.2011.03.005 Smallwood, 2004, Model-based dynamic positioning of underwater robotic vehicles: theory and experiment, IEEE J. Ocean. Eng., 29, 169, 10.1109/JOE.2003.823312 Freitag, 2001, Integrated acoustic communication and navigation for multiple uuvs, 2065 W. Xu, P. Kraeutner, H. Guo, H. Maxfield, First results of a novel and low power forward looking sonar technology for small AUV’s, in: OCEANS, 2006, pp. 1–3. Singh, 2004, Advances in large-area photomosaicking underwater, IEEE J. Ocean. Eng., 29, 872, 10.1109/JOE.2004.831619 A.R. Fairweather, A. Greig, A. Allnutt, Object recognition by machine vision to enhance scene interpretation in an underwater application, in: OCEANS’95. MTS/IEEE. Challenges of Our Changing Global Environment. Conference Proceedings, vol. 3, 1995, pp. 1865–1870. Negahdaripour, 2003, Stereovision imaging on submersible platforms for 3-d mapping of benthic habitats and sea-floor structures, IEEE J. Ocean. Eng., 28, 625, 10.1109/JOE.2003.819313 Negahdaripour, 1990, Recovering shape and motion from undersea images, IEEE J. Ocean. Eng., 15, 189, 10.1109/48.107147 R.L. Marks, H.H. Wang, M.J. Lee, S.M. Rock, Automatic visual station keeping of an underwater robot, in: OCEANS, Vol. 2, 1994, pp. II–137–II–142. S. Negahdaripour, L. Jin, X. Xu, C. Tsukamoto, J. Yuh, A real-time vision-based 3D motion estimation system for positioning and trajectory following, in: IEEE Workshop on Applications of Computer Vision, 1996, pp. 264–269. K.N. Leabourne, S.M. Rock, S.D. Fleischer, R. Burton, Station keeping of an ROV using vision technology, in: OCEANS, Vol. 1, 1997, pp. 634–640. Nagahdaripour, 1998, Applications of direct 3D motion estimation for underwater machine vision systems, 51 S. Negahdaripour, X. Xu, A. Khamene, A vision system for real-time positioning, navigation, and video mosaicing of sea floor imagery in the application of ROVs/AUVs, in: Applications of Computer Vision, 1998, pp. 248–249. Gracias, 2000, Underwater video mosaics as visual navigation maps, Comput. Vis. Image Underst., 79, 66, 10.1006/cviu.2000.0848 J.-F. Lots, D.M. Lane, E. Trucco, F. Chaumette, A 2D visual servoing for underwater vehicle station keeping, in: IEEE Conf. on Robotics and Automation, vol. 3, 2001, pp. 2767–2772. Negahdaripour, 2002, Mosaic-based positioning and improved motion-estimation methods for automatic navigation of submersible vehicles, IEEE J. Ocean. Eng., 27, 79, 10.1109/48.989892 Gracias, 2003, Mosaic-based navigation for autonomous underwater vehicles, IEEE J. Ocean. Eng., 28, 609, 10.1109/JOE.2003.819156 Akyildiz, 2005, A survey on wireless mesh networks, IEEE Commun. Mag., 43, S23, 10.1109/MCOM.2005.1509968 Jawhar, 2013, An efficient framework for autonomous underwater vehicle extended sensor networks for pipeline monitoring, 124 S.C. Yu, J. Pyo, P.C. Cho, D. Kim, M. Park, C. Hwang, Preliminary study on robotic amphibious vehicle, in: International Society of Offshore and Polar Engineers, 2011. M. Bengel, K. Pfeiffer, B. Graf, A. Bubeck, A. Verl, Mobile robots for offshore inspection and manipulation, in: IEEE/RSJ Conf. on Intelligent Robots and Sys., 2009, pp. 3317–3322. Lee, 2014, Robots in the shipbuilding industry, Robot. Comput.-Integr. Manuf., 30, 442, 10.1016/j.rcim.2014.02.002 D. Lee, S. Lee, N. Ku, C. Lim, K.-Y. Lee, T. Kim, J. Kim, Development and application of a novel rail runner mechanism for double hull structures of ships, in: IEEE International Conference on Robotics and Automation, 2008, pp. 3985–3991. Lee, 1998, Development of robot welding system for panel block assemblies of ship hull, Okpo Ship Technol., 46, 32 T. Miyazaki, NC painting robot for shipbuilding, in: Proc. of ICCAS’99 (2) (1999) 1–14. M. Armada, P.G. de Santos, Climbing and walking robots for the maritime industries, European Naval Ship Design Short Course, Brest, France, 2002, pp. 8–12. J. Aranda, M. Armada, J.M. Cruz, Automation for the maritime industries. Lee, 2010, Development of a mobile robotic system for working in the double-hulled structure of a ship, Robot. Comput.-Integr. Manuf., 26, 13, 10.1016/j.rcim.2009.01.003 Lee, 2011, Development and application of an intelligent welding robot system for shipbuilding, Robot. Comput.-Integr. Manuf., 27, 377, 10.1016/j.rcim.2010.08.006 K.-Y. Lee, T.-W. Kim, J. Kim, N.-K. Ku, H. Lim, J. Woo, S.M. Lee, S. ho Kim, Modularized control architecture of an embedded controller for mobile welding robot in the shipyard, in: Proceedings of the 17th IFAC world congress, COEX, Seoul, Korea, 2008, pp. 4298–4303. Lee, 2013, Development of modularized airtight controller for mobile welding robot working in harsh environments, Robot. Comput.-Integr. Manuf., 29, 410, 10.1016/j.rcim.2013.03.004 Zhong, 2011, Oil spill response planning with consideration of physicochemical evolution of the oil slick: A multiobjective optimization approach, Comput. Chem. Eng., 35, 1614, 10.1016/j.compchemeng.2011.01.009 Paine, 1996, Trouble on oiled waters: lessons from the exxon valdez oil spill, Annu. Rev. Ecol. Syst., 197, 10.1146/annurev.ecolsys.27.1.197 Estimates of oil entering the marine environment from sea-based activities, in: GESAMP Reports and Studies 75th, International Maritime Organization, London, UK, 2006. Fingas, 2010 Jernelov, 2010, The threats from oil spills: Now, then, and in the future, Ambio, 39, 353, 10.1007/s13280-010-0085-5 Fingas, 2012 Klemas, 2012, Tracking and monitoring oil slicks using remote sensing, 1 McStay, 2005, A new tool for the rapid remote detection of leaks from subsea pipelines during remotely operated vehicle inspections, J. Opt. A: Pure Appl. Opt., 7, S346, 10.1088/1464-4258/7/6/014 A. Diercks, V.L. Asper, R. Highsmith, M. Woolsey, S. Lohrenz, K. McLetchie, A. Gossett, M. Lowe, D. Joung, L. McKay, S. Joye, A. Teske, Niust—deepwater horizon oil spill response cruise, in: OCEANS 2010, 2010, pp. 1–7. J.C. Kinsey, D.R. Yoerger, M.V. Jakuba, Rich Camilli, C.R. Fisher, C.R. German, Assessing the deepwater horizon oil spill with the sentry autonomous underwater vehicle, in: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2011, pp. 261–267. P.K. Eriksen, Oil spill detection and mapping tool in low visibility and arctic ice settings, in: OTC Arctic Technology Conference, Offshore Technology Conference, 2012. P.K. Eriksen, Leakage and oil spill detection utilizing active acoustic systems, in: Underwater Technology Symposium, UT, 2013 IEEE International, 2013, pp. 1–8. J. Everaerts, N. Lewyckyj, D. Fransaer, Pegasus: design of a stratospheric long endurance UAV system for remote sensing, The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences 35 (Part B). Lomax, 2005, Employing unmanned aerial vehicles (UAVs) as an element of the integrated ocean observing system, 184 J. Allen, B. Walsh, Enhanced oil spill surveillance, detection and monitoring through the applied technology of unmanned air systems, in: Int Oil Spill Conf. (1) 2008, pp. 113–120. E. Donnay, Use of unmanned aerial vehicle (UAV) for the detection and surveillance of marine oil spills in the belgian part of the north sea. Muttin, 2011, Umbilical deployment modeling for tethered UAV detecting oil pollution from ship, Appl. Ocean Res., 33, 332, 10.1016/j.apor.2011.06.004 Lehr, 2008, The potential use of small uas in spill response, 431 Zang, 2012, Investigating small-scale water pollution with UAV remote sensing technology, 1 Bern, 1993, Oil spill detection using satellite based sar: Experience from a field experiment, Photogramm. Eng. Remote Sens., 59, 423 Kubat, 1998, S. Matwin, Machine learning for the detection of oil spills in satellite radar images, Mach. Learn., 30, 195, 10.1023/A:1007452223027 Fiscella, 2000, Oil spill detection using marine sar images, Int. J. Remote Sens., 21, 3561, 10.1080/014311600750037589 Brekke, 2005, Oil spill detection by satellite remote sensing, Remote Sens. Environ., 95, 1, 10.1016/j.rse.2004.11.015 Keramitsoglou, 2006, Automatic identification of oil spills on satellite images, Environ. Model. Softw., 21, 640, 10.1016/j.envsoft.2004.11.010 Flores, 1998, Measurements of oil spill spreading in a wave tank using digital image processing, Water Stud. Ser., 165 Abdul-Wahab, 2006, In situ device for detection of oil spill in seawater, Electroanalysis, 18, 2148, 10.1002/elan.200603617 H.D. Parker, D. Cormack, Evaluation of infrared line scanner (IRLS) and side-looking airborne radar (SLAR) over controlled oil spills in the north sea, in: Remote Sensing for the Control of Marine Pollution, 1984. Salisbury, 1993, Thermal infrared remote sensing of crude oil slicks, Remote Sens. Environ., 45, 225, 10.1016/0034-4257(93)90044-X J.A. Noerager, R.H. Goodman, Oil tracking, containment, and recovery during the exxon valdez response 1, in: Int. Oil Spill Conf., vol. 1991, 1991, pp. 193–203. H.R. Gram, M.P. Jadamec, J.W. Johnson, Oil spill detection system, US Patent 5,461,236, October 1995. Pelyushenko, 1995, Microwave radiometer system for the detection of oil slicks, Spill Sci. Technol. Bull., 2, 249, 10.1016/1353-2561(95)00031-3 Yujiri, 2003, Passive millimeter wave imaging, IEEE Microwave Mag., 4, 39, 10.1109/MMW.2003.1237476 Ying, 2011, Microwave remote sensing sea surfaces covered in oil, 2319 S. Patsayeva, V. Yuzhakov, V. Varlamov, R. Barbini, R. Fantoni, C. Frassanito, A. Palucci, Laser spectroscopy of mineral oils on the water surface, in: EARSeL eProceedings, 2000, pp. 106–114. Brown, 2003, Review of the development of laser fluorosensors for oil spill application, Mar. Pollut. Bull., 47, 477, 10.1016/S0025-326X(03)00213-3 Sarma, 2006, Comparison of the fluorescence behavior of a biocrude oil and crude petroleum oils, Energy Fuels, 20, 783, 10.1021/ef050294f Fingas, 2000, A review of the status of advanced technologies for the detection of oil in and with ice, Spill Sci. Technol. Bull., 6, 295, 10.1016/S1353-2561(01)00056-1 Jha, 2008, Advances in remote sensing for oil spill disaster management: state-of-the-art sensors technology for oil spill surveillance, Sensors, 8, 236, 10.3390/s8010236 Yin, 2010, Airborne validation of a new-style ultraviolet push-broom camera for ocean oil spill pollution surveillance, 78250I O’neil, 1980, Field performance of a laser fluorosensor for the detection of oil spills, Appl. Opt., 19, 863, 10.1364/AO.19.000863 Camagni, 1988, Diagnostics of oil pollution by laser-induced fluorescence, IEEE Trans. Remote Sens., 26, 22, 10.1109/36.2995 P.A. Tebeau, K.A. Hansen, J.W. Fant, M.M. Terrien, Assessing the long-term implementation costs versus benefits associated with laser fluorosensor spill response technology, vol. 1. Calla, 2011, Estimation of emissivity and scattering coefficient of low saline water contaminated by diesel in cj band (5.3 GHz) and ku band (13.4 GHz), Indian J. Radio Space Phys., 40, 267 Calla, 2013, Oil spill detection using ssm/i satellite data over bombay high location in arabian sea, Indian J. Radio Space Phys., 42, 52 Brown, 2003, Development of airborne oil thickness measurements, Mar. Pollut. Bull., 47, 485, 10.1016/S0025-326X(03)00203-0 Brown, 2011, Chapter 7—laser fluorosensors, 171 Nirchio, 2005, Automatic detection of oil spills from SAR images, J. Remote Sens., 26, 1157, 10.1080/01431160512331326558 F. Nunziata, M. Migliaccio, P. Sobieski, A BPM two-scale contrast model, in: IGARSS, Vol. 4, 2008, pp. IV–593–596. Pinel, 2008, Modeling of the bistatic electromagnetic scattering from sea surfaces covered in oil for microwave applications, IEEE Trans. Geosci. Remote Sens., 46, 385, 10.1109/TGRS.2007.902412 Denkilkian, 2009, Wireless sensor for continuous real-time oil spill thickness and location measurement, IEEE Trans. Instrum. Meas., 58, 4001, 10.1109/TIM.2009.2021641 P. Graham, Deep sea oil spill cleanup techniques: Applicability, trade-offs and advantages, ProQuest Discovery Guides. Released August. Sebastiao, 1995, Modeling the fate of oil spills at sea, Spill Sci. Technol. Bull., 2, 121, 10.1016/S1353-2561(96)00009-6 Fingas, 1995, A literature review of the physics and predictive modelling of oil spill evaporation, J. Hazard. Mater., 42, 157, 10.1016/0304-3894(95)00013-K Reed, 1999, Oil spill modeling towards the close of the 20th century: overview of the state of the art, Spill Sci. Technol. Bull., 5, 3, 10.1016/S1353-2561(98)00029-2 Abascal, 2009, Application of hf radar currents to oil spill modelling, Mar. Pollut. Bull., 58, 238, 10.1016/j.marpolbul.2008.09.020 Al-Majed, 2012, A sustainable approach to controlling oil spills, J. Environ. Manag., 113, 213, 10.1016/j.jenvman.2012.07.034 M. Fingas, Oil spills and their cleanup, 1995, pp. 1005–1008. R.J. Hanahoe, W.F. Haynes, C.B. Phelps, Integrated oil response and recovery system and method and skimmer for use therein, US Patent 5,753,108, May 1998. R. Aps, K. Herkul, J. Kotta, I. Kotta, M. Kopti, R. Leiger, U. Mander, U. Suursaar, Bayesian inference for oil spill related net environmental benefit analysis, 2009. Mullin, 2003, Introduction/overview to in-situ burning of oil spills, Spill Sci. Technol. Bull., 8, 323, 10.1016/S1353-2561(03)00076-8 Evans, 2001, In situ burning of oil spills, J. Res.-Natl. Inst. Stand. Technol., 106, 231, 10.6028/jres.106.009 P. Ranque, D. Freeman, K. Kernstine, D. Lim, E. Garcia, D. Mavris, Stochastic agent-based analysis of UAV mission effectiveness, in: AIAA ATIO Conf., 2011. H.N. Psaraftis, N.P. Ventikos, An intelligent robot system to respond to oil spills: the eu-mop project, in: Proceedings of the 6th Interspill, London, UK. D. Fritsch, K. Wegener, R.D. Schraft, Sensor concept for robotic swarms for the elimination marine oil pollutions, in: VDI BERICHTE 1956, 2006, p. 161. Kakalis, 2008, Robotic swarm concept for efficient oil spill confrontation, J. Hazard. Mater., 154, 880, 10.1016/j.jhazmat.2007.10.112 Beni, 1993, Swarm intelligence in cellular robotic systems, 703 Kennedy, 2001 Dorigo, 2006, Ant colony optimization, IEEE Comput. Intell. Mag., 1, 28, 10.1109/MCI.2006.329691 B.P. Howell, M.R. Proffitt, Autonomous detection and mapping of meta-events using distributed control agents, in: OCEANS 2011, 2011, pp. 1–10. Bruemmer, 2002 J. Clark, R. Fierro, Cooperative hybrid control of robotic sensors for perimeter detection and tracking, in: American Control Conference, vol. 5, 2005, pp. 3500–3505. Clark, 2007, Mobile robotic sensors for perimeter detection and tracking, ISA Trans., 46, 3, 10.1016/j.isatra.2006.08.001 Zhang, 2013, Spill detection and perimeter surveillance via distributed swarming agents, IEEE/ASME Trans. Mechatronics, 18, 121, 10.1109/TMECH.2011.2164578 Arkin, 1998