VMAX Technologies, Inc.

.: Control Pod Module Install

The Control Pod modules are hot-swappable control modules. Installation and removal is handled by a skid that is attached to the ROV.

.: Introduction

At the start of the scenario, one module is already installed on the skid. The ROV is neutrally buoyant without the module, so you will notice that the ROV will sink and is unbalanced with the module installed. There are three sub-sea structures in the scenario for demonstration with the modules. These structures include: A Blowout Preventer (BOP) which is North, a Subsea Isolation Device (SID) which is West, and a Subsea Tree which is South. The SID and Tree each have two module receptacles and one installed module. The BOP has numerous receptacles and two installed modules.

.: Controlling the Skid

Since the ROV will be unbalanced with the pre-installed Control Pod Module, you will find the ROV a bit more difficult to control. Using the trim controls to correct this unbalance, you will notice that the additional mass of the skid and a module will cause the ROV to roll during lateral movement, especially when changing the direction of lateral movement.

The skid has a camera mounted on its left side. This camera has rotation and pitch controls. The front of the skid has four docking stabs. When all four stab are latched, the skid will be positioned to remove and install modules.

The skid holds up two modules in moveable cradles. The cradles can move to the right and left together on a track. When the cradle is positioned in a center location, then the track can be moved forward for installation, or backwards to re-seat the correct track position. Each cradle has arms that hold a module securely in place. These arms can be opened and closed.

Included in the center of the skid is a torque tool that is used to install the Control Pod Modules. The torque tool is mounted such that it can be extended forward in order to latch onto a Control Pod. With both the cradle and the torque tool in the forward position, a Control Pod module cn be installed or extracted.

.: Procedure

To install or extract a Control Pod Module, you will need to use the skid’s camera, as well as ROV Camera 1, to assist with docking and operating the skid. The skid’s operation is somewhat obstructed by the skid itself from camera view. It may be helpfule to see the skid from the instructor’s view as well as the previously mentioned cameras the first time you attempt installation.

The following will allow you to Install a Module:
1. Move the 7-Function manipulator (T4) and the 5-function manipulator (Rigmaster) away from the front of the ROV.
2. If you choose to do so, use the Debug View and add -300 ballast to the ROV, in order to ease piloting.
3. Pilot the ROV to a desired open receptacle.
4. Using the suggested cameras, attempt to dock all four stabs of the skid into their appropriate sockets.
5. Once docked, Latch the skid into place.
6. Move the skid’s cradle so as to make the Control Pod Module be at the center of the skid.
7. Open the cradle’s arms.
8. Move the slider with the torque tool forward. This should allow the torque to to be inserted into the Control Pod Module.
9. When the torque tool is in place, Latch the torque tool into the Control Pod Module.
10. Move the entire center cradle forward.
11. Extend the torque tool to its maximum extension. This should be the step in which the Control Pod Module is installed.
12. Unlatch the torque tool and retract.
13. Re-seat the center cradle back onto its lateral track.
14. Unlatch the skid from the structure.
15. The Control Pod Module has now been installed.

To Remove a Control Pod Module:
1. Follow the steps above to pilot the ROV to a pre-installed Control Pod Module on any structure.
2. Once the skid is latched into place, move an open cradle into the center position.
3. Open the cradle’s arms.
4. Slide the cradle forward.
5. Extend the torque tool to is maximum extension.
6. Once the torque tool has connected with the Control Pod Module, latch the torque tool
7. With the torque tool latched, retract the torque tool.
8. Once the Control Pod Module has been seated on the cradle, Close the cradle’s arms.
9. Unlatch the torque tool.
10. Re-seat the cradle onto its lateral track.

.: Notes to remember

Note the position of the module on the skid relative to the cradle that holds it. This will help you to position modules on cradles when doing step 7 of the Control Pod Module Removal.

Use the trim control to balance the ROV. If using the desktop simulator, select the ROV #1 tab from the Debug View, then add ballast. Set the position to [ 0.75, 0, 0 ] and the mass to -300 (in the simulated world, negative masses are real and they cause floatation).

Move the T4 and Rigmaster manipulators so that they will not obstruct the docking process. The best way to do this is to rotate the arm at its base. If using a desktop simulator, select Tool #2 on the Debug View, then change the value of DOF #1 to -0.6 or less.

.: Control Scheme

Action	Control System	Manifold	Valve	Control	Desktop / Debug
Skid camera rotation	XLS and XL	2	5	A – Left B – Right	Env DOF 1
	XLX	3	7
Skid camera pitch	XLS and XL	2	10	A – Up B – Down	Env DOF 2
	XLX	3	12
Skid docking Latch	XLS and XL	2	4	A – Latch B – Unlatch	Tool #3 DOF 6
	XLX	3	6
Move cradles	XLS and XL	2	3	A – Left B – Right	Tool #3 DOF 3
	XLX	3	5
Move slide with torque tool and cradle	XLS and XL	2	1	A – Forward B – Backward	Tool #3 DOF 1
	XLX	3	3
Torque tool extension	XLS and XL	2	2	A – Extend B – Retract	Tool #3 DOF 2
	XLX	3	4
Torque tool latch	XLS and XL	2	7	A – Latch B – Unlatch	Env DOF 5
	XLX	3	9
Left Cradle arms	XLS and XL	2	8	A – Open B – Close	Tool #3 DOF 5
	XLX	3	10
Right Cradle arms	XLS and XL	2	9	A – Open B – Close	Tool #3 DOF 4
	XLX	3	11