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the inspection sensors input in order to achieve an optimized platform to perform subsea integrity inspections. An operator inspection movement pro? le and mission. A special focus is sitting remotely can program a queue of routine inspection and also given on how to post-process and annotate the volume of maintenance work for the AUV. “FlatFish plans the mission data generated to optimize the time from data to information. autonomously based on the requested work queue. The mis-

The FlatFish also uses a laser line projection, depth sensor, in- sion plan is then validated by simulation and send to the opera- ertial navigation system and Doppler velocity log combined tor for approval. After this preparation the vehicle leaves the with an optical-acoustic feature detection to navigate, along docking station, navigates to the target, inspects the target, and with ultra-short baseline acoustics for identi? cation of ? ow- returns to the docking station,” said Zagatti. “The resulting in- lines, pipelines and other equipment, also employing multiple spection data (photographs, 3D models etc.) is uploaded within communications systems. the docking station and send to the operations center, where

A functional replica of the docking station has been tested it can be automatically distributed to the most relevant recipi- at the DFKI Bremen Robotics Innovation Center’s 3.5 mil- ents, post-processed and eventually raise relevant alarms. If an lion liter seawater tank. The lessons learned from the mock-up operator wishes to perform an unscheduled task, it is inserted tests have been used for the design of the new prototype of the into the work queue and scheduled to happen immediately or docking station that will ? nish testing by the middle of next at a speci? ed time. If high-rate communication equipment is year as part of the second phase of the project. “We are start- installed within the ? eld, it can be used to allow a remote op- ing the second phase of the project now. With Senai-Cimatec erator to provide real-time commands on more complex tasks. we are seeking a partner to bring FlatFish to the market. The FlatFish is the only AUV able to live on the seabed in a docking new partner will be selected in 2016 and will work with us in station and perform visual inspections and 3D reconstruction the quali? cation of the technology through intensive offshore of subsea equipment and pipelines with high precision, a sig- trials of the system, planned for 2017,”said Zagatti. FlatFish ni? cant improvement over the existing autonomous vehicles,” can also be launched and recovered directly from a FPSO or concludes Zagatti.

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