Combined Rov Control Innovative Technology - Smart Solution To Support The Guidance Of Deep Water Killing String

Combined ROV Control (CRC) innovative technology (eni patent) has been developed as support technology for guidance of the killing string into a blowing-out source in deep water subsea operations. CRC has been developed to operate in coordinated control two or more ROVs rigidly connected to a structure. The "coordinated control" allows to control in real time the actions of multiple ROVs rigidly connected as if it is a single large component. Combined ROV Controller technology has been validated by developing a prototype and verifying its functionalities and performances. The prototype has been used to control position and orientation of a floating structure, rigidly connected to two commercial ROV normally used for inspection. Position and orientation of the structure has been monitored during the test using a DGPS system installed on the floating structure and with a magnetic compass. Capability to follow any type of desired trajectory and to maintain a desired position and orientation have been tested with external disturbances applied to the system