MANU035 - Hull Cleaning Manual

Symbol explanation

x x x

Read and understand the manual

Warning - Risk of electrical shock

Wear safety glasses

Warning - Risk of falling objects

Wear safety gloves

Careful - strong magnets

Wear safety boots

Caution - Read the explanatory text

Wear hardhat

Careful - Risk of falling objects

Keep clear of pacemaker

Careful - Risk of pinching hand

Instruction steps

Action can prevent damage

Number of personnel required 1

Introduction This is the universal manual for all RAW0011 offshore and hull configurations. The manual contains instructions on topics related to the operation of the robot and accessories in these conditions.

Read the safety instructions in this document carefully before first use.

Read all documentation before first use.

2

Table Of Contents

Background information and unboxing Recommended items for Hull and offshore operations ............................................................................................................... 4-5 Lifting procedures ........................................................................................................................................................................... 6-7 Pre-operation setup ...................................................................................................................................................................... 8-13 Tools and Accessories [HPT0014] Brush Tool ................................................................................................................................................................. 14-19 [HPT0015] Cavitation Tool .......................................................................................................................................................... 20-27 [HPT0018] Splash zone cleaning tool ......................................................................................................................................... 28-31 [MA00145] Dual camera system .................................................................................................................................................. 32-33 [BUOY001 / BUOY002] Buoyancy systems.................................................................................................................................... 34-37 [WIN0003-5] Winch setup and instructions ............................................................................................................................... 38-39

SOP - Standard Operating procedures Launch from deck ........................................................................................................................................................................ 40-45 Emergency retrieval step - In case of power loss or non-respond ......................................................................................... 46-51 Zone marker setup and user interface ....................................................................................................................................... 52-53 Cleaning in murky waters [Vertical cleaning] .......................................................................................................................... 54-57 Cleaning offshore in high currents [Horizontal cleaning] .................................................................................................... 58-59 Notes ............................................................................................................................................................................................. 60-61

3

Recommended items for hull and offshore operations - Excluding spares RAW0011 ++

Hull Cleaning Robot Package

Screen solution

Robot configured for underwater operations, cage, basic spares, cables and tool box including controller.

Device for viewing robot data and camera feed.

WIN0003/4/5

MA00145

Winch (50m, 65m or 120m)

Camera system

Winch including umbilical for 400 bar high pressure hose, hybrid cable and static rope.

Front and rear camera for underwater use. Equipped with powerful external light.

MHH0187

4

MEA0236 / Under construction

BOUY001/002

High pressure pump (400 bar)

Buoyancy systems

Pump matching the Cavitation Tool (HPT0015).

To make robot and cavitation tool buoyant.

Recommended items for hull and offshore operations - Excluding spares HPT0014

LA00002

Brush tool for hull cleaning

Launch and Recovery System

Tool for removing light slime and algae driven by pressurized air. Requires wet biofouling for optimal cleaning.

Items for safe launch and recovery of the robot.

HPT0015

MA00113 / BOX0009

Cavitation tool for Hull Cleaning

Onboard package

Tool driven by pressurized water to drive the cavitation cleaning of heavy biofouling. Works only under water.

Launch platform, rollers, zone markers.

Launch for Service Providers Excluding zone markers.

HPT0018

or

Redundancy spares

High pressure tool

Accessible spares

High pressure tool for cleaning above the water line. Cannot clean under water.

To maximize operational uptime, critical contingency spares should be coordinated with a CLIIN Robotics sales representative.

5

CAGE001 - Safe lifting procedure Lifting cage

x4

Use appropriate slings and shackles for lifting.

All four lifting points must be used on the cage.

NOTE: Shackles and slings are not included in the CLIIN delivery.

Annual recertification of equipment is not performed by CLIIN Robotics.

6

WIN0003-5 - Safe lifting procedure Lifting winch

Use appropriate slings for lifting. Two lifting points at the winch reel must be used.

NOTE: Lock the winch reel by the red pin before lifting.

Slings are not included in the CLIIN delivery.

Annual recertification of equipment is not performed by CLIIN Robotics.

7

RAW0011 - Setup for operation Magnet handling

x2

Following air freight, magnets are stored in shielded wooden crates per IATA PI 953 Installation: Install bottom magnets and tracks according to MANU013-RAW0011. This is a mandatory two-person task for safety.

CRITICAL: Personnel with pacemakers or metallic implants must maintain a safe distance; magnetic fields may cause device failure.

Keep away from pacemakers (0.60 m or 2 ft)

8

Link to updated magnet handling guide

RAW0011 - Setup for operation Additional magnet pack x2

NOTE: If more friction is needed an additional MA00143 (3 pcs. magnet plate) can be added to the center of the robot. It is recommended to bring the MA00143 to the job, but only mount it if needed.

CRITICAL: Mounting is a 2-man operation

MA00143 Magnets (x3)

CRITICAL: Never dismount a single magnet from the safety plate without the instruction or consent from CLIIN Robotics.

9

RAW0011 - Setup for operation Correct rubber setup Side [M000787] Center [M001173]

Side [M000040] Center [M000077]

RAW0011 Red rubber

Clear rubber

Anti bump - High profile

Highest possible friction

The high profile limits the track magnets contact with the surface. Further this profile is shaped round to enable a more smooth driving motion where the robot will not “jump”. This is suitable for very sensitive robot add-ons like NDT equipment etc.

The clear rubber is the recommended solution for offshore and hull operations to optimize the magnetic adhesion and thereby the operational window. Though clear rubber has lower durability, these needs to be monitored during each operation.

Shaped profile Round profile reduces robot “jump” to less than 1 mm during operation

10

Flat profile makes robot “jump” 3 mm during operation

RAW0011 - Setup for operation Tether management

Umbilical management The umbilical to the robot is the most fragile part of the entire system. Redundancy must always be considered for offshore operations.

Ensure that the static rope always takes the stress in case of a pull or detachment. Further the static rope must be secured to the rear anchor on the robot.

11

RAW0011 - Setup for operation Bracket fine tuning

Loosen screws

If finetuning is needed for sensitive equipment, e.g. NDT. The front and rear brackets can be adjusted in the 5 mm slots.

NOTE: Correct torque for tightening M8 bolts: 22-25 Nm

12

RAW0011 - Setup for operation Power setup and general checklist

Power verification Make sure to determine if job has 50 or 60 Hz available.

50 Hz will lower the water volume from an electrical pump.

Making sure nozzles are correctly sized is important for the cleaning quality.

220-240V 13A is required for the robot operation.

NOTE: Always follow the MANU007 checklist Pre- and Post-operation.

Link to updated MANU007 guide

13

HPT0014 - Brush tool for underwater cleaning and grooming

14

HPT0014 - Brush tool for underwater cleaning and grooming Tool performance HPT0014 Brush tool for underwater

Tool suitability**

FR

Type

Description

N/A

0

Clean

No growths. A clean, foul-free surface.

600m2/h*

10

Slime

Light slime. Semi-transparent or white; surface is visible.

600m2/h*

20

Slime

Moderate slime. Thicker, may be colored (tan/brown); surface is masked.

400m2/h*

30

Slime

Heavy slime. Very thick, dark-colored; may have a fuzzy appearance.

200m2/h*

40

Grass

Small soft growths. Early macrofouling (algae, bryozoans) under 7 mm.

200m2/h*

50

Grass

Heavy soft growths. Dense mats of algae or tall "grass."

N/A

*All cleaning speed are optimal values subject to paint type and paint condition. **Tool ability to remove the FR-level.

60

First hard fouling. Scattered Calcareous barnacles or tubeworms (< 5% coverage).

70

Moderate hard fouling.

Calcareous Barnacles/tubeworms covering 5–10% of surface.

80

Calcareous

Heavy hard fouling.

10–50% coverage of the surface.

90

Calcareous

Very heavy hard fouling.

Over 50% coverage.

100 Calcareous

Massive fouling. Large, mature barnacles and dense hard growth.

15

HPT0014 - Brush tool for underwater cleaning and grooming Recommended brushes

M001145 0.6 mm (very soft)

M001146 1.0mm (soft)

Change brush when brush hairs are worn to the red wear indicator.

16

FR 10-20

FR 20-40

FR 40-50

M001147 1.5 mm (medium)

M001315 2.0 mm (hard)

M001228 3.0 mm (very hard)

Remove bottom screws to exchange brush.

HPT0014 - Brush tool for underwater cleaning and grooming Mount hoses

Air inlet 6.3 bar @ 440 lpm needed pr. motor NOTE: See MANU030 for more info

Air outlet

Mount blue hoses for air inlet and black hoses for exhaust.

Follow MANU030 for correct air motor maintenance and setup.

TIP: Run the air motors before mounting the robot on the hull to prevent the excess oil from going into the sea.

17

HPT0014 - Brush tool for underwater cleaning and grooming Mount tool

Exhaust Exhaust air in rear to prevent bubbles in front of main camera

Mount tool in top holes on front brackets.

18

HPT0014 - Brush tool for underwater cleaning and grooming Maintain correctly

After each use of the air motor, the motor MUST be maintained properly to prevent internal corrosion and malfunction from water in the high pressure air. Maintenance MUST be performed immediately after each use on a daily basis.

Link to MANU030 updated online guide

Mobil Almo 525, air lubrication or similar.

Blow air into the motor through L or R use 2-3 bar pressure. After blowing air into the motor, pour 25 ml air lubrication oil into the motor.

Exhaust Point EXH downwards to optimize the water blowout.

x3

With some oil still inside the motor, plug all three holes, to prevent remnants to ingress and internal corrosion before next use.

19

HPT0015 - Cavitation tool for heavy underwater cleaning

20

HPT0015 - Cavitation tool for heavy underwater cleaning Tool performance HPT0015 Cavitation tool

*All cleaning speed are optimal values subject to paint type and paint condition. **Tool ability to remove the FR-level.

Tool suitability**

FR

Type

Description

N/A

0

Clean

No growths. A clean, foul-free surface.

150m2/h*

10

Slime

Light slime. Semi-transparent or white; surface is visible.

150m2/h*

20

Slime

Moderate slime. Thicker, may be colored (tan/brown); surface is masked.

150m2/h*

30

Slime

Heavy slime. Very thick, dark-colored; may have a fuzzy appearance.

100m2/h*

40

Grass

Small soft growths. Early macrofouling (algae, bryozoans) under 7 mm.

100m2/h*

50

Grass

Heavy soft growths. Dense mats of algae or tall "grass."

70m2/h*

60

First hard fouling. Scattered Calcareous barnacles or tubeworms (< 5% coverage).

60m2/h*

70

Moderate hard fouling.

Calcareous Barnacles/tubeworms covering 5–10% of surface.

60m2/h*

80

Calcareous

Heavy hard fouling.

10–50% coverage of the surface.

50m2/h*

90

Calcareous

Very heavy hard fouling.

Over 50% coverage.

50m2/h*

100 Calcareous

Massive fouling. Large, mature barnacles and dense hard growth.

21

HPT0015 - Cavitation tool for heavy underwater cleaning Tool adjustments

Cavitation core adjustment Recommended 34±3 mm distance for optimal cavitation effect.

Barnacle scraper Recommended gap of 10 mm, can be adjusted to 20 mm if needed by moving the barnacle scraper.

The scraper is needed to prevent clocking of cavitation swivel when removing heavy fouling.

22

HPT0015 - Cavitation tool for heavy underwater cleaning Nozzle exchange Use the nozzle tool [MTO0039] for exchange. Typically the nozzles wear out every 100 hours in sea water.

Use Loctite 243 to secure threads to avoid loss of parts during operation.

Cavitation head angle Head angled 15°±2° for optimal cavitation effect.

(Preset)

23

HPT0015 - Cavitation Tool - Recommended flow rates and nozzle size Pump Requirements Source pumps with 35–45 LPM constant flow, aligning nozzles to the performance chart. Ensure pressure ratings meet system requirements; units exceeding 390 bar must include a regulator, safety, or bypass valve to mitigate hose bursts and equipment damage.

24

Tool flow [LPM / GPM]

Nozzle size [mm]

Tool pressure [Bar / PSI]

Hose ½” length 120 m Hose resistance - Pressure loss

35 / 9.2 36 / 9.5 37 / 9.8 38 / 10 39 / 10.3 40 / 10.6

2 x 1,2mm 2 x 1,2mm 2 x 1,2mm 2 x 1,2mm 2 x 1,2mm 2 x 1,2mm

316 / 4.583 334 / 4.844 353 / 5.120 372 / 5.395 392 / 5.686 412 / 5.686

31 Bar / 450 PSI (0.26 bar/m) 33 Bar /479 PSI (0.28 bar/m) 35 Bar / 508 PSI (0.29 bar/m) 37 Bar / 537 PSI (0.31 bar/m) 39 Bar / 566 PSI (0.33 bar/m) 41 Bar / 595 PSI (0.34 bar/m)

Resulting pressure at pump System min. operational requirements 347 Bar / 5.033 PSI 367 Bar / 5.323 PSI 388 Bar / 5.628 PSI 409 Bar / 5.932 PSI 431 Bar / 6.252 PSI 453 Bar / 6.571 PSI

38 /10 39 / 10.3 40 / 10.6 41 / 10.8 42 / 11.1 43 / 11.4 44 / 11.6 45 / 11.9

2 x 1,3 mm 2 x 1,3 mm 2 x 1,3 mm 2 x 1,3 mm 2 x 1,3 mm 2 x 1,3 mm 2 x 1,3 mm 2 x 1,3 mm

258 / 3.742 273 / 3.960 289 / 4.192 309 / 4.482 329 / 4.772 340 / 5.076 366 / 5.308 383 / 5.555

37 Bar / 537 PSI (0.31 bar/m) 39 Bar / 566 PSI (0.33 bar/m) 41 Bar / 595 PSI (0.34 bar/m) 43 Bar / 624 PSI (0.36 bar/m) 45 Bar / 653 PSI (0.38 bar/m) 47 Bar / 682 PSI (0.39 bar/m) 50 Bar / 725 PSI (0.42 bar/m) 52 Bar / 754 PSI (0.43 bar/m)

295 Bar / 4.279 PSI 312 Bar / 4.526 PSI 330 Bar / 4.787 PSI 352 Bar / 5.106 PSI 374 Bar / 5.425 PSI 387 Bar / 5.758 PSI 416 Bar / 6.033 PSI 435 Bar / 6.309 PSI

Den-jet CE40-400

Den-jet CD50-400

(50 Hz = 37LPM) (60 Hz = 43 LPM)

(40LPM)

HPT0015 - Recommended pumps and dimensioning for cavitation tool Recommended pumps

Electric 380-440V 63A

Diesel driven

Den-jet CE40-400

Den-jet CD50-400

1.2mm (50 Hz) or 1.3 mm (60 Hz) nozzles are recommended to achieve optimal working pressure at tool.

Mix of 1.2mm or 1.3 mm nozzles is recommended to achieve 350 bar at the HPT0015. Without mixing the nozzles, the pressure will either be too high or too low.

To achieve optimal cavitation cleaning, a minimum of 300 bar (4,350 psi) at the tool is needed (Tool pressure). Using a "Mixed Nozzle" setup (one 1.2 mm and one 1.3 mm) is a way to fine-tune the Tool pressure and thereby performance CRITICAL: CLIIN equipment (hoses etc.) is rated at 390 bars. If own pump is sourced this criteria must be met.

25

HPT0015 - KIT0023 Cavitation Tool Spare Part Kit Common failure modes A

Pressure drop - Check pump filters, needs replacement often when running sea water - Check for leakage in the system, fittings, hoses - Check nozzle wear (exchange if runtime > 100h)

B

Lack of tool rotation (only cleaned local stripes) - Large biofouling can block the rotating nozzle beam - Check if bearings in the cavitation core is blocked (see next page) - Check angles on the cavitation heads. - See previous

C

Excess paint removal (poor paint condition can flake) -Increase the size of one nozzle at the time, to lower the tool pressure -Raise the cavitation core to decrease the impact on the surface -Adjust the angle on the cavitation heads to MAX 25° to increase the rotation speed of the cavitation beam, decrease pressure and lower the local exposure time NOTE: Not recommended - complex to control.

26

HPT0015 - KIT0023 Cavitation Tool Spare Part Kit

MIS0191 Ball bearing

MSE0056 Brass seal

MIS0193 Plastic rotation seal

MSE0055 O-ring

M001283 Spring

Service of cavitation core KIT0023 includes the spares needed.

MIS0192 Absorb ring

27

HPT0018 - Splash zone cleaning tool

28

HPT0018 - Splash zone cleaning tool Tool performance

Cleaning Speed Up to 1200 m2/h Effectively 600-800 m2/h, with overlap and navigation

Cargoes cleaned • Cement (cured cement removed after cargo load or exhaust from well cementing on a drillship) • Biofouling Above waterline / splash zone (FR10-60) • Oil spills (with heated water)

29

HPT0018 - Splash zone cleaning tool Pump Requirements

30

Tool flow [LPM / GPM]

Nozzle Size

Tool pressure [Bar / PSI]

Hose ½” length 120 m Hose resistance - Pressure loss [Bar / PSI]

Resulting Pump Pressure [Bar / PSI]

35 / 9.2

4 x MHH0136

170 / 2,465

31 / 450

201 / 2,915

36 / 9.5 37 / 9.8 38 / 10.0

4 x MHH0136 4 x MHH0136 4 x MHH0136

180 / 2,610 190 / 2,755 200 / 2,900

33 / 479 35 / 508 37 / 537

213 / 3,089 225 / 3,263 237 / 3,437

39 / 10.3

4 x MHH0136

211 / 3,060

39 / 566

250 / 3,626

40 / 10.6

4 x MHH0136

222 / 3,219

41 / 595

263 / 3,814

41 / 10.8

4 x MHH0136

233 / 3,379

43 / 624

276 / 4,003

42 / 11.1

4 x MHH0136

244 / 3,538

45 / 653

289 / 4,191

43 / 11.4

4 x MHH0136

255 / 3,712

47 / 682

303 / 4,394

44 / 11.6

4 x MHH0136

268 / 3,887

50 / 725

318 / 4,612

45 / 11.9

4 x MHH0136

280 / 4,061

52 / 754

332 / 4,815

Den-jet CE40-400

Den-jet CD50-400

(50 Hz = 37LPM) (60 Hz = 43 LPM)

(40LPM)

HPT0018 - Splash zone cleaning tool Pump selection MHH0136 (x4)

HPT0018 tool pressure The tool needs 175 to 255 bar to perform well.

Selecting one of the recommended pumps will enable a safe working area of 190 to 255 bars without changing any settings on the pump. See HPT0015 section for recommended pumps.

Simply swap from the cavitation tool [HPT0015 to the above waterline tool [HPT0018] and start cleaning without any adjustments. The pressure is preset in the nozzle selection.

CRITICAL: Tool nozzle pressure may not exceed 255 bar.

31

MA00145 - Dual camera system Overview

Camera (x2) Fixed position with adjustable angle for both front and rear camera.

Camera res: 1920x1080

External light approximate 5.000 Lumen for night operation.

CRITICAL: Remember dummy connectors.

32

MA00145 - Dual camera system Mount tool

Mount camera system on the tool brackets.

Remove the dummy connectors from the camera system and robot outlets and connect the two cameras and the external light.

33

BOUY001 - Buoyancy system for RAW0011 Mount buoyancy Recommended use The Buoyancy [BOUY001] for the robot is always recommend for subsea and offshore operations. For operations with a tether exceeding 60m, it is required to prevent the robot from sinking below 60m depth in case of detachment, which could potentially cause water ingress (depth rating 60 m).

1 34

Handles in horizontal position, push buoyancy in place and rotate handles to lock.

2

Slide top buoyancy into the slot in the side.

BOUY001 - Buoyancy system for RAW0011 Control correct mounting x2 Wiggle the sides After mounting the buoyancy system, firmly wiggle the sides to control correct mounting.

3

Mount side 2 in the same ways as side 1. Handles horizontal —> push —> lock.

4

Secure the buoyancy with the Velcro strap.

35

BOUY002 - Buoyancy system for Cavitation tool [HPT0015] Mount buoyancy

Recommended use The Buoyancy [BOUY002] for the Cavitation tool [HPT0015] is recommended for cleaning the flatbottom of vessels or offshore structures.

The Buoyancy will reattach the cavitation dome to the surface in case of detachment.

NOTE: For cleaning the vertical sides, the buoyancy system is not beneficial.

1 36

Mount the cavitation dome on the robot before attaching the buoyancy.

BOUY002 - Buoyancy system for Cavitation tool [HPT0015] Control correct mounting x2 Wiggle the top After mounting the buoyancy system, firmly wiggle it to control correct mounting.

2

Mount the buoyancy.

Turn the handles —> push down —> lock.

3

Secure the buoyancy with the Velcro strap.

37

WIN0003/4/5 - Winch system and accessories Overview

Hybrid cable, High pressure hose & static rope

Wifi and Ethernet gateway

Winch brake

Connections to power and robot Foot brake for controlling roll out

38

Wheel brake (x2)

WIN0003/4/5 - Winch system and accessories Sacrificial hose and ratings

Recovery inlet Air inlet for additional supply.

Can be used for custom tools.

Main winch hose (50m, 65m or 120m) Temperature: -40 °C +100 °C (-40 °F +212 °F) Air max T = +70 °C (+160 °F) WP Hydraulics (Mpa): 24,5 WP Hydraulics (Bar): 245 WP Hydraulics (psi): 3500 WP Water (Mpa): 39,2 WP Water (Bar): 392 WP Water (psi): 5600 BP (Mpa): 98,0 BP (psi): 14000 BR (mm): 80 Weight (kg/m): 0,200

NOTE: Recommended 1/2” hose for air not pre-mounted.

Inlet for water or compressed air supply Inlet for main hose, either pressurized water from the high pressure pump, or compressed air for the air tools.

NOTE: When using air tools, blow out the water from the hose before use.

3 m impact hose [M001284] The first 3 m on the winch hose to the robot is steel reinforced and ruggedized with a thick protective clear rubber, as this area is more exposed to potential damage.

39

SOP - Launch procedure Mount correct fishplate type

Magnetic Launch Ramp [M000967]

or

If fishplate is offset, choose the 80 mm offset anchor [MA00140]

80 mm offset anchor [MA00140]

40

Flush anchor [MA00139]

If fishplate is flush with the hull, choose the flush anchor [MA00139]

Lock the fishplate anchor on the fishplate with the handles on the rear prior to launch preparation.

SOP - Launch procedure Mount 3-link Hose Roller

Secure 3-link roller To protect the cables mount the 3-link roller on the railing or an opening on deck.

Secure the roller with a rope or similar.

The 3-link roller [MIS0164] is in the “Onboard Package” and “Onboard service provider package”

41

SOP - Launch procedure Launch Pipe [M000966]

Launch process steps 1

D

x3

B

A

42

C

SOP - Launch procedure Launch process steps 1 x3

Use the static rope to secure the launch

A

Secure the drill powered ascender/descender [BOX0011], to the deck with the sling in the [LA00002].

B

Mount the static rope to the drill powered ascender/descender.

C

Close the drill powered ascender/descender. It is now secured for operation.

D

Drive the robot on the launch platform and use the steel rod (located on the Cage) to lift the Launch Platform, including the robot.

NOTE: This is a three person job. 1 to control the descender, 2 for lifting.

43

SOP - Launch procedure Launch process steps 2 E

x3 F

G

44

SOP - Launch procedure Launch process steps 2

x3

Secure the platform lift with controlled veering CRITICAL: Step away from all cables and hoses during the launch to avoid accidents

E

Release the handle on the drill powered ascender/descender [BOX0011] to facilitate veering of the rope. Immediate braking of the descend will happen, if the handle on the descender is released.

F

While veering the static rope, slowly lift the platform to ensure a safe launch.

G

After the robot has been driven on to the hull securely, the static rope is dismounted from the descender and rigged on to the winch again.

45

SOP - Emergency retrieval step - In case of power loss or non-respond Emergency Retrieval A

x3

46

SOP - Emergency retrieval step - In case of power loss or non-respond Emergency Retrieval

x3

Prepare the setup for emergency retrieval CRITICAL: Only use this procedure in case of emergency. If no emergency is present, drive the robot to the launch platform and reverse the launching procedure to retrieve it.

A

Start by changing the placement of the 3-link roller, to prepare retrieval next to the launch platform.

NOTE: In some cases the pulley [MIS0174] is a better option than the 3-link roller.

47

SOP - Emergency retrieval step - In case of power loss or non-respond Emergency Retrieval

C

B

D

48

D

D

D

SOP - Emergency retrieval step - In case of power loss or non-respond Emergency Retrieval

x3

Use the LA00002 and BOX0011 for retrieval

B

Secure the drill powered ascender/descender [BOX0011], to the deck with the sling in the [LA00002].

C

Separate the static rope from the winch to the drill powered ascender/descender.

D

Mount the static rope to the drill powered ascender/descender and use a high torque power drill to retrieve the robot. (Power drill not included). The [BOX0011] is geared 12:1 and will function as a small deck crane. The rated pulling force on the BOX0011 device is 2850N

49

SOP - Emergency retrieval step - In case of power loss or non-respond Emergency Retrieval

F

E

50

SOP - Emergency retrieval step - In case of power loss or non-respond Emergency Retrieval

x3

Pull in the robot and safely retrieve the robot while still secured CRITICAL: If the torque on the power drill is insufficient for the retrieval, the pulley [MIS0174] from the [LA00002] can be used to make and additional gearing with the static rope to increase the pull power to 5700 N.

E

Use the drilling machine on the safety power lift to retract the robot to the launch area.

NOTE: Carefully manage the robot cables and hoses to prevent damage.

F

When the robot is pulled on to the launch ramp, the ramp is flipped and the system is recovered.

51

SOP - Zone marker setup and user interface Zone Marker Placement Correlate the physical zone markers to the zones on the user interface for effective reporting

A

B

B

Divide the vessel into zones on the UI (screen interface). Each zone can be set to: “Done”, “In Progress” and “No Progress”. Pictures can be stored in each zone for reporting purposes. Large vessels are normally set to 6-10 zones on both Port and Starboard side, while smaller vessels will be 2-6 zones.

If the Hull Cleaning Solution is a permanent installation a vessel with repeated cleanings, the physical zone markers from the “Onboard Package” is a recommended purchase.

These zone markers are placed on deck i.e. zone 1 starting with marker “1” ending with marker “2”.

When the robot is switching cleaning zone, the zone is manually changed on the interface.

Status indicator (on one marker), can be moved to the latest cleaned location, if cleaning is abrupt. ´ All markers and status indicators has strong magnets inside.

52

SOP - Zone marker setup and user interface User Interface

A

A

53

SOP - Cleaning in murky waters [Vertical cleaning] Equipment Setup

A

Lane marker distance Choose a distance e.g. 1 m between the two lane markers to ensure optimal alignment for cleaning the lanes in murky waters.

54

B

C

SOP - Cleaning in murky waters [Vertical cleaning] Cleaning Initiation

Equipment setup and cleaning initiation NOTE: This SOP is recommended for cleaning in murky waters.

The setup is constructed to support cleaning in total blindness relying on sensors and physical indicators only.

A B

Place the lane markers from the “Onboard Package” on the deck, with app. 1 m spacing. The lane markers are physical visual aiming for the operator to align the robot from one cleaning lane to the next.

When cleaning is completed between “A” and “B”, the lane marker

D

C “A” is moved to the “C” position to repeat the process. This is con-

tinued until the entire zone is cleaned and the equipment needs to be moved.

D

Before starting the cleaning in heavy biofouling, a full path must be cleared for the robot to operate better. Do this by wiggling from side to side.

55

SOP - Cleaning in murky waters [Vertical cleaning] Cleaning Procedure

Cleaning overlap By using the lane markers explained on the previous page, a cleaning overlap is much easier to obtain to ensure a thorough cleaning.

Bilge keel

A

56

Set the depth on the user interface to the depth of the bilge

SOP - Cleaning in murky waters [Vertical cleaning] Cleaning Procedure

The cleaning sequence in total “blindness” (murky waters) CRITICAL: When going in reverse without optimal visibility, it is important to keep the tether tight to ensure that the tether is not damaged by kinks or drive over.

NOTE: Use sensors on the user interface to navigate effectively. The tilt/IMU (direction), and the depth sensor will trigger an interface alarm for stopping before the bilge.

Cameras are used for obstacle avoidance, if any visibility is present.

NOTE: This method is the slowest, but most secure way of cleaning in low visibility.

A

The cleaning is performed by going up and down in the same lane and resetting above the water line, where the lane markers are visible. After resetting, the process is repeated with a slight cleaning overlap.

57

SOP - Cleaning offshore in high currents [Horizontal cleaning] Cleaning Sequence

Strong currents Sea stage 5 proven operation: 4-5 knots current 3 m waves in splashzone

Tether roll out It is recommended to operate in sections of MAX 50-60 meters if possible to ease the tether management.

B

C

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SOP - Cleaning offshore in high currents [Horizontal cleaning] Cleaning Initiation

Equipment setup and cleaning initiation NOTE: This SOP is the recommended way of cleaning when optimal visibility is present. This is also the most efficient way of cleaning in strong current in general.

A Before starting the cleaning in heavy biofouling, a full path must be

cleared for the robot to operate better. Do this by wiggling from side to side.

B Always clean against the current for the following reasons:

1. Clearing bio-debris away from the cameras to optimize visibility.

2. Tether is better managed as the current makes the tether straight.

A

C After cleaning a lane, it is recommended to drive backwards in the cleaned lane to the starting point, and then restart the cleaning against the current in the next lane.

CRITICAL: Manage the cables while going in reverse and observe on the rear camera.

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Notes

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