IPA18-588-F
PROCEEDINGS, INDONESIAN PETROLEUM ASSOCIATION
Forty-Second Annual Convention & Exhibition, May 2018
INTRODUCTION TO RESIDENTIAL ROV: NEW CONCEPT OF ROV FOR OIL AND GAS
ACTIVITIES
Husnul Furqon*
Muhammad Iqbal*
Yulian Mahendra*
ABSTRACT
Currently, the requirements of advanced
technologies for oil and gas operation becomes very
much the focus of Subsea Operators and Clients
alike. Remotely Operated Vehicle (ROV), subsea
technologies that currently used in a variety of
applications, including oil and gas activities, is
looking for a new concept that can be integrated field
support and demand of industry pushing towards
resident systems enabling rapid development and
addressing the various technology gaps and
challenges, from the perspective of both from
operational and cost issues. These lead to introduce a
different approach to ROV System, called
Residential ROV (R-ROV). This system provides
permanent installation on the seabed for long time
periods. By “parking” it on the seabed, operational
time is being increased significantly, meanwhile, a
requirement time of deployment is none and not
weather dependent anymore. Furthermore, there is
no splash zone during launch and recovery operation.
It also reduces offshore crewing due to onshore
operation from control station center via Tampnet, a
dedicated fiber-based network system that equals to
operate on a 4G mobile broadband system,
meanwhile, as for docking, it uses an existing
method. For another subsea scope of work, the
requirement of support vessel is being reduced. This
new concept able to work out until 1000 meters
radius and is supported with a new trend of ROV
electrification, which is electrical power designed
with a new communication method based on
previous statement. The new concept also comes
with a new challenges in order to controlling the
R-ROV real-time due to its round-trip latency,.
This major challenges served as a benchmark that
can be improved in the future. In the end, this
system represents the future of ROV technology
for safer operations and cost reductions for the
industry, especially for oil and gas companies.
* IKM Subsea Indonesia
Keywords: Remotely Operated Vehicle, Resident
Systems, Residential ROV, Round-trip latency
INTRODUCTION
Remotely Operated Vehicle (ROV), an underwater
remote controlling and sensing device require
sophisticated technologies as offshore task
difficulties are increasing, including oil and gas
activities (Figure 1). As technology advances, subsea
industry, as well for ROV industry is facing toward
great prospects with great challenges. Several
constraints toward ROV development due to its
harsh environment and mostly located in remote
area, requiring higher standards of ROV and its
operation procedures. Several challenges face by the
previous ROV system, are reviewed in the following,
1. Logistical Cost, such as travel and
accommodation. These are affect into a high
amount of operational expenditures. Amount of
non – resident systems installation also
determined by the overall dimension
requirement of system itself, number of system
requirement (main system and back-up system)
and the size of vessel. In addition, consumables
items, such solar for generator for power supply
become most main cost issue.
2. Operation and Human Safety Environmental
Risk. Non-resident systems has high risks
operation, especially during launch and recovery
operation due to weather dependent and ‘splash
zone’. Also number of crews on board in vessel
also contribute to increasing risk. Table 1 shows
number ROV crew requirements according to
Norsok Standard U-102 2013.
3. Mobilization time. To install this system, it
requires amount of days due to weather
dependent and availability of equipment and
personnel.
4. Emergency Response Action. It needs a time to
react until it is ready to commence an operation
if something happens that require fast response,
so, winch capability become a vital part in order
to satisfy this condition. In Table 2 present some
ROV and its manufacturers with its winch
capabilities according to their specification.
5. Data Retrieval and Immediate Onshore Visual.
No real-time data transmitting from offshore site
to onshore. System black box will record all
operation activities then collected once the
project is done.
Driven by described challenges, strong need of
innovation for unlocking the current growth potential
of ROV become one of solution key to be achieved.
Resident systems, which is actually is not a new
concept for some subsea equipment, is developed to
enhance an existing ROV systems by submerging it
on seabed, called Residential ROV (R-ROV),
described in the next following sections.
Before ROV is implemented with resident systems,
several observation class Autonomous Underwater
Vehicles (AUV) is developed for light inspection
maintenance repair (IMR) and inspection task.
Commencing intervention task still become a great
challenge for this vehicle as it can carry out light
intervention task.
The paper is organized as follows. Section II contains
the concept of R-ROV then in section III we describe
the field of its operation, continue to section IV for
its installation method, while last two sections show
the field test results, and conclusions about
residential ROV.
SYSTEM CONCEPT AND TECHNICAL
SPECIFICATION
Similar to the previous system, Figure 2 describes R-
ROV system consisting of several equipment;
a. R-ROV, as main system for task execution.
b. Tether Management System (TMS), for
managing ROV tether / umbilical during in the
sea for ROV previous system. On R-ROV
system this equipment is replaced by E-Cage for
its docking garage.
c. Winch. This equipment usually is installed
together with E-Cage for managing the
umbilical. The length usually up to 1 kilometer,
spooled on the winch drum.
d. Buoy Surface Communication Equipment, an
additional equipment for remote areas to
establish the communication between R-ROV
system and onshore control center.
As described above, the previous system is
distinguished with another main equipment, control
container as control center for ROV, which can
installed as main control center complement with
onshore control center and can override each other,
purposed giving R-ROV a command control and data
retrieval from it. The communication method is
described in installation method.
Most of residential ROV is manufactured almost
identical with non – residential ROV, consist of:
1. ROV
The scheme diagram of R-ROV equipment
illustrated in figure 3.
a. Mechanical, Manipulator and Thruster
Properties
R-ROV is equipped with ultra-compact solid
frame and buoyancy structure similar to non-
residential ROV. This ultra-compact size
enhances a power performance correspondence
with its size ratio. Those are manufactured
within certain depth ratings depending on its
class and purposes. This system also provided
with rugged – manipulators requiring less –
maintenance as resident systems requirement for
staying submerged longer in seabed. Glycol, a
hydraulic fluid used for this manipulator
replacing less environmentally friendly oil.
Electrical thrusters are also provided to meet its
green design. To prolong staying submerged in
seabed, corrosion protection is needed by
utilizing aluminum anodes, which are more
reliable and effective than zinc, and considered
low Hydrogen Induced Stress Cracking (HISC).
The requirement mass of anodes for protection is
calculated according to DNV-RP-B401.
b. Hydraulic Unit
Some R-ROV intervention equipment units are
hydraulic powered. This hydraulic unit is
different with non – resident systems due to oil –
analyzer installed on this vehicle. A hydraulic
fluid is continuously being monitored for its
quality according to ISO 4406 standard. It is also
featured with internal flushing, to enhance the
filtration of oil if it is dropped below its standard.
Another customization for this vehicle is adding
two hydraulic hot stabs receptacles, which are
 one for high flow tooling and another for low
flow tooling. These receptacles permanently
mounted on specially designed bracket on one of
vehicle manipulator.
c. Electronics and Sensors
Identical with non – resident system ROV, R-
ROV is installed with several lights, including a
dimmable one. Electrical pan and tilt unit with
color zoom camera and low light camera
purposed as a main screen for pilot, also several
cameras for viewing other perspective of R-ROV
itself. To help it navigate, this vehicle is provided
with a fiber optical gyro giving R-ROV
orientation information. To perceive an R-ROV
surrounding environment, along with
unidentified objects, sound propagation based
sensor is provided and depth sensor for obtaining
a depth information calculated from mean sea
level. All installed R-ROV sensor data are
transmitted into subsea controller, usually
located on its control pod processed to providing
its auto functions, such as at auto heading, auto
depth, auto attitude, and dynamic positioning
system to maintain an ROV position during
unflavored conditions. Furthermore, this control
pod also transmitting actuation command to
controlling the R-ROV movement via thrusters
configured and manipulators for intervention
task. Some additional sensors are installed for
enhancing navigation purpose such as ultra-short
base line, together with beacon transponder for
positioning purpose to obtaining global earth
position in form of latitude and longitude.
d. Communication and Software Interfaces
To establish the communication between topside
control center and subsea side and transmit the
transmission signal within certain time and its
acknowledgement whether the signal has been
transmitted or vice versa by determining its
round trip latency to determine the quality of
transmission signal between R-ROV and the
control center, especially in far distance,
Ethernet control system, in addition with fiber
network providing high bandwidth low latency
is required enabling less video conversion and
less number of conductor cables. From control
center, an Ethernet network is specially
designated with specified IP address using
TCP/UDP protocol used for R-ROV remote
control. This network configuration also applied
with subsea side, shown in Figure 4. For link
establishment, a dedicated fiber network equal to
4G LTE Mobile Broadband system for offshore
vessel and rigs is provided enabling instant
retrieval data and immediate emergency control
during hazardous conditions. This link can be
installed either with wireless configuration via
satellite or wired subsea fiber cables, or both of
them at the same time to increase the system
redundancy. To reduce time latency caused,
similar to non-resident systems, this R-ROV is
minimizing the processing algorithm on subsea
side, meanwhile on topside, processing all R-
ROV video, sensors data and acknowledgement
signal are processed on topside controller.
2. Docking, Launch and Recovery System
As requirement for staying submerged in seabed, R-
ROV launch and recovery equipment are specially
designed similar to parking system, purposing as
garage and tether management system for R-ROV
itself, developed fully electric, enabling remote
controlling from control center, also fitted with
several cameras to inspect components of R-ROV,
seen in Figure 5.
OPERATION CAPABILITIES
Most of R-ROV is applied for upstream operation,
especially for facilities purpose, which have its phase
sequence as illustrated in Figure 4. All of subsea
facilities operation can be covered, thus this system
can be installed permanently for the first time since
the project is started. In the following, we review in
more detailed selected tasks within its sequences.
 Survey
For first time project started, R-ROV is capable
carrying various survey task within a long period
when it is necessary. This system is more benefit
when emergency survey needs to be carried on,
such as suspected leak hull inspection, mine trap
indicated on seabed survey. The equipment used
for survey is identical with previous system.
High resolution imaging sonar, either single
beam or multi beam, several underwater
cameras, and imaging lasers are main equipment
for this task, with additional acoustic resonance
equipment can be used for more detailed state,
such as wall thickness of structures, hulls and
pipes, or chemical sensor and optical for leakage
detection.
 Drilling and Exploration
This phase involved with a high risk operation,
especially with riser connection on seabed floor,
which R-ROV primarily serves activity
monitoring on seabed, such as casing spud in
survey, and to take pre cautious if it has some
 fluid leakage occurred, either on riser
connection, Blowout Preventer (BOP), or
wellhead itself, and bubbles on seabed floor,
especially in deep water applications, even well
control is still enough to prevent any leakage due
to high pressure activities from topside. The
equipment used mostly identical during survey
activities.
 Completions, Installation, and Commissioning
After being drilled, offshore wells must be
completed with variety subsea equipment to
allow oil and gas be produced. Referring to
components zone installation by R-ROV,
completion task is divided by two,
a. Lower Completions
Since it happens in well across the
production or injection zone, not many task
are carried on by R-ROV. For preparation to
commencing this phase, R-ROV needs to
remove tree cap in Wellhead letting BOP
and Subsea Christmas Tree (X-Tree) latched
into Wellhead and report to topside once it is
completed. R-ROV remain stand by at
docking station, and require immediate
preparation if emergency situation
happened. Once this phase is finished, R-
ROV goes back to well location to
monitoring BOP retrieval from wellhead
while X-Tree is permanently residing on top
of wellhead, then install back a wellhead tree
cap, then prepare for next task.
b. Upper Completions
After conduct several well testing and well
stimulation inside pre-production well,
several preparations needed in order to
complete this phase. This phase consist of
several Intervention and Work Over Control
System (IWOCS) tasks need to be done by
R-ROV. After tubing hanger and BOP
landed on X-Tree, verifying all electrical and
hydraulic connections from subsea riser to
X-Tree. Nowadays for subsea application,
subsea X-Tree is developed integrated with
ROV valve interface and hot stab port.
During this phase, R-ROV manipulator
capability is tested through opening and
closing X-Tree valves and 5000 psi hot stab
injection using non-hydrocarbon fluid
glycol, for testing purpose. So, rugged
manipulator with most of degree of freedom
required with some additional completion
tools, i.e. Flying Lead Orientation Tool
(FLOT) with Torque Tool Class 1-4 or
above, and additional 10,000 psi Hydraulic
Power Unit to deliver pressure to hot-stab
since it uses a different fluid. The main
advantage of R-ROV, these equipment
exclude FLOT and Torque tool are already
become of its main part, with additional
features, which are reviewed in last chapter
II.
Completions phase is done when all testing
procedures on X-Tree is completed and R-ROV is
already put an X-Tree Inner Tree Cap, BOP and
tubing hanger retrieval, indicating well is ready for
production stage, in addition with Subsea Production
Systems (SPS). This SPS is constructed with these
required components Subsea Drilling Systems,
Subsea X-Tree and Wellhead (these two components
are already mentioned in previous), Umbilical and
riser system, Subsea Structure (Pipeline End
Termination / Pipeline End Manifold and Inline
Structure, Subsea Manifold, Jumper), Subsea Tie-In
and flowline System, and its control system. These
components are divided into several subsea tasks in
order to install them. In Table 3, general subsea task
are listed and ROV quantity requirement minimum
needed.
 Production
Most of commercial ROV are being used in this
phase. This phase referred to Inspection,
Maintenance, and Repair (IMR) activities, either
on offshore facilities (i.e. rig, platform) or subsea
production facilities (i.e. pipeline, subsea
structure) to maintain the effectiveness of oil
and gas production system, either on sea
surface or seabed. With R-ROV featured on
this phase, regular inspection and preventive
maintenance can be carried out. The authors
divide these activities into several works types,
shown in Table 4.
 Decommissioning
All activities from this phases mostly identical
with the previous phases, only with a different
purpose, such as subsea riser flowline removal,
pipeline decommissioning, offshore loading
buoys removal, pipeline cutting operations. R-
ROV carried out all the operations in seabed
while crane lifting operation still required in
order to lift the equipment from seabed into the
surface.
Based on previous statement, in general the
task can be carried out by R-ROV is similar
with the previous system, with additional
advantage,
 1. Reduce a number of offshore crews, while
keeping full ROV crews team at control
center, increasing project efficiency by
accommodation saving, travel cost, weather
independent.
2. Provide an immediate “on – site” technical
support solution. Offshore crews and
onshore crews can discuss in a same building
to achieve a real – time solution.
3. In emergency situation, ROV can be
controlled from onshore center for minimum
casualties occurred. This is can be done
because ROV pilots can easily toggle ROV
control between 2 or more different control
stations at once.
INSTALLATION SCHEME AND
PROCEDURE
In resident systems, power supply source and
communication are items that need to be
considered during system installation. In this paper
referred to IKM Subsea R-ROV installation report
in Snorre field, Snorre B rig power supply is being
used to erect the system. Communication is
established between this system with rig using
wired fiber network on umbilical and IKM Subsea
Bryne onshore control center using dedicated fiber
network, connected from shore, creating
redundancy system toggling the control scheme
between onshore control center and rig / platform
control. Back- up ROV non-resident systems
(Work Class Merlin WR 200, Work Class UCV,
and Observation Class Seaeye tiger ) are provided
to support R-ROV installation and perform the
operation task given if R-ROV has issues, which
are two ROVs are installed in Visund rig, the other
is in same rig, shown in Figure 7. Similar
approaching the way of SPS installation can be
used in order to operate this equipment. In this
paper, the installation procedure is shown at
flowchart Figure 8. The sequences processes
installation taken after R-ROV is mobilized from
workshop after being prepared and tested. As
arrival on location site, pre-installation seabed
survey is mandatory in order to determine system
location. This survey can be done by existing ROV
and several requirements need to meet, such as
adequate space flat seabed floor with system
footprint size as reference, clearance from other
equipment or sea cliff and operation range
surrounding the SPS. Before start the installation,
final inspection to the system and bench test
needed to be done ensuring all system is ready to
enter the installation phase. ROV perform
touchdown monitoring until the system is landed
on seabed and dive bench test need to be
performed, making all system online and function
properly. R-ROV requires real-time condition
monitoring after installation to maintain its
utilization, illustrated in Figure 9.
FIELD INSTALLATION RESULTS
The authors use IKM Subsea Merlin UCV to present
the R-ROV installation test results in 14 January
2018. This system submerged permanently on 345
meters water depth at Statoil’s Snorre B platform,
referred in Figure 7 and recovered after every 3rd
months for regular maintenances. Closed loop round
trip latency from input to feedback control consist of
encoding, decoding and debugging the IP based
video and output control signals to R-ROV between
the system and onshore control center is being
monitored due to main considerations of the system.
Table 5 gives the R-ROV installation results, while
the R-ROV example of light intervention operation
can be shown in Figure 10. The results above still
indicated a high latency causing a delay during video
and signal transmission which can be improved and
served as a benchmark for references in a future.
CONCLUSION
A field installation results was described above to
explain a new concept of ROV towards resident
system giving more advantages from technical and
economic terms, since it can be operated
immediately, through availability of ROV asset
onsite and reduction in weather dependency based
operations and HSE risk possibility occurred, leading
to safer operations and cost reductions due to
operation loss time and logistic issues. The high
latency results still become a major and can be
reduced in a future and served as a reference for oil
and gas industries, especially for ROV itself
REFERENCES
Petter Bryn, Lars & Muller, G. (2017). Evolving
tolerance management for increased robustness of
subsea installation operations. INCOSE International
Symposium. 27. 242-256. 10.1002/j.2334-
5837.2017.00357.x.
Liljebäck, Pål, Mills, Richard (2017). Eelume: A
Flexible and Subsea Resident IMR Vehicle
DNV GL Oil and Gas. (2014). Subsea Facilities –
Technology Developments, Incidents, and Future
Trends. Report No. 2014-0113, Rev. 03.
Furuholmen, Marcus & Hanssen, Alfred & Carter, R
& Hatlen, K & Solutions, Aker & Siesjo, J. (2013).
Resident autonomous underwater vehicle systems –
a review of drivers, applications, and integration
options for the subsea oil and gas market. Offshore
Mediterranean Conference. Volume Technologies
for the Future 2.
Weller, Robert A., Lund John, O’Brien Jeff, Kemp
John, Kostel, Ken, Waldorf, Walt, Holm, Christ,
Risien Crag, Matthewson, Michael, Trowbridge,
John. (2012). WHOI – 2012 – 07 Technical Report.
OOI CGSN 3207 – 0034
Norwegian Technology Centre. (2003). Norsok
Standard U - 102 Remotely Operated Vehicles
(ROV) Services Rev. 1, October 2003.
 TABLE 1

NUMBER OF CREW REQUIREMENTS CLASSIFICATION REGARDING THE ROV CLASS

USED (NORSOK STANDARD U-102, 2013)

Class Description Crew (12h) Crew (24h)

I Pure observation vehicles 2 4

II Observation vehicles with payload option 2 4

III Work class vehicles 3 6

IV Seabed working vehicles 4 8

TABLE 2

ROV AND ITS MANUFACTURER WINCH CAPABILITIES STATUS

ROV Manufacturer Winch Speed

Quarsar MK II SMD 50 meters per minute

Merlin WR 200 IKM Subsea AS 0-80 meters per minute

Magnum Oceaneering 30-60 meters per minute

TABLE 3

SPS INSTALLATION TASK WITH ROV / R-ROV REQUIREMENTS (ADAPTED

FROM DNV OIL AND GAS REPORT, 2014)

Subsea Task Working R-ROVs Observation R-ROVs

Lay Monitoring, A&R Activities 1 1

Subsea Structure Installation 2

Pull-in, Cross-haul 1 1

Tie-Ins 2 1

Hydro test 2

 
 TABLE 4

R-ROV TASK CLASSIFICATION DURING OIL AND GAS PRODUCTION STAGE (ADAPTED
FROM FURUHOLMEN ET. AL (2013))

Task Subtask Specified IMR Task

Inspection General Visual Inspection o SPS inspection

o Seabed survey

o FPSO / Mooring inspection

o Oil and gas facilities inspection

o Touch down monitoring

Sensor-based Inspection o Thermal leak inspection

o Hydrocarbon leak detection

o 3D scanning

o Wireless sensor harvesting

o Radioactivity monitoring

o Seabed mapping

Contact Inspection o NDT measurement

o Pipeline stress measurement

o Cathodic Protection measurement

o Wall thickness measurement

o Sand detection

Intervention Light Intervention o Connect / disconnect electrical / hydraulic

flying leads

o Override remotely actuated valves

o Cleaning with water jet activity

Heavy Intervention o Component replacement

o Advanced manipulation

o SPS repair

 
 TABLE 5

R-ROV INSTALLATION INFORMATION AND FIELD INSTALLATION RESULTS

Location Snorre Oil Field, Norwegian Sea, Norway

Vessel Snorre B Statoil

Remote Operation Distance ±384 km (starting from Bryne to vessel)

Communication Method via Tampnet dedicated fiber network

System Installation Method Crane lifting operation with buoyancy handling and automatic

release system, 40 metres from load with 6 of 55 kg

buoyancies 2.5 m spacing and 8 of 25 kg buoyancies 2.5 m

spacing.

Video latency 150 – 180 ms

Round trip latency 250 – 300 ms

 
Figure 1 -Typical Commercial ROV Operation Environment (Long Beach School District, adapted from
Oceaneering)

E‐Cage TMS 

R‐ROV 

E‐Winch 

Figure 2 - R-ROV system equipment (IKM Subsea AS)

 
 Figure 3 - R-ROV equipment scheme diagram (IKM Subsea AS)

DVI Matrix Sonar PC Video Multiviewer 1 Multiviewer 2 Spare BlackBox

10.3.0.39 10.3.0.11 10.3.0.10 10.3.0.13 10.3.0.14 10.3.0.12 10.3.0.15 Moxa 16 channel
Patch Panel
10.3.0.41

Switch
10.3.0.2

Cisco Router NAS
Sonic Wall Router
10.3.0.1 10.3.0.8 Printer 10.3.0.5 PLC/SCADA HMI Pilot T4 Moxa Pilot HMI Co‐Pilot T4 Moxa Co‐Pilot
10.3.0.9
10.3.0.40 10.3.0.70 10.3.0.71 10.3.0.75 10.3.0.76
Top side

Subsea
Fiber

Internet for remote  Multiple networks
control

Figure 4 - Network communication for video and data retrieval scheme diagram (IKM Subsea AS)

 
 Figure 5 - R-ROV E-Cage Docking, Launch and Recovery Equipment (IKM Subsea AS)

Completion, Installation, 
Survey Drilling and Exploration Production Decommissioning
and Commissioning

Figure 6 - Phase sequence of upstream subsea facilities operation

Figure 7 - R-ROV installation scheme on vessel / rig / platform (IKM Subsea AS)

 
 Start
Pre‐installation seabed survey by existing ROV
Determine an system location from survey data 
result
Is the location suitable 
for system installation? no
yes
System assembly and preparation
Perform surface bench test
Is the system function  no
properly?
1 2
Figure 9 - R-ROV installation scheme, Crane lifting operation (left), Rig and R-ROV installation positioning
(right) (IKM Subsea AS)
1
System lifting preparation, hooked to lifting 
crane
no
Is the system lifting 
points secured? 2
yes
Identify and troubleshoot 
the system problem on the  Begin to lift down the system into seabed Release the system lifting hook by existing ROV
surface
Lift up the system back to  Perform touchdown monitoring while lifting  Post installation seabed survey by existing ROV 
surface down the system by existing ROV or the installed system
no
yes
End
Is the problem solved  Arrive on seabed, perform dive bench test
during diving?
Identify and troubleshoot  no
Identify and troubleshoot  Is the system online 
the system problem during 
the system problem during diving?
submerged on seabed
Figure 8 -R-ROV installation procedure flowchart
Figure 10 - R-ROV commence Lower Marine Riser Package (LMRP) valves operation (IKM Subsea AS)