Inspection and maintenance of industrial infrastructure with autonomous underwater robots

Underwater infrastructure, such as pipelines, requires regular inspection and maintenance including cleaning, welding of defects and valve-turning or hot-stabbing. At the moment, these tasks are mostly performed by divers and Remotely Operated Vehicles (ROVs) but the use of intervention Autonomous Underwater Vehicles (intervention-AUVs) can greatly reduce operation time, risk, and cost. However, autonomous underwater manipulation has not yet reached a high technological readiness and is an intensively researched topic. This review identifies key requirements based on necessary inspection and maintenance methods, linking them to the current technology and deriving major challenges which need to be addressed in development. These include the handling of tools, where a separation between handheld and mounted tools is detected in already employed underwater intervention vehicles such as the Sabertooth by Saab Seaeye or the Aquanaut by Nauticus robotics, two vehicles capable of semi-autonomous intervention. The main challenge identified concerns high level autonomy, i.e., the process of decision-making. This process includes detecting the correct point of interest, maximizing the workspace of the manipulator, planning the manipulation considering required forces, and monitoring the progress to allow for corrections and high quality results. In order to overcome these issues, reliable close range sensing and precise end point navigation is needed. By identifying these persisting challenges, the paper provides inspiration for further development directions in the field of autonomous underwater intervention.

The Impact of Metal-Based Nanoparticles Produced by Different Types of Underwater Welding on Marine Microalgae

Underwater wet welding is commonly used in joining pipelines and in underwater construction. Harmful and hazardous compounds are added to many flux-cored wires for underwater welding and cutting, and can have a negative impact on marine life. The specific objective of this study was to evaluate the aquatic toxicity of two suspension samples obtained using welding electrode and flux-cored wire in marine microalgae Attheya ussuriensis and Porphyridium purpureum. Growth rate inhibition, cell size, and biochemical changes in microalgae were evaluated by flow cytometry. The results of the bioassay demonstrated that the suspension obtained after welding with electrode had an acute toxic impact on diatomic microalgae A. ussuriensis, and both tested suspensions revealed chronic toxicity in this microalga with a 40% growth rate inhibition after exposure to 40-50% of prepared suspensions for 7 days. Red algae P. purpureum revealed tolerance to both suspensions caused by exopolysaccharide covering, which prevents the toxic impact of metal cations such as Al, Ti, Mn, Fe, and Zn, which are considered the main toxic components of underwater welding emissions.

Weldability of Underwater Wet-Welded HSLA Steel: Effects of Electrode Hydrophobic Coatings

The paper presents the effects of waterproof coatings use to cover electrodes on the weldability of high-strength, low-alloy (HSLA) steel in water. With the aim of improving the weldability of S460N HSLA steel in water, modifications of welding filler material were chosen. The surfaces of electrodes were covered by different hydrophobic substances. The aim of the controlled thermal severity (CTS) test was to check the influence of these substances on the HSLA steel weldability in the wet welding conditions. The visual test, metallographic tests, and hardness Vickers HV10 measurements were performed during investigations. The results proved that hydrophobic coatings can reduce the hardness of welded joints in the heat-affected zone by 40–50 HV10. Additionally, the number of cold cracks can be significantly reduced by application of waterproof coatings on the filler material. The obtained results showed that electrode hydrophobic coatings can be used to improve the weldability of HSLA steel in underwater conditions.

Underwater Local Cavity Welding of S460N Steel

In this paper, a comparison of the mechanical properties of high-strength low-alloy S460N steel welded joints is presented. The welded joints were made by the gas metal arc welding (GMAW) process in the air environment and water, by the local cavity welding method. Welded joints were tested following the EN ISO 15614-1:2017 standard. After welding, the non-destructive—visual, penetrant, radiographic, and ultrasonic (phased array) tests were performed. In the next step, the destructive tests, as static tensile-, bending-, impact- metallographic (macroscopic and microscopic) tests, and Vickers HV10 measurements were made. The influence of weld porosity on the mechanical properties of the tested joints was also assessed. The performed tests showed that the tensile strength of the joints manufactured in water (567 MPa) could be similar to the air welded joint (570 MPa). The standard deviations from the measurements were—47 MPa in water and 33 MPa in the air. However, it was also stated that in the case of a complex state of stress, for example, bending, torsional and tensile stresses, the welding imperfections (e.g., pores) significantly decrease the properties of the welded joint. In areas characterized by porosity the tensile strength decreased to 503 MPa. Significant differences were observed for bending tests. During the bending of the underwater welded joint, a smaller bending angle broke the specimen than was the case during the air welded joint bending. Also, the toughness and hardness of joints obtained in both environments were different. The minimum toughness for specimens welded in water was 49 J (in the area characterized by high porosity) and in the air it was 125 J (with a standard deviation of 23 J). The hardness in the heat-affected zone (HAZ) for the underwater joint in the non-tempered area was above 400 HV10 (with a standard deviation of 37 HV10) and for the air joint below 300 HV10 (with a standard deviation of 17 HV10). The performed investigations showed the behavior of S460N steel, which is characterized by a high value of carbon equivalent (CeIIW) 0.464%, during local cavity welding.

The Effect of Polarity and Hydrostatic Pressure on Operational Characteristics of Rutile Electrode in Underwater Welding

In order to provide a better understanding of the phenomena that define the weld bead penetration and melting rate of consumables in underwater welding, welds were developed with a rutile electrode in air welding conditions and at the simulated depths of 5 and 10 m with the use of a hyperbaric chamber and a gravity feeding system. In this way, voltage and current signals were acquired. Data processing involved the welding voltage, determination of the sum of the anodic and cathodic drops, calculation of the short-circuit factor, and determination of the melting rate. Cross-sectional samples were also taken from the weld bead to assess bead geometry. As a result, the collected data show that the generation of energy in the arc–electrode connection in direct polarity (direct current electrode negative-DCEN) is affected by the hydrostatic pressure, causing a loss of fusion efficiency, a drop of operating voltage, decreased arc length, and increased number of short-circuit events. The combination of these characteristics kept the weld bead geometry unchanged, compared to dry weld conditions. With the positive electrode (direct current electrode positive-DCEP), radial losses were derived from greater arc lengths resulting from increasing hydrostatic pressure, which led to a decrease in weld penetration.

Effect of Electrode Waterproof Coating on Quality of Underwater Wet Welded Joints

In this paper, the effects of different hydrophobic coatings on the surface of covered electrodes on the quality of wet welded carbon steel joints were discussed. Commonly available hydrophobic substances used in industrial applications were selected for the research. The aim of using waterproof coatings was to check the possibility to decreasing the susceptibility of high-strength low-alloy S460N steel to cold cracking. During experiments diffusible hydrogen content in deposited metal determination by mercury method, metallographic macro- and microscopic testing and hardness measurements were performed. Investigations showed that waterproof coatings laid on covered electrodes can improve the quality of wet welded joints, by decreasing the Vickers HV10 hardness in heat-affected zone and decreasing the diffusible hydrogen content in deposited metal, which minimalize possibility of cold cracking.

Role of Bead Sequence in Underwater Welding

This paper presents examinations of the role of the bead sequence in underwater welding. Two specimens of wet welded layers made by covered electrodes with the use of normalized S355G10+N steel were welded by a reasonable bead sequence. For each specimen, metallographic macro- and micro-scopic tests were done. Then, Vickers HV10 hardness measurements were conducted for each pad weld in the welded layer. The results show that welding in the water environment carries many problems in the stability of the welding arc, which influences the properties of the welds. The effects of refining and tempering the structure in heat-affected zones of earlier laid beads was observed, which provides a reduction of hardness. The possibility of applying two techniques while welding the layer by the wet method is described. It is stated that a reasonable bead sequence can decrease the hardness in heat-affected zones up to 40 HV10. Tempering by heat from next beads can also change the microstructure in this area by tempering martensite and can decrease susceptibility to cold cracking.

Advantages of the Application of the Temper Bead Welding Technique During Wet Welding

Thermo-mechanically rolled S460ML steel was chosen for welding in underwater wet welding conditions by covered electrodes. The main aim of this study was to check the weldability for fillet welds in a water environment by controlled thermal severity (CTS) tests and to check the influence of temper bead welding (TBW) on the weldability of the investigated steel. Non-destructive and destructive tests showed that S460ML steel has a high susceptibility to cold cracking. In all joints, hardness in the heat-affected zone (HAZ) was extended to the 400 HV10 values. Microscopic testing showed the presence of microcracks in the HAZ of all welded joints. TBW was chosen as the method to improve the weldability of the investigated steel. This technique allows for the reduction of the maximum hardness in the HAZ below the critical value of 380 HV10, as stated by the EN-ISO 15614-1:2017. It was determined that for S460ML steel, from the point of view of weldability, the pitch between two beads should be in the range 75%–100%. Also, if the pitch between two beads increases, the hardness, grain size, and number of cracks decreases. In all specimens where the hardness of the HAZ was below 380 HV10, there were no microcracks.

Microstructure Evolution and Mechanical Properties of Underwater Dry and Local Dry Cavity Welded Joints of 690 MPa Grade High Strength Steel

Q690E high strength low alloy (HSLA) steel plays an important role in offshore structures. In addition, underwater local cavity welding (ULCW) technique was widely used to repair important offshore constructions. However, the high cooling rate of ULCW joints results in bad welding quality compared with underwater dry welding (UDW) joints. Q690E high strength low alloy steels were welded by multi-pass UDW and ULCW techniques, to study the microstructural evolution and mechanical properties of underwater welded joints. The microstructure and fracture morphology of welded joints were observed by scanning electron microscope and optical microscope. The elemental distribution in the microstructure was determined with an Electron Probe Microanalyzer. The results indicated that the microstructure of both two welded joints was similar. However, martensite and martensite-austenite components were significantly different with different underwater welding methods such that the micro-hardness of the HAZ and FZ in the ULCW specimen was higher than that of the corresponding regions in UDW joint. The yield strength and ultimate tensile strength of the ULCW specimen are 109 MPa lower and 77 MPa lower, respectively, than those of the UDW joint. The impact toughness of the UDW joint was superior to those of the ULCW joint.