Underwater

inspections

BRODARSKI INSTITUTE RECENT ROV

INSPECTION MISSIONS

BRODARSKI INSTITUT Faculty of Electrical Engineering and Computing

Marine Research & Special Technologies University of Zagreb
Control Engineering Department Department of Control and Computer Engineering
www.hrbi.hr Laboratory for Underwater Systems and Technologies
www.fer.hr

Marin Stipanov, marin.stipanov@hrbi.hr

 Underwater
inspections

Introduction
• Long experience in underwater systems
• Underwater systems research and development
– Underwater Acoustic systems
– Submarine equipment
– Mine hunting ROV
• Durning the 90s BI expanded on the Hydroelectric industry
• Videoray Pro 2 acquired in early 2000s  first underwater inspections
• Benthos StingRay MKII acquired along with additional systems
– Scanning sonar
– Acoustic positioning system
– Acoustic thickness gauge
– CTD probe
• BI Underwater inspections are done in tight cooperation with FER, LabUST
• Content:
– HE Trebinje 1 (2009)
– Crashed airplane slvage operation (2008)
– RHE Velebit (2007)
 Underwater
inspections

HE Trebinje 1
• Location: Bosnia and Herzegovina, Trebinje
• Basic specs:
– Year built: 1968.
– River: Trebišnjica
– Dam height: 123 m
– Water level difference:
• Normal: 86,5 m
• Max: 103,5 m
– Installed power:
• 2 x 54 MW
• 1 x 63 MW
– Installed water flow: 3 x 70 m3/s
 Underwater
inspections

HE Trebinje 1
• Mission 1: fundamental outlets pressure equalization shafts
– Cause: water loss on fundamental outlet 1: 24 m3/day with shutter closed
 Underwater
inspections

HE Trebinje 1
• Mission 1: fundamental outlets pressure equalization shafts

m
m
0
80
 Underwater
inspections

HE Trebinje 1
• Mission 1: fundamental outlets pressure equalization shafts
 Underwater
inspections

HE Trebinje 1
• Mission 1: fundamental outlets pressure equalization shafts
– Found: dilatation junction + ‘strange’ holes
 Underwater
inspections

HE Trebinje 1
• Mission 1: fundamental outlets pressure equalization shafts
– Found: dilatation junction + ‘strange’ holes
 Underwater
inspections

HE Trebinje 1
• Mission 2: Detailed inspection of significant parts of underwater dam wall
– Cause: Dam leakage to the dry side
 Underwater
inspections

HE Trebinje 1
• Mission 2: Detailed inspection of significant parts of underwater dam wall
– Cause: Dam leakage to the dry side
 Underwater
inspections

HE Trebinje 1
• Mission 2: Detailed inspection of significant parts of underwater dam wall
– Cause: Dam leakage to the dry side
 Underwater
inspections

HE Trebinje 1
• Mission 2: Detailed inspection of significant parts of underwater dam wall
– Cause: Dam leakage to the dry side
 Underwater
inspections

Crashed airplane salvage operation

• Location: Croatia, near Dugi otok
• Basic info:
– Joint operation of croatian Navy and Police
– Training airplane Pilatus
– Two pilots
– Three possible locations:
• Last radar pinpoint
• Last cell phone pinpoint
• Surfaced papers found
by the police
 Underwater
inspections

Crashed airplane salvage operation

• After a night of blind search on the location of last radar
pinpoint the navy found the plane with a sidescan sonar
• First people there = the press
 Underwater
inspections

Crashed airplane salvage operation

• Depth: 68 m
 Underwater
inspections

Crashed airplane salvage operation

• Depth: 68 m
 Underwater
inspections

Crashed airplane salvage operation

 Underwater
inspections

Crashed airplane salvage operation

• Depth: 68 m
 Underwater
inspections

RHE Velebit
• Location: Croatia, near Obrovac
• Basic specs:
– Year built: 1984.
– Connecting Gračan field water
flows (upper accumulation) with the
river Zrmanja (lower acuumulation)
– Installed power, water flow,
water level difference:
• Production mode:
– 2 x 138 MW
– 2 x 30 m3/s
– 517 m
• Pump mode:
– 2 x 120 MW
– 2 x 20 m3/s
– 559 m
– Turbines at 47,5 m ground depth
(36,5 m below sea level)
 Underwater
inspections

RHE Velebit
• Mission: Lower accumulaton (Zrmanja) concrete damage
volume estimation
• Cause: swirling currents
• Location: Zrmanja river outtake basin
 Underwater
inspections

RHE Velebit
• Mission: Lover accumulaton (Zrmanja) concrete damage volume
estimation
 Underwater
inspections

RHE Velebit
• Mission: Lover accumulaton (Zrmanja) concrete damage volume
estimation
• Mission concept:
– Vertically installed scanning sonar for damage depth measurement
– Accounstic tracking system for damage horiozntal size measurement
• Known facts:
– Basin blueprint
– Armature spacing (20 cm)
– Armature position in relation to the concrete original sursafce (10 cm)
– Armature rod diameter (10 – 15 mm)
 Underwater
inspections

RHE Velebit
• Mission: Lover accumulaton (Zrmanja) concrete damage
volume estimation
 Underwater
inspections

RHE Velebit
• Mission: Lover accumulaton (Zrmanja) concrete damage volume estimation
• Accoustic tracking system angle correction: 4,5°
 Underwater
inspections

RHE Velebit
• Mission: Lover accumulaton (Zrmanja) concrete
damage volume estimation
• Calculated/estimated missing concrete volume:
– Damage 1: 0,11 m3
– Damage 2: 0,20 m3
– Damage 3: 0,61 m3
– Damage 4: 0,15 m3
– All together: 1,08 m3
 Underwater
inspections

Thank you for your attention!

CONTACT INFORMATION

BRODARSKI INSTITUTE
Control Engineering Department
www.hrbi.hr

Marin Stipanov, B. sc.

marin.stipanov@hrbi.hr
Ph: +385 1 650 41 40
Fax: +385 1 640 44 00
GSM: +385 98 177 86 62