
Basic Task Element Maps ◾ 85
Step ROV Body BTE
ROV Manipulator
Arm BTE
Time
(Min)
1 Transporting (empty) Standby retracted 3
2 Positioning Extending/adjusting 5
3 Removing (tool hook from wellhead) Grasping 1
4 Transporting (loaded) Holding 2
5 Positioning Holding/adjusting 6
6 Placing (tool hook in cage) Releasing 1
7 Transporting (empty—to other side of cage) Standby extended 1
8 Positioning Adjusting 4
9 Removing (ring from cage) Grasping 1
10 Transporting (loaded) Holding 3
11 Positioning Holding/adjusting 6
12 Placing (ring in wellhead) Releasing 1
13 Transporting (empty) Standby retracted 3
Figure5.3 ROV BTE step analysis flow sheet.
Table