Subsea structures

[kodzak1981]

Hi, I don't know if this is the right place for posting this questions, but since I haven't found subsea section of forum, and I am currently working as structure design, I decided to post it here.

I wonder if somebody can help me with the following issue. I need some help, regarding ROV operating envelope. ISO 13628-8, Annex C gives the chart of the recommended values. The thing is that I don't know how to read that chart. If someone can explain it to me I would appreciate that. I made a simple sketch like an example (link below)

1. For example, what is the min/max A dimension from the sketch? It can occur if there is a sort of roof where ROV has to approach. Dimension A would be extension of ROV's arm (how far can it reach). How to obtain this dimension from the ISO's chart.

2. Also, what is the min/max dimensons B and C? For example, if ROV grabs a handle with his arm number 1, what is the minimum distance to 1st interface (dim B)...and what is the maximum distance he can reach (dim. C)? Also if you can to explain me where it is shown in the chart of ISO's Annex c

Regarding Iso's charts you can only explain it for "typical five-function grabber envelopes"... I hope I will manage to understand the other chart (for 7)

Here is the link to example

http://imageshack.us/photo/my-image...ack=.gmp_1775617.gde_1775617_member_133403322

Thank you very much in advance for help.

Regards