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Eelume is a remotely operated vehicl e, or ROV, designed for inspection, maintenance, and repair (IMR) of undersea infrastructure. Eelume can perform some tasks without human control, meaning it is also classified as an autonomous underwater vehicle (AUV). It was created in Trondheim, Norway by startup company Eelume AS in association with Kongsberg Maritime, Equinor, the Research Council of Norway, and Innovation Norway. The first model was created in 2016, but the design has undergone at least three revisions since. Eelume has seen use in robotics research, and development for IMR purposes is ongoing. Eelume uses a modular design where numerous units are linked in a bendable chain. This provides Eelume with multidirectional flexibility and a long, thin body, giving it the appearance of a man-made snake or eel. This shape inspired the name Eelume, which is a combination of the words "eel" and "illuminate."

History
Eelume stemmed from decades of robotics research and was made primarily for use in the oil and gas industry.

Early Research
Fifteen years ago, the Norwegian University of Science and Technology (NTNU) began working with European research agency SINTEF to develop "snake robots". NTNU and SINTEF developed multiple robots with the technology, the most notable being a fire-fighting robot called Anna Konda. They felt the technology had potential, but had trouble implementing it on land. With the creation of the NTNU Center of Autonomous Marine Operations and Systems (NTNU AMOS) in 2012, researchers began investigating aquatic opportunities for snake robots, where they found the technology more promising. Eelume AS was founded in 2015 in the wake of these developments.

Mission
Eelume was initially created to service oil and gas operations. This industry had seen ROV implementation in 1990s as a response to the risks involved in deep water dives; in the 1960s through 1980s, 17 Norwegians died on oil rig servicing missions and several hundred sustained lifelong injures. Though conditions have become safer, Eelume AS identified several reasons for continued innovation:


 * Vehicles and equipment involved in ROV deployment, namely IMR vessels, incur significant cost for companies.
 * Current ROVs are cumbersome to use because their manipulation tools are attached to a larger body.
 * IMR demand is steadily rising as undersea infrastructure ages and new installations are steadily deployed.

Advantages and Disadvantages
While Eelume is innovative and promising, it is not proven to be effective or commercially viable.

Advantages
Eelume modules share a common connection interface so they can be rearranged. This allows Eelume to be customized for specific use cases.

Eelume's narrow body and flexibility grant it access to confined locations larger, traditional ROVs cannot reach, such as the inside of pipes. With its snake-like body, Eelume functions like the manipulation arm of a traditional ROV without being limited by a large main body.

Eelume can stay underwater for up to 6 months. When not doing a job, Eelume recharges its internal batteries at an underwater station called a resident garage near the structures it services. The resident garage also stores Eelume's swappable tools, so it can quickly switch tools during a job. Eelume AS claims long term subsea presence reduces the frequency of deployment and recovery missions. Moreover, they suggest Eelume can be depended on more readily and on shorter notice, further lessening the risk to workers and proving useful in emergency situations. However, there is no data to support these claims.

Eelume can navigate autonomously, meaning it does not need an operator to move around. However, an operator is required to perform tasks with tools.

Disadvantages
Eelume is not yet widely adopted; deliveries began in early 2020. So far only two companies or institutions have announced they have purchased Eelumes, and testing is still ongoing.

Modules
Eelume is made from any number of interchangeable modules linked together. The functions of these modules are detailed below:
 * Joint modules provide Eelume with its flexibility. Joint modules can bend about one or more axes of rotation . In addition to changing Eelume's shape, the joints can drive Eelume forward by moving in a sinusoidal wave. The joint module will either use a revolute joint to bend like an elbow, or a flexure, which bends continuously like a bow put in tension. The joint module is surrounded by a ridged casing similar to what is found in bellows or articulated buses. Inside the casing is a layer of oil to prevent water from entering.


 * Thrust modules are propellers or water jets which allow Eelume to move through the water. They may be oriented in line with the robot's length to move Eelume forwards and backwards, or any angle orthogonal to its length for sideways and vertical movement. Furthermore, they can rotate Eelume about all 3 axes of rotation. The thrust modules can also counteract ocean currents and buoyancy to keep Eelume in place.
 * The tether module connects Eelume to a tether for wired operation. The tether module receives instructions and power from surface operators, and sends output from cameras or other sensors. Eelume can use its batteries for inspection and simple manipulation, though a wired connection to external power may be necessary for more extensive work.
 * Camera modules contain a camera for HD video relay. The first type, a front camera module, is an end piece which acts as Eelume's "head." It is equipped with a forward facing camera and lights to illuminate the space in front of it. A second type, the camera swivel module, fits elsewhere in Eelume's "body" and contains a side-facing camera which can rotate around the body.


 * Tool connection modules connect various tools to Eelume. Like the modules themselves, the tools have a common connection interface to they can be interchanged. Tools can anchor Eelume to a structure (clamp, magnet, suction device), modify structures (torque screw, hydraulic cutter, water jet, welder), and take measurements (vibration sensor). A dual-arm configuration is common; here, tools are placed on both ends of Eelume, which bends into a horseshoe shape. Both tools operate while a camera swivel module in the middle provides video of the work.
 * Fin modules aid with movement and turning, and stabilize Eelume against currents.
 * Buoyancy modules control Eelume's density using compressible fluid bladders.
 * Control modules regulate the function of other modules.

Models
Several models have been planned or created since the company's founding.

A prototype Eelume model was created in 2016. It had the characteristic snake shape and modular components of later models. Unlike future models, a cable was required. The prototype was smaller than future versions, at only 7 in (18 cm) in diameter. Due to its modular design, the prototype could vary in length, though it appears to be roughly 6 feet long in photos from testing. Despite its comparatively small size, the prototype weighed 165 lbs (75 kg). It was tested at depths of up to 150 m (500 ft).

In 2016 Eelume AS created a roadmap for two future designs. It is unknown whether these exact designs were built, but there are confirmed models implementing features from the roadmap. The first of the two was planned for 2017 and would build upon the prototype by extending the depth rating to over 500 m (1,600 ft) and adding the ability to use tools. These tools include a cleaning tool, as well as a torque tool, where one end of the robot grabs onto a structure for leverage while the other end can apply a torque force. They proposed that their 3rd-generation 2018 model would have wireless abilities, removing the need for a tether. Like current versions, it would be battery-powered and navigate autonomously using internal processing. Once it arrives at a structure it would be within wireless range, where an operator would remotely perform IMR tasks.

The most recent named model is the EELY500 developed in 2019. It made iterative improvements to mobility, cameras, lights, and its battery, and boasted greater data capacity. In early 2019 EELY500 was tested in the Trondheim Fjord at a depth of 360 m (1,180 ft) with plans to deploy it in the Åsgard oil and gas field off the coast of Norway.

Current Developments
Eelume AS is continuing to develop their product as it begins to gain notoriety.

In March 2020 Eelume AS recieved 175,000 kr ($19,180) from GCE Ocean technology to develop more intelligent AUVs which can deviate from plans in response to changes in the environment. Their findings will contribute to future Eelume models and research at NTNU. In June 2020, NTNU purchased a six-meter-long Eelume unit for research on AUVs and motion control. NTNU will also use Eelume to conduct survey missions in the open ocean near Trondheim Fjord.

In August 2020 the Norwegian Minister of Petroleum and Energy visited Eelume AS.

In September 2020, marine clean energy company Triumph Subsea Services began work with Eelume AS to improve the current Eelume and resident garage. Next, the two companies plan on pushing depth ratings past 500 m (1600 ft), creating Eelumes and resident garages with ratings of 1,500 m (4,900 ft) and 4,000 m (13,100 ft ). In addition they will develop an Eelume deployment system. Triumph will use two Eelumes, each with a resident garage, on all of their construction and wind turbine deployment boats.

Eelume AS has active patents for Eelume in the United States, Europe, Australia, and Japan.