Pipeline Inspection and Environmental Monitoring Using AUVs

Transcription

1 Pipeline Inspection and Environmental Monitoring Using AUVs Bjørn Jalving, Bjørn Gjelstad, Kongsberg Maritime AUV Workshop, IRIS Biomiljø, 7 8 September 2011 WORLD CLASS through people, technology and dedication

2 Kongsberg AUV Program / 2 / 6-Oct-11

3 Kongsberg Maritime AUV Program HUGIN dual use program since 1991; AUVs for civilian and military applications Commercial operations since More than line km billed. Military operations since : Pipeline Inspection 1997: First commercial survey 2001: Military demo REMUS program since REMUS 100 Tested off the shores of NJ for the first time 2001: Hydroid established Large customer base 2012: Ocean Observer Initiative? / 3 / 6-Oct-11

4 / 4 / 6-Oct-11 REMUS - HUGIN Oil & Gas Product Line

5 Advances in AUV Operations 1991: Start of HUGIN AUV development 1997: First oil and gas survey (Åsgard Transport) 2001: First naval operation 2009: First pipeline inspection with HUGIN AUV 2011: Automatic pipeline tracking with HUGIN AUV 2012: Ocean Observer Initiative (OOI) with REMUS AUV / 5 / 6-Oct-11

6 Autonomy The level of autonomy achieved by AUVs is mainly determined by their performance in four areas: AUTONOMY AREA DESCRIPTION STATUS Energy Autonomy Navigation Autonomy Sensor Performance and Sensor Processing Decision Autonomy Reliable power sources for long endurace missions Precise navigation with little or no position estimate error growth for extended periods of time The ability to sense the environment, surroundings and vehicle state The ability to interpret and adapt to unforeseen changes in environment and vehicle OK OK OK More work for payload Autonomous survey missions in unknown areas (naval) Pipeline inspection Environmental monitoring Autonomy for Offshore O&G monitoring will be developed as demand permit. Existing autonomy is robust and proven technology in HUGIN and REMUS AUV. / 6 / 6-Oct-11

7 Ocean Observatory Initiative (OOI) and AUV / 7 / 6-Oct-11

8 Ocean Observing Initiative Pioneer Array Fully Autonomous AUV operations for 120 days Fully Autonomous Dock Operations for 210 days 1250 AUV operational hours during deployment 50 Hour AUV missions at 3.6 knots 180 nm Bi-directional communication with operations center when on the surface and docked Data up/down load and reprograming Two year development program 6,400 sq-meter survey area Figure: WHOI 80 km Figure: WHOI / 8 /

9 AUV Instrumentation for OOI AUV Instrumentation: CTD Dissolved Oxygen Optical Backscatter, Chlorophyll, Colored Dissolved Organic Matter Horizontal Velocity Profiles Nitrate, Nitrite, Phosphate, and Silicate Photosynthetically Available Radiation (PAR) Figure: WHOI / 9 /

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11 HUGIN AUV Leakage Detection 1. Acoustic leakage detection Multibeam echo sounder Synthetic aperture sonar 2. Digital still camera 3. CTD 4. CONTROS HydroC CH 4 Selective measurement PAH Leakage detection with EM 2040 HydroC integration HUGIN 1000 HUGIN 1000 digitial still camera / 11 / 6-Oct-11

12 Acoustic Network (Kongsberg cnode) Surface Network Basic functions: Sensor nodes Communication Navigation Vertical Network Uploading of stored data All or max/min/average SIIS Horizontal Network Sensor Sensor Sensor data format Serial data Analog Power to sensors From internal battery Power control Data Storage Sampling and storage of data

13 Multi-sensor Pipeline Inspection / 13 / 6-Oct-11

14 Multi-sensor Pipeline Inspection Concepts HISAS + digital still camera + multibeam + sniffer One pass to the side of pipeline, one pass directly over Detect, track and map pipe with HISAS, use result in second pass Alternatively, a third pass to the other side of the pipeline HUGIN 1000 AUV with HISAS 1030, EM 3002 multibeam echo sounder, digital still camera, hydro carbon sniffer, forward looking sonar.

15 Pass 1: - Beside pipeline - Active tracking (HISAS) - Update pipeline map - For inspection with HISAS Pass 2: - Above pipeline (using updated map) - Active tracking (MBE) - For inspection with camera + MBE

16 SAS Images of Pipeline (Standard Processing) 10x10 m 50x100 m 50x100 m 10x10 m

17 SAS Spot Processing 20x16 m area Reprocessed to 2x2 cm resolution

18 SAS Bathymetry

19 Autonomous Pipeline Tracking Demonstration 9 10 February 2011 / 19 / 6-Oct-11

20 Pipeline tracking demonstration, 9-10 Feb km section of pipeline to/from Mongstad 8 hour HUGIN mission Pass 1 (South to North): Tracks planned from nautical charts Follow pipeline at 80 m range Transmit tracking output to surface Record HISAS 1030 data Pass 2 (North to South): Travel directly over pipeline at low altitude Use detections from pass 1 to position AUV Manual tracking from EM 3002 data Record EM 3002 and camera data

21 Real-time pipeline detection and tracking Possible pipelines detected and tracked based on realtime side scan imagery from HISAS 1030 Most likely candidate selected based on prior information on position and orientation HUGIN follows selected candidate at desired range (here: 80 m) Selected tracks transmitted to surface on acoustic link (for demo purposes)

22 Overlay

23 Processed HISAS data from same area Area 120x90 m Range m Recorded Wednesday

24 Processed HISAS data from same area Area 40x30 m Recorded Wednesday

25 EM 3002 data EM 3002 data from both passes Pass 1: 25 m altitude, 80 m offset from pipe Pass 2: 5-10 m altitude, directly above pipe 10x20 km 350x250 m Recorded Wednesday

26 EM 3002 data 120x120 m Recorded Wednesday

27 Data from TileCam still image camera Altitude 5.2 m Resolution 2.5x2.5 mm Recorded Wednesday

28 Data from TileCam still image camera Altitude 5.2 m Resolution 2.5x2.5 mm Recorded Wednesday

29 Data from TileCam still image camera Altitude 5.2 m Resolution 2.5x2.5 mm Recorded Wednesday

30 Data from TileCam still image camera Altitude 5.2 m Resolution 2.5x2.5 mm Recorded Wednesday

31 Data from TileCam still image camera Altitude 4.9 m Resolution 2.5x2.5 mm Recorded Wednesday

32 Data from TileCam still image camera Altitude 4.8 m Resolution 2.4x2.4 mm Recorded Wednesday

33 Data from TileCam still image camera Altitude 4.8 m Resolution 2.4x2.4 mm Recorded Wednesday

34 Data from TileCam still image camera Altitude 4.8 m Resolution 2.4x2.4 mm Recorded Wednesday

35 Data from TileCam still image camera Altitude 4.6 m Resolution 2.3x2.3 mm Recorded Wednesday

36 Data from TileCam still image camera Altitude 4.7 m Resolution 2.3x2.3 mm Recorded Wednesday

37 Data from TileCam still image camera Altitude 4.7 m Resolution 2.3x2.3 mm Recorded Wednesday

38 Data from TileCam still image camera Altitude 4.6 m Resolution 2.3x2.3 mm Recorded Wednesday

39 Data from TileCam still image camera Altitude 4.6 m Resolution 2.3x2.3 mm Recorded Wednesday

40 Data from TileCam still image camera Altitude 4.6 m Resolution 2.3x2.3 mm Recorded Wednesday

41 Field Deployed AUVs in IMR Operations / 41 / 6-Oct-11

42 Current IMR Operations are Surface Vessel Based ROVs depend upon support vessels and thus weather and surface conditions ROVs have limited survey capability on greater depths The time to mobilise a ROV may be extensive Distance to infrastructure and deep waters may lead to long response times / 42 / 6-Oct-11

43 Benefits of IO and Field Deployed AUVs Low cost, all year availability Rapid response to Planned light intervention Fault diagnosis Condition based field maintenance and environmental monitoring Detect problems early Quick fixes possible Reduced OPEX as operations are vessel independent AUV launched from a FPSO; it may be temporarily parked on a subsea docking station Operated from a IO field centre Illustration: Woods Hole Oceanographic Institution. The Pioneer Array. Ocean observatory / 43 / 6-Oct-11

44 Summary / 44 / 6-Oct-11

45 AUV Inspection and Environmental Monitoring Kongsberg has unmatched operational experience from offshore and naval AUV operations over the last 10 years. Solution and technology for AUV environmental monitoring and pipeline inspection is here Critical technology is designed and manufactured in-house: AUV Optical and acoustic sensors Sensor Processing Decision Autonomoy Navigation Communication Launch and recovery Docking systems Battery for long endurance Open interfaces facilitates collaboration with partners

46 Kongsberg Maritime / 46 / 6-Oct-11