Autonomous Inspection of Subsea Facilities

Transcription

1 Autonomous Inspection of Subsea Facilities RPSEA Final Presentation RPSEA Ultra Deepwater Subsea Systems TAC Meeting January 24, 2012 GFBEDC Boardroom Sugar Land, TX John Jacobson, Lockheed Martin

2 Agenda Project Overview PhaseI: Technology Development, Integration, andtest Phase I Objectives Simulation Laboratory Results Risk Reduction and Local Offshore Trials Results Phase II: Gulf of Mexico Technology Demonstration Phase II Objectives Technology Demonstration Test Program GoM Technology Demonstration Results Conclusions 2

3 Project Objectives RPSEA 3301 Proposal submitted in response to initiative #4 In Water Intervention Services Maturity of Autonomous Underwater Vehicles (AUVs) open new capabilities to the offshore industry Phase I Objective: Pre/post hurricane inspection by an AUV Reliable operation of a subsea valve (not funded) Develop, integrate & test autonomous technology needed to conduct pre/post hurricane Inspection of a facility Phase II Objective: Demonstrate autonomous technology needed to conduct pre/post hurricane Inspections in the Gulf of Mexico 3

4 Autonomy Integration Sequence & Status Complete Complete Complete Complete Complete 4

5 RPSEA Phase I / Phase II Summary Schedule Autonomy SW Dev. & Lab Integration Autonomy Developmentelopment Launch & Recovery / Control Van Equipment Design Procure Assembly, Integration & Test Vehicle System Integration & Test Vehicle Build Facility Integration Dockside Checkout Base Vehicle Dockside / At-Sea Shakedown Local Autonomy Testing Gulf of Mexico Validation Testing Test Planning Test Procedure Development GoM Test Readiness Review Packing & Shipment Mobilization Pierside Checkout / L&R Testing Offshore Autonomy Testing (Part 1) Offshore Autonomy Testing (Part 2) GoM Technology Demonstration Demobilization / Return Shipment Sep Oct Nov Dec Jan Feb Mar Apr May Jun Jul Aug Sep 2010 Plan 2011 Actual 2011 Add'l Testing GoM Test Readiness Review L&R / Control Van Complete Local Offshore Testing Complete Gulfof Mexico Demo Complete 5

6 Marlin Autonomous Underwater Vehicle Specifications Dimensions: 3.05m x 1.52m x 1.22 m Weight: 954kg (in air) Endurance: hours Speed: 0 to 3.5 knots Depth: 300m Acoustic Tracking Transducer Acoustic Modem RF Modem GPS Receiver Strobe Homing & Docking Transducer Forward Looking Sonar 3D Imaging Sonar HD Camera DVL 6

7 RPSEA Program: Phase I Development Objectives Phase I Objectives: Develop, integrate & test autonomous technology needed to conduct pre/post hurricane Inspection of a facility Autonomous imaging and real time 3D re construction of underwater facility Detection & highlighting of changes to underwater facility Feature based navigation Local offshore testing from Lockheed Martin facility in Florida 7

8 Marlin OPIS Simulation Laboratory 8

9 Marlin OPIS Simulation Laboratory 60 Display Monitors Tactical Hardware Server Cabinet Embedded HW Enclosure 9

10 RPSEA Program: Phase I Marlin Offshore Platform Inspection System Mission Profile AUV Launch & Recovery (>150m Stand-off) Ingress Adaptive Path Planning 15 m Lockheed Martin Marlin AUV Egress Inspect Detected Change Dive to Next Slice Detect/Acquire Platform The Platform Inspection mission profile involves successive passes around the platformat a 15m standoff, with 50% overlapofof 3D sonar scans between passes. 10

11 RPSEA Program: Phase I Simulation Lab Run Results Change Detection Bent Members Detected a priori Model Sonar-based Scanned Model Detected Positive Anomalies Detected Negative Anomalies Successful Detection of Large Scale Anomaly Types Successful Import & Display of Platform Inspection Data into ArcGIS Tool 11

12 RPSEA Program: Phase I Marlin AUV Launch Feb 2,

13 RPSEA Program: Phase I GoM Sonar Data Collection Risk Mitigation Collected Ship mounted 3D sonar data on various oil & gas platforms in the Gulf of Mexico for Perception algorithm evaluation & risk mitigation (model building & pose estimation) 13

14 RPSEA Program: Phase I Initial Results: 3D Models Built from GoM Sonar Data Fixed Platform ~ 80 ft. 8 Legged Platform Resulting 3D model 3D Sonar Imagery Sonar Data Set Represents One Pass Around Platform at a Single Depth 14

15 RPSEA Program: Phase I Local Offshore Testing (Palm Beach, Florida) Conducted Initial Data collection Runs (30 meter offset) on an Offshore Structure of Opportunity (Cross Current Barge Reef) and Generated Coarse Model from 3D Sonar Data Conducted Model Building Runs (15 meter offset) on an Offshore Structure of Opportunity (Cross Current Barge Reef) and Generated Higher Resolution Base (a priori) Model to be used for Inspection/Change Detection Runs 15

16 RPSEA Program: Phase I Local Offshore Testing (Palm Beach, Florida) Introduced Changes into the Base (a priori) Model and Conducted Inspection Runs (15 meter offset) to Detect/Localize Changes Added Changes to Base (a priori) Model & Conducted Inspection Run Changes Detected 16

17 Phase II: Gulf of MexicoTechnology Demonstration 17

18 RPSEA Project: Phase II GOM Demonstration Objectives Demonstrate Autonomous Inspection of a Production Platform in the US Gulf of Mexico Capabilities to be Demonstrated Baseline inspection / generation of 3D model Introduce changes to 3D model dland re inspect / detect changes Demonstrate API TRL level 5 capability Mission planning & execution Operational safety ft Ability to operate in typical Gulf of Mexico conditions Autonomous inspection Autonomous change detection Feature based navigation Post inspection analysis LaunchandRecovery and froma Typical SupportVessel 18

19 RPSEA Project: Phase II GOM Demonstration Sponsorship In cooperation with RPSEA and supported by Chevron Energy Technology Company Lockheed Martin demonstrated the Marlin Offshore Platform Inspection System s capabilities In the US Gulf of Mexico in

20 Technology Demonstration Test Program Test Item Launch & Recovery Initial Shakedown AComms Checkout Initial Sonar Data Collection Objectives Validate vehicle L&R pierside Validate vehicle L&R offshore Validate vehicle emergency recovery Validate basic vehicle functionality Validate checklists Validate AComms Link Validate ATS Link Validate RF Link Collect sonar data at 30m offset and build coarse 3D model & convex hull Model Building Sonar Data Collection Collect sonar data at 15m offset and build higher quality 3D a priori model Pose Estimation i & Change Detection Validate pose alignment, change detection and fusion filter performance (open loop Initial Assessment 1 FBN) Pose Estimation & Change Detection Initial Assessment 2 Pose Estimation & Change Detection Final Assessment Post Mission Processing Validate pose estimation, change detection and fusion filter (FBN loop closed with Perception & Response) Validate pose estimation, change detection and fusion filter performance (Closed Loop FBN) Validate Initial model building, model re construction & change detection/localization capability Import to ArcGIS All Test Primary Test Objectives Achieved 20

21 Launch & Recovery System Testing Damping Actuators Side View Shock Absorbersb Autonomous Homing & Capture Top View Track 21

22 Marlin Offshore Platform Inspection System Shipboard Configuration Vehicle Cradle & Deck Support Structure Launch & Recovery System Marlin AUV Operations & Maintenance Van Compact System that can be Quickly & Safely Deployed from Vessels of Opportunity 22

23 Marlin Offshore Platform Inspection System Mission Profile AUV Launch & Recovery (>150m Stand-off) Ingress Optimal Path Planning 15 m Standoff Inspect Operational Sequence: Pre-mission checkout Generate inspection plan & download to vehicle Launch vehicle & start t mission i Ingress & detect/acquire platform Inspect platform Egress to recovery location & recover vehicle Post-mission checkout Offload data & process Egress Dive to Next Slice Detect/Acquire t/a Platform The platform inspection i mission i profile involves successive passes around the platform at a 15m standoff, with 50% overlap of 3D sonar scans between passes 23

24 3D Model Generation Inspection conducted at Speed 2.0 kts (speed over ground) Standoff from Structure 15M 100% overlap per depth slice 4 depth slices Water Depth: 55 ft Mensurated dimensions: 42.5 meters long (base) 21.1 meters wide (base) One 27minute mission to collect the data displayed 24

25 3D Model Generation Inspection conducted at Speed 2.0 kts (ground speed) Standoff from Structure 15M 100% overlap per depth slice 5 depth slices Water depth: 130 ft. Mensurated dimensions: 15.8 m long (mid beam) 16.9 m wide (mid beam) One 41 minute mission to collect thedatadisplayed displayed ROV operations noted 4 meter fluidized unconsolidated soils zone at bottom with zero visibility 25

26 Change Detection Buckled, bent and missing members detected t d Positive (new features) and Negative (missing features) Detected and displayed as Marlin conducts the inspection Changes detected in real time (on the Marlin) against baseline model 26

27 3D Model Building of Reefed Structures EI 338 Artificial Reef consists of five reefed platforms and one dbi debris field Water Depth ~ 265 ft Employed Spiral Survey pattern to establish safety / exclusion zones Employed Race Track Survey pattern to conduct model building Artificial Reef North Complex : EI 352 B EI 297 A GC 6 Debris Field: EI 338 A Artificial Reef South Complex : SM174 A EI 330 A 27

28 Reefed Platform Spiral Search and Low Resolution Model Building Spiral Search Mission Model Building Mission Low Res Model 80 m 180 m 28

29 Reefed Platform High Resolution Model Building Model Building Missions conducted at multiple standoff distances Final high resolution model developed from data acquired at 15 meter standoff High Res Model EI-352-B High Res Model EI-352-B 29

30 3D Model Data Analysis Ongoing data analysis: 3D Sonar Model overlay on to as built construction drawings Mensuration analysis: measured distances vs. as built dimensions Feature extraction / resolution capabilities Future analysis will include: Evaluation of alignment offsets Perform statistical analysis of SONAR model to structural member dimensions CAD Model 3D Sonar Model Initial data analysis shows alignment and dimensional accuracies in cm range 30

31 Autonomy for Structural Survey Mission Planning Path Planning / Vehicle Guidance Supervisory Control Contingency Management Feature Based Navigation Model Building Change Dt Detectionti Recovery Geo registered model / data export High Level of Autonomy Faster, Safer, Economical, and More AccurateData and Models 31

32 2011 Gulf of Mexico Offshore Trials Summary Successfully Demonstrated Autonomous Inspection Capability Full operating profile demonstrated multiple times 56 individual missions Two Fixed platforms Two Rigs to Reef sites with toppled Platforms 70 Hours in water operations Successfully Completed 56 Inspection Missions in 13 Available Days of Operation 32

33 Conclusions The Marlin Offshore Platform Inspection System is a robust tool for Structural Integrity Management of Subsea Infrastructure Acoustic Survey using high h resolution 3D Sonar Generation of high fidelity 3D models Real time detection and localization of structural changes vs. reference model Autonomous Inspection offers significant ifi cost and efficiency i advantages over current methods: 3D model generation in hours vs. days Accurate, geo registered model for structural integrity management assessment Employs smaller vessels and fewer crew members Enables on site evaluation of survey results Real time change detection enables rapid assessment of damage after environmental events Future Development Plans: Implementation of new sensors such as 3D laser / high frequency sonar Deepwater facility inspection 33

34 Questions? 34

35 Contact Information John Jacobson Lockheed Martin MS2 (Office) (Cell)