RPSEA 09121-3300 3300-05 05 Autonomous Inspection of Subsea Facilities Phase I Final Presentation / Phase II Status Report UDW Technology Conference Dan McLeod / John Jacobson Lockheed Martin MS2 July 27, 2011 Secure Energy for America
3300 0505 Program: Phase I Autonomous Inspection of Subsea Facilities PROJECT OBJECTIVES: In response to initiative #4 In Water Intervention Services Maturity of Autonomous Underwater Vehicles (AUVs) open new capabilities to the offshore industry Pre/post hurricane inspection by an AUV Reliable operation of a subsea valve Phase I Objective: 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
3300 0505 Program: Phase I Autonomy Integration Sequence & Status Complete Complete Current Phase Complete Complete
3300 0505 Program: Phase I Execution Schedule 3300-05 PROGRAM (Phase I) Autonomous Inspection of Subsea Facilities Key Program Milestones 2010 2011 Jun Jul Aug Sep Oct Nov Dec Jan Feb Mar Apr May Jun Jul Aug Sep Oct Nov Dec Phase I Contract Award Phase II Contract Mod Contract Award Conduct Program Kickoff Mtg Submit Program Management Plan (Draft) Submit Technology Assessment Report Submit Technology Transfer Plan Lab Run #3 (Verification Test Ready) Sim Lab Demo (for RPSEA/Chevron) Submit Program Management Plan (Final) Submit Integration Test Plan Lab Run #4 (Vehicle Ready) Local Offshore Demo Submit Public Technical Report of Work Performed Submit Final Test Report Project Progress Reports (by 7th day of the month) TAC Quarterly Meetings Sep 24 Sep 10 Oct 5 Oct 10 Oct 10 Oct 24 Oct 29 Nov 15 Nov 16 Nov 29 Dec 30 Oct 6 Feb 10 Jun 22 Jul 31 Jul 31 May 18 Phase I Research & Development Autonomy Design Development Feb3 Hardware Design Development Dec 17 Support Equipment Design/Fab Feb 28 Sim LbIt Lab Integration ti &T Test t(it (Integration ti Phase) Oct 29 Sim Lab Integration & Test (Test Phase) Dec 30 Sim Lab Demo (Vehicle Ready) Dec 30 System Integration & Test (Integration Facility Phase) Feb 17 System Integration & Test (Dockside Phase) May 28 System Integration & Test (Offshore Phase) Jun 22 Prepare Final Test Report Report Jul 31 Prepare Public Technical Report of Work Performed Jul 31
3300 0505 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.
3300 0505 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
3300 0505 Program: Phase I Marlin AUV Launch Feb 2, 2011
3300 0505 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)
3300 0505 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
3300 0505 Program: Phase I Initial Results: 3D Models Built from GoM Sonar Data 4-Legged Platform 3-Legged Platform Sonar Data Set Represents One Pass Around Platform at a Single Depth
RPSEA 3300 0505 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
3300 0505 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
3300 0505 Program: Phase I Project Deliverables Status of Project Deliverables: Project Status Reports Oct 2010 Report 7 Oct (Delivered) Nov 2010 Report 8 Nov (Delivered) Dec 2010 Report 7 Dec (Delivered) Jan 2011 Report 14 Jan (Delivered) Feb 2011 Report 7 Feb (Delivered) Mar 2011 Report 7 Mar (Delivered) Apr 2011 Report 7 April (Delivered) May 2011 Report 7 May (Delivered) June 2011 Report 7 June (Delivered) July 2011 Report 7 July (Delivered) Project Management Plan (Draft) 10 Oct (Delivered) Project Management Plan (Final) 16 Nov (Delivered) Technology Status Assessment Report 10 Oct (Delivered) Technology Transfer Plan 24 Oct (Delivered) Public Technical Report of Work Performed 31 Jul (Delivered) Integration Test Plan (Draft) 29 Nov (Delivered & Approved w/comments) Integration Test Plan (Final) 14 Jan (Delivered) Final Test Report (defining the results of the test program) 31 Jul
3300 0505 Program: Phase II GoM Demonstration Update
0505 Program: Phase II GoM Demonstration Objectives Demonstrate Inspection of US Gulf of Mexico Platform In cooperation with a major oil and gas company conduct a demonstration of a platform inspection Capability Demonstrated Baseline inspection Introduce physical changes and re inspect Demonstrate API TRL level 5 capability Mission planning & execution Operational safety Ability to operate in typical Gulf of Mexico conditions Autonomous inspection Autonomous change detection Feature based navigation Post inspection analysis Launch and Recovery from a Typical Support Vessel
0505 Program: Phase II GoM Demonstration Scope of Work RPSEA sponsored Scope of Work: GoM Demo Test Procedures System Mobilization / Demobilization On Board Demonstration Testing & Evaluation RPSEA Project Reporting & Documentation Major Oil Company Scope of Work: Test Planning Support Demonstration Support (includes provision of the vessel, equipment, facilities, personnel, services and technical information) A Major Oil Company is Sponsoring the RPSEA 3300-05 Phase II GoM Trials, Supplying Key Personnel, Vessel Services, and Access to Offshore Facilities
3300 0505 Program: Phase II Schedule GoM Demonstration 3300-05 PROGRAM (Phase I) Autonomous Inspection of Subsea Facilities Phase II GoM Demo (Subsea Facility Inspection) Test Procedure Development Gom Testing/Demo Readiness Reviews Pack/Ship/Mob/Shakedown Testing (GoM) Demo Execution (GoM) Contingency/Demob/Pack/Return Ship 2010 2011 Jun Jul Aug Sep Oct Nov Dec Jan Feb Mar Apr May Jun Jul Aug Sep Oct Nov Dec Phase II Contract Mod Jun 24 Jun 16 Jul 12 Aug 10 Aug 15 Aug 27 GoM Demo Sponsored by Major Op Co. Lockheed Martin Marlin Equipment Mobilized Onboard ACO Jessica Moore Launch of Lockheed Martin Marlin AUV for Offshore Platform Inspection Mission Offshore Testing is Underway and Progressing Ahead of Schedule Offshore Testing is Underway and Progressing Ahead of Schedule Technical Progress is Outstanding
Marlin OPIS Equipment Spread Launch & Recovery Crane Marlin Deck Cradle Operations & Maintenance Van
3D Model Generation Inspection conducted at Speed 2.0 kts 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
3D Model Generation Inspection conducted at Speed 2.0 kts 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 ooze zone at bottom with zero visibility
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
3300 0505 Program: Phase II Schedule GoM Demonstration Mission Statistics: Total number of missions run: 29 Total in water time without failure Total number of launch cycles 8 Typical llaunch cycle time: 34 hours Launch: 5 minutes Recovery: 3 minutes Typical mission times from ingress to egress: Platform 1: 27 minutes Platform 2: 41 minutes
Questions?
Contact Information Dan McLeod Lockheed Martin MS2 dan.mcleod@lmco.com (Office) 561 494 2305 (Cell) 561 662 5742 John Jacobson Lockheed Martin MS2 john.r.jacobson@lmco.com (Office) 281 251 1131 (Cell) 713 816 3467