ARGOS(*) Challenge. (*) ARGOS : Autonomous Robot for Gas & Oil Sites. Workshop, Hilton Hotel, Paris La Défense, June 11 th, PDF Free Download

ARGOS(*) Challenge (*) ARGOS : Autonomous Robot for Gas & Oil Sites Workshop, Hilton Hotel, Paris La Défense, June 11 th, 2013 Eva CRÜCK Xavier FAUGERAS François CUPCIC ANR TOTAL - Field Monitoring R&D Project

WORKSHOP - AGENDA 10h00 10h30 : ANR Presentation 10h30 11h00 : TOTAL as a Group 11h00 11h45 : The ARGOS Challenge 11h45 12h00 : Coffee 12h00 13h00 : ARGOS Technical scope + Q/A 13h00 14h00 : Lunch 14h00 14h30 : ARGOS Testing site + Q/A 14h30 15h00 : Schedule of the ARGOS Challenge + Q/A 15h00 15h15 : Intellectual Property + Q/A 15h15 15h30 : Budget + Q/A 15h30 16h00 : Wrap-up & Conclusions 16h00 : Coffee & end of the workshop

What we expect from a robot 2 main targets selected for this Challenge : o Routine Inspection o Emergency Operations Emergency operations Routine inspection Recovery scenario Remotely controlled robot for reporting and specific operations in degraded and potentially hazardous situations, for example in a crisis like Elgin in 2012. Cf. 1 st business case in the next slide Task automation scenario Autonomous or remotely controlled robot for surveillance, inspection rounds, routine and remote operations in normal situations, in isolated production sites with a difficult environment like well pads in Uganda or in the North Sea. Cf. business cases in the next slides The program will focus on robots that can safely move over the entire onshore or offshore production site, potentially in hazardous explosive atmospheres, and report on the situation, in complete or supervised autonomy.

Business Cases (1/5): Recovery of an offshore platform evacuated after a major HC leak ELGIN accident (03/2012): crisis before being able to send people back to the platform to assess the root cause. Robot on site could have allowed earlier root cause determination and significant reduction of the crisis duration. Integrated platforms: In case of similar accident, no possibility to send people on site

Business Cases (2/5): Reduction of human exposure to toxic gas Kashagan phase 1: 5 unmanned islands (4 well pads + 1 compression complex) with high H 2 S content and difficult access, specifically during winter season. SENSABOT robot developed at NCOC s request by CMU. Business case run to avoid operators visit to investigate and gain time to restart after a spurious trip. Obvious safety benefit on IRPA (Individual Risk Per Annum) by reduction of personnel exposure to toxic and flammable gas.

Business Cases (3/5): Reduction of human exposure to harsh environments Arctic conditions: Access limited by severity of weather and ice conditions. Extreme cold preventing human work during part of the year. Other harsh environments: Warm, dry / humid sites, Exposure to toxic fluids (sampling, sumps, etc.), Radioactivity, Exposure to high radiation level (flare stacks), Areas with difficult access (weather, sea conditions, elevation, etc.): no access 50% of time during 4 months per year on some locations, Risk of animals intrusion, Downgraded situations.

Business Cases (4/5): Operations of large onshore fields BULIISA (Uganda): Many challenges / constraints: o Oil, process development under study. o unmanned well pads with neither visit nor lighting at night except in case of emergency. o Safety issues: potential animals or human intrusions inside well pads. o Difficult logistics: Nile river between North and South, heavy rains, Center Production Facility and logistics base located far away from the well pads. o Production shortfalls in case of spurious trip during the night. Interest for properly equipped robots : o Autonomous survey of well pads during night & day time, o Detection and investigation of leaks or spills, o Detection of any animal or human intrusion, o More relevant maintenance during day time following equipment failure during the night (selection of spare parts) and reduction of personnel transportation? o Reduction of production shortfalls by local reset of the ESD after a spurious trip without waiting for human intervention until the day after. Other potential applications exist in the group.

Business Cases (5/5): Reduction of IRPA on complex facilities with large POB Large onshore plants (Dolphin, Qatargas, Yemen-LNG, Refineries, etc.): FPSO / FLNG Robots may be a solution to reach 10-4 IRPA by canceling night shifts and reducing personnel exposure in risky areas. Manned Facilities Automation of repetitive tasks Not normally manned sites Incident prevention and recovery All sites Early detection of High Potential Incidents (HIPO) How a robot could perform as well as a human?

Technical requirements: Tasks and constraints Tasks 1 Mobility in a humanengineered environment 2 Reporting and analysis of the environment 3 Loading, carrying and unloading of an item Wireless mobility on a representative competition field (concrete or steel floors and gratings, light slopes and steps, stairs, unforeseen obstacles, pipes, equipment, etc.), remotely controlled or autonomously. Collecting information (+ transmitting it to the control room), thanks to image and sound, gas content and temperature sensors. Programmed inspection rounds + Autonomous detection and identification of anomalies. Remotely controlled by an operator, carrying of a load from one point to another, for example an autonomous camera, another sensor or another little robot (max 100x100x100 mm and 5 kg). Constraints ATEX/ IECEx compliancy Environmental constraints

Field for Pilot Testing of the Robot Field for tests : the UMAD site in Lacq ( Unité de Mise A Disposition ) used for fire fighters training (under APAVE responsibility).

Purpose of this Workshop To gather interested participants in order to refine the technical requirements and the rules of the challenge. April 18 th 2013 First announcement (Journées du Numérique, ANR) June 11 th 2013 Workshop Sept./Oct. 2013 Expected Posting date Opening of the registration 1 Explanation and adjustment of the technical requirements: Details of the technical features, discussions with the participants will refine the requirements (feasibility during the challenge). 2 Open discussion on the rules: General conditions of the challenge (schedule, IP, funding ) and specific rules of the events (organization, scoring criteria ). 3 Networking: Opportunity for players with different expertise to know each other and to develop partnership (robotics engineering companies and research academics, O&G suppliers, ATEX and harsh environments specialists...).

Technical choices / Required tasks (1/3) The first task required for the robot is its mobility in a human-engineered environment. 1 Mobility Characteristics of the task The robot must demonstrate its capability of movement (with an average minimum speed of 2 km/h) on a competition field representing a portion of refinery or oil platform: The robot mainly has to move on concrete grounds, plain steel floors and gratings; light slopes and steps up to several centimetres in height are also possible, The tasks are planned to be carried out in a multifloor setting : solution might include taking the stairs (maximum height of the steps: 180 mm), specific climbing solution or multi-robots solution (one robot per floor). The competition field will be 15 x 15 meters, will have 3 floors and be composed of pipes, drums, columns, valves, pumps, compressors, To provide maximum mobility, a wireless solution is compulsory. Autonomy of 2 hours is expected. Actions required The robot is expected to move on the competition field (meaning going from one point to another) across different modes: Remotely controlled by a human operator, Autonomously (the operator just indicates the intended destination to the robot) in a known area, Autonomously, with unforeseen obstacles in the known area: The robot has to avoid or to step over obstacles like pipes (maximum height of the obstacles: 200 mm). If it is stuck, it has to warn the operator and recalculate a new route. 3D map of the facility will be available NB: In case of extended loss of communication between the robot and the operator, the robot must follow an appropriate a course of action

Technical choices / Required tasks (2/3) Then, the robot must conduct a «smart» reporting of its environment. 2 Reporting Characteristics of the task The robot must report on the situation in an area (meaning collecting information and transmitting it to the control room). Information to be collected is: Image (through 2 redundant systems) and sound, Gas content (CH 4 and H 2 S), Temperature of the materials. The robot should be modular enough so that other sensors can be implemented. All commands and data must be able to be communicated to and from the robot by a wireless link, presently envisioned as Wifi 5GHz. The robot must not only collect the data but also analyse it, thanks to a developed Artificial Intelligence. The robot has to read sensor dials, tank levels and valve positions, according to a pre-defined programme, and send a report of the inspection round. Moreover, the robot must autonomously detect and identify anomalies, like an oil or gas leak. For Actions required example, the robot has to detect an oil stain, get close to this stain and identify the origin of the leak, then send a report and/or an alarm to the control room, and get back to the routine programme. The robot operator shall be able to specify type of report expected (Control points, continuous flow or alarm only) to be specified at later stage NB: In case of loss of communication between the robot and the control room, the robot must save all pieces of data, and transmit them when communication is restored. The robot must also be able to proceed a self-diagnosis, meaning warn the control room if the reliability of one of its sensors is compromised.

Technical choices / Required tasks (3/3) Finally, it must be able to load, carry and deposit a payload. 3 Loading/ Unloading The robot must carry a load from one point to another, for example an autonomous camera or another sensor. We can also imagine the robot transporting another little robot. Characteristics of the task Characteristics of the load: Maximum dimensions: 100x100x100 mm, Maximum weight: 5 kg. Within the framework of the Challenge, a hook will be sufficient to grab the object. Actions required Being remotely controlled by an operator, the robot must be able to: Load an object initially located on the floor, Deposit this object at a precise spot on the floor, at any other location inside the site (e.g. the robot must take the stairs with the load).

Technical choices / Constraints (1/3) The main constraint for the robot design is the compliancy with ATEX classification, which requires an important engineering work. ATEX/ IECEx Definition: ATEX (for Europe) and IECEx (for international) address equipment and instrumentation intended for use in potentially explosive atmospheres (gas or dust). Areas with gas explosive atmospheres are divided into three sub-zones: Zone 0: Constant danger (permanent presence of explosive gases), Zone 1: Potential danger (occasional presence of explosive gases during normal duty), Zone 2: Presence of explosive gases is not likely to occur or only for a short period of time. For each zone, protection concepts following specific standards are defined. Required level of classification for the robot: ATEX Zone 1, more specifically II2G IIA T3 Within the framework of this Challenge, it is not necessary to go through ATEX certification. However, this classification being mandatory for any equipment on the production sites of TOTAL, teams must demonstrate that their solution is compliant with ATEX. Especially during the events, an ATEX expert will ensure that the design of the robots is correct.

CONSTRAINT : ATEX / IECE X DIRECTIVES Zone 0 : That part of a hazardous area in which a flammable atmosphere is continuously present, or present for long periods. Zone 1 : That part of a hazardous area in which a flammable atmosphere is likely to occur in normal operation. Zone 2 : That part of a hazardous area in which a flammable atmosphere is not likely to occur in normal operation, and, if it occurs, will exist only for a short period.

CONSTRAINT : ATEX / IECE X DIRECTIVES ATEX 95 Directive shall be applicable for all the Company facilities located within the European Union (EU countries) and also outside the EU. For facilities located outside the European Union (EU countries), an alternative scheme can be applied : the IECEx scheme (IEC Scheme for Certification relating to Equipment for use in Explosive Atmospheres).

ATEX protection concepts

Technical choices / Constraints (2/3) Escape routes shall be provided to enable all personnel to leave an area where they are could be directly affected by an incident. Escape routes shall permit easy access of personnel to muster stations, helideck, boat landing or any place considered to be safe. Therefore, escape routes shall not be obstructed by any structural protuberance, or any equipment/laydown location.

Technical choices / Constraints (3/3) Other natural or industrial constraints will be imposed, implying a robust and sealed design. Other constraints Operability: In normal conditions the robot shall be able to operate without human intervention for several weeks Visibility conditions: The robot must be able to fulfill the required tasks under daylight and night-time conditions. Limited visibility conditions may also be envisioned (vapor cloud, smoke ). Atmospheric conditions expected to be encountered in real conditions: Temperature ranges between -50 C and +50 C, Relative humidity up to 100%, Heavy precipitation, splash water, salty air, corrosive environment (acid gases), Wind (up to 70 or 100 km/h). Finally, the robot should be able to stay away from sources of significant heat, meaning > 50 C (like flames). These harsh conditions require a robust and sealed design (especially with IP66 or IP67 compliancy).

Technical choices / General design A few constraints on the design are imposed, but there is no obligation regarding the general architecture. Some features are imposed to the teams Robots must be safe for their environment and respect the constraints described in the previous slides. They must not collide with any of the surrounding materials and structures (unless it is part of an event). They must also avoid possible mobile obstacles (like people). The robot has to be able to collect information with same distance range and position as a human, approximately 1,80m high, and not only the foreground but perhaps also behind structures and materials, up to 30 cm out of the walkway. An articulated arm then seems to be a satisfying solution (all the sensors being on that arm). Except during the loading/unloading task, the robot is not expected to manipulate any object of its environment. The maximum weight of the robot is expected to be 100kg.... But they are completely free regarding the general concept and architecture of their robot. The teams will have to propose their own architecture of robot (based on an existing robot or developed from scratch). As the robot must be able to cover / inspect the 3 floors of the testing site, the teams will have to propose : Either a robot with the capability to climb / descend the stairs or to go from one floor to the other using a dedicated rail Or a multi-robots solution (one robot per floor).

Technical choices / General design Target : overall TRL ( Technology Readiness Level ) = 5 with some sub-systems at TRL 6 or above.

TESTING SITE : «UMAD» UNIT IN LACQ (FRANCE) UMAD is part of «Centre de Formation de Lacq» in process to be transfered from TOTAL to APAVE in 2013

TESTING SITE : «UMAD» UNIT IN LACQ (FRANCE) Process unit without superstructures

TESTING SITE : «UMAD» UNIT IN LACQ (FRANCE) Simplified 3D view

TESTING SITE : «UMAD» UNIT IN LACQ (FRANCE)

Expected Call for project The Challenge is expected to be launched in September / October 2013, for a kick-off meeting in April 2014. 1 2 3 4 5 Sept./Oct. 2013 Posting date Opening of the registration Dec. 2013 / Jan. 2014 Proposal due date April 2014 Kickoff meeting The manager of the Challenge will answer all questions from potential participants. Q&A Rounds documents may be published to clarify all the rules and conditions of the challenge and the submission procedures. Selection of the participants by a Jury: 1 First round of expert opinions (Evaluation Committee): Additional information may be asked to the applicants, 2 Review of projects by the Steering Committee based on the Evaluation Committee s rating: Establishment of the pre-list of selected projects (from 4 to 6 teams), 3 Checking of the ATEX compatibility with an expert, 4 Establishment of the final list of selected projects (by both the Evaluation and the Steering Committees), 5 Signature of an agreement between the teams and the organizers. Remark Timing is tentative and depends on: - Call For Project issue: contract ANR/TOTAL finalisation and mobilisation of committees - Proposal preparation time: any reaction?

Proposed Organisation of the sessions Three sessions will be organized Location: UMAD unit in Lacq (France) Duration: 3 to 5 days The dates will be published at least 6 months in advance For each session Presentation trial Technical document (to be sent prior to the tests) Describes the technical solutions ATEX certification outline Oral presentation, with questions from a jury Free demonstration (program to be approved) Training sessions Controlled access to the test facilities Technical trials Safety demonstration and homologation Qualification session Competition session It is envisaged to review the possibility of access to the site between sessions

Proposed schedule of the Challenge The Challenge is expected to be conducted over 3 sessions. First session 12 months after Kick-off the other 2 separated by 9 months. + 1 year + 9 months to 1 year + 9 months to 1 year April 2014 at the earliest Kickoff meeting April 2015 First event Jan. 2016 Second event Selection of the Selection of the annual winner annual winner June 2015 March 2016 Sept. 2016 Final event Selection of the final winner Debriefing of the event with the participants Establishment of the detailed rules for the next event Remarks Expectation to find a balance between industrial aspect and academic timeframe

Roadmap of the events The roadmap of the events will be accurately determined with the participants, so that the different tasks required at each event are difficult enough but realistic. Kickoff meeting First event Second event Final event 1 Example: Initial test under controled & autonomous condition. Limited obstacles. 2 Example: increase difficulties in terms of obstacles, changing environment (visibility ). Autonomy to detect leak. 3 Example: Final test autonomous routine rounds disrupted by unexpected events and having to respond and report to base Design for robustness and ATEX will be checked at each stage in order to reach a ATEX certifiable prototype at end of the Challenge.

PARTNERSHIP ORGANISATION Total EP Specifies the mission requirements and constraints Supports and organises the test sessions Funds the most promising (from a end-user point of view) participating teams Gains experience with state of the art robotics ANR Builts upon the CAROTTE challenge experience to coordinate the writing of the call for proposal Organises the proposal evaluation with a process up to international standards Supports the most promising (from a scientific point of view) French participants* (*) funding agencies from other countries are welcome to joint the ANR initiative

THANK YOU!

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ARGOS(*) Challenge. (*) ARGOS : Autonomous Robot for Gas & Oil Sites. Workshop, Hilton Hotel, Paris La Défense, June 11 th, 2013.

ARGOS() Challenge. () ARGOS : Autonomous Robot for Gas & Oil Sites. Workshop, Hilton Hotel, Paris La Défense, June 11 th, 2013.