![Page 1: a High Energy, Near-Shore Marine Environment · a High Energy, Near-Shore Marine Environment Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest Dr Remo](https://reader034.vdocuments.us/reader034/viewer/2022042204/5ea5db8843fed335ca71b27e/html5/thumbnails/1.jpg)
Robotic Characterisation of Pipelines in a High Energy, Near-Shore Marine
Environment
Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest
Dr Remo Cossu, Mr Karl Manzer Mr Chris Coppard, Mr Andrew Hargrave
SUT, Perth, 22 October 2015
![Page 2: a High Energy, Near-Shore Marine Environment · a High Energy, Near-Shore Marine Environment Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest Dr Remo](https://reader034.vdocuments.us/reader034/viewer/2022042204/5ea5db8843fed335ca71b27e/html5/thumbnails/2.jpg)
Presentation Overview
1. Introduction – Tasmanian Gas Pipeline
2. Methods – Robotic Characterisation
3. Results – Feature Detection & Environment Comparison
4. Discussion
5. Conclusions
2 ROV footage, Five Mile Bluff (2015)
![Page 3: a High Energy, Near-Shore Marine Environment · a High Energy, Near-Shore Marine Environment Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest Dr Remo](https://reader034.vdocuments.us/reader034/viewer/2022042204/5ea5db8843fed335ca71b27e/html5/thumbnails/3.jpg)
PIPELINE INTEGRITY THREATS
Damage caused by anchor dragging
from shipping
Damage from heavy objects dropped
from shipping
Excessive spanning of
pipeline
Pig stuck in pipeline
Terrorist activity – Bomb threat/other
Vandalism to shore portion of MLV facilities that
impact on offshore gas security
Corrosion & other operations in area
Regulated through the National Offshore Petroleum Safety and Environmental Management Authority (NOPSEMA)
Methodology
![Page 4: a High Energy, Near-Shore Marine Environment · a High Energy, Near-Shore Marine Environment Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest Dr Remo](https://reader034.vdocuments.us/reader034/viewer/2022042204/5ea5db8843fed335ca71b27e/html5/thumbnails/4.jpg)
• Millions are spent yearly on pipeline rectification through grout bags and concrete mattresses
• Tied closely to regions of high scour
• Marine growth is also an issue
• Need to identify areas of high risk Grout Bag (2006)
4
Asset Management
![Page 5: a High Energy, Near-Shore Marine Environment · a High Energy, Near-Shore Marine Environment Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest Dr Remo](https://reader034.vdocuments.us/reader034/viewer/2022042204/5ea5db8843fed335ca71b27e/html5/thumbnails/5.jpg)
Tasmanian Gas Pipeline
http://www.tasmaniangaspipeline.com.au/offshore-map
• Liquefied Natural Gas (LNG)
• 320 km long
• OD 430-515 mm (excluding growth)
• Free span assessment
• Deal Island • Low Energy • 60-70 metres depth
• Five Mile Bluff • High Energy • 5-30 metres depth
Deal Island
Five Mile Bluff
5
![Page 6: a High Energy, Near-Shore Marine Environment · a High Energy, Near-Shore Marine Environment Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest Dr Remo](https://reader034.vdocuments.us/reader034/viewer/2022042204/5ea5db8843fed335ca71b27e/html5/thumbnails/6.jpg)
Free Span Identification
• Acoustic shadow in contact with hard acoustic return
• Acoustic shadow separated from hard acoustic return
• Acoustic backscatter processed with Caris HIPS & SIPS
No span, span example, Five Mile Bluff (2015)
6
![Page 7: a High Energy, Near-Shore Marine Environment · a High Energy, Near-Shore Marine Environment Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest Dr Remo](https://reader034.vdocuments.us/reader034/viewer/2022042204/5ea5db8843fed335ca71b27e/html5/thumbnails/7.jpg)
Why Autonomous Underwater Vehicles (AUVs)?
• Close Proximity • High resolution, regardless of water depth
• Constant Altitude • Maintain a shallow angle of 14° from horizontal
• Positional Accuracy • ≈0.1% distance covered (1 m/1 km)
• Decoupled from Surface Motions
Deal Island (2015) 7
![Page 8: a High Energy, Near-Shore Marine Environment · a High Energy, Near-Shore Marine Environment Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest Dr Remo](https://reader034.vdocuments.us/reader034/viewer/2022042204/5ea5db8843fed335ca71b27e/html5/thumbnails/8.jpg)
Gavia Scientific AUV Specifications
INS DVL/ADCP GeoSwath+
Battery Propulsion Control
Nose
8
Length 2.5-3.0 m
Diameter 0.2 m
Depth Rating 500 m
Velocity 1.0-2.5 m/s
Range 20-30 km
Weight (in air) 80-90 kg
Inertial Navigation System (INS) Kearfott T-24
Interferometric Sonar Kongsberg 500 kHz GeoSwath+
Acoustic Doppler Current Profiler (ADCP) Teledyne RDI 1200 kHz Workhorse
Side-scan Sonar Imagenex 260/900 kHz
Optical Backscatter WET Labs Ecopuck (470, 532, 650 nm)
Downwards Facing Camera Scorpion 1.9 MP (3.75 FPS)
![Page 9: a High Energy, Near-Shore Marine Environment · a High Energy, Near-Shore Marine Environment Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest Dr Remo](https://reader034.vdocuments.us/reader034/viewer/2022042204/5ea5db8843fed335ca71b27e/html5/thumbnails/9.jpg)
Remotely Operated Vehicle (ROV)
• SeaBotix LBV300 Observation Class ROV • 300 metre depth rating
• Ultra Short Base-Line positioning
• On-board mono & colour camera
• Attached GoPro
• Validate detection method
• Validate span height approximation
9
![Page 10: a High Energy, Near-Shore Marine Environment · a High Energy, Near-Shore Marine Environment Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest Dr Remo](https://reader034.vdocuments.us/reader034/viewer/2022042204/5ea5db8843fed335ca71b27e/html5/thumbnails/10.jpg)
Five Mile Bluff
• June 2014, May 2015
• Horizontal Directional Drill (HDD) exit to 5 km offshore
• Depth • 5-30 metres
• Mission length • 4.3-4.8 km
• 45-50 minutes
10
![Page 11: a High Energy, Near-Shore Marine Environment · a High Energy, Near-Shore Marine Environment Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest Dr Remo](https://reader034.vdocuments.us/reader034/viewer/2022042204/5ea5db8843fed335ca71b27e/html5/thumbnails/11.jpg)
Deal Island
• February 2015
• 7km section due west of Deal Island
• Depth • 67-72 metres
• Mission length • 5.6-9.8 km
• 4.7 2.5
11
![Page 12: a High Energy, Near-Shore Marine Environment · a High Energy, Near-Shore Marine Environment Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest Dr Remo](https://reader034.vdocuments.us/reader034/viewer/2022042204/5ea5db8843fed335ca71b27e/html5/thumbnails/12.jpg)
Current Profiling • Stationary ADCP (RDI Workhorse V50
500 kHz) • Ping every 5 seconds (0.2 Hz)
• Averaged over 5 minute intervals
12
![Page 13: a High Energy, Near-Shore Marine Environment · a High Energy, Near-Shore Marine Environment Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest Dr Remo](https://reader034.vdocuments.us/reader034/viewer/2022042204/5ea5db8843fed335ca71b27e/html5/thumbnails/13.jpg)
Acoustic Backscatter Results Full burial Partial burial
13
![Page 14: a High Energy, Near-Shore Marine Environment · a High Energy, Near-Shore Marine Environment Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest Dr Remo](https://reader034.vdocuments.us/reader034/viewer/2022042204/5ea5db8843fed335ca71b27e/html5/thumbnails/14.jpg)
No span
ROV mounted GoPro
14
![Page 15: a High Energy, Near-Shore Marine Environment · a High Energy, Near-Shore Marine Environment Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest Dr Remo](https://reader034.vdocuments.us/reader034/viewer/2022042204/5ea5db8843fed335ca71b27e/html5/thumbnails/15.jpg)
High Spans
ROV mounted GoPro
15
![Page 16: a High Energy, Near-Shore Marine Environment · a High Energy, Near-Shore Marine Environment Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest Dr Remo](https://reader034.vdocuments.us/reader034/viewer/2022042204/5ea5db8843fed335ca71b27e/html5/thumbnails/16.jpg)
Low Spans
ROV mounted GoPro
16
![Page 17: a High Energy, Near-Shore Marine Environment · a High Energy, Near-Shore Marine Environment Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest Dr Remo](https://reader034.vdocuments.us/reader034/viewer/2022042204/5ea5db8843fed335ca71b27e/html5/thumbnails/17.jpg)
Grout Bag
ROV mounted GoPro
17
![Page 18: a High Energy, Near-Shore Marine Environment · a High Energy, Near-Shore Marine Environment Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest Dr Remo](https://reader034.vdocuments.us/reader034/viewer/2022042204/5ea5db8843fed335ca71b27e/html5/thumbnails/18.jpg)
Flange
COVUS CORPORATION PTY LTD
18
![Page 19: a High Energy, Near-Shore Marine Environment · a High Energy, Near-Shore Marine Environment Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest Dr Remo](https://reader034.vdocuments.us/reader034/viewer/2022042204/5ea5db8843fed335ca71b27e/html5/thumbnails/19.jpg)
http://www.tasmaniangaspipeline.com.au/offshore-map
High Energy Vs Low Energy
Low Energy Environment - Deal Island (2015) • 60-70 meters depth
• 15 spans per kilometre average
High Energy Environment - Five Mile Bluff (2015)
• 5-30 meters depth
• 30 spans per kilometre average
• Wave action
Deal Island
Five Mile Bluff
19
![Page 20: a High Energy, Near-Shore Marine Environment · a High Energy, Near-Shore Marine Environment Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest Dr Remo](https://reader034.vdocuments.us/reader034/viewer/2022042204/5ea5db8843fed335ca71b27e/html5/thumbnails/20.jpg)
High Energy in shallow water • Five Mile Bluff
• 2014 – Averaged 26 spans per kilometre
• 2015 – Averaged 30 spans per kilometre
• Indicated by sand ripples
• Current Profile
20
![Page 21: a High Energy, Near-Shore Marine Environment · a High Energy, Near-Shore Marine Environment Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest Dr Remo](https://reader034.vdocuments.us/reader034/viewer/2022042204/5ea5db8843fed335ca71b27e/html5/thumbnails/21.jpg)
Discussion
• AUV Pipeline Survey • Collection time • Data processing time • Deployment logistics • Additional data collection
• Periodic Survey • Repeat surveys to understand pipeline
scour • Identify high energy and low energy areas • Reduce number of surveys based on scour
knowledge and prediction
21
Compare
Predict
Survey
![Page 22: a High Energy, Near-Shore Marine Environment · a High Energy, Near-Shore Marine Environment Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest Dr Remo](https://reader034.vdocuments.us/reader034/viewer/2022042204/5ea5db8843fed335ca71b27e/html5/thumbnails/22.jpg)
Conclusions
• AUVs pipeline surveys • Geo-referencing free span length and height
down to 100mm • Geo-reference grout bag and flanges
• ROV Validation • Method • Feature recognition • Span heights
• Repeat Surveys • Direct Comparison • Develop pipeline scour knowledge • Feed knowledge into predictions to reduce
survey intervals
22 Five Mile Bluff (2014)
![Page 23: a High Energy, Near-Shore Marine Environment · a High Energy, Near-Shore Marine Environment Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest Dr Remo](https://reader034.vdocuments.us/reader034/viewer/2022042204/5ea5db8843fed335ca71b27e/html5/thumbnails/23.jpg)
Ongoing Research
• Circulation Water Channel testing
• Computational Fluid Dynamics (CFD)
• Sediment Sampling
McInerney (2015) Lee (2015)
23
![Page 24: a High Energy, Near-Shore Marine Environment · a High Energy, Near-Shore Marine Environment Mr Nathan Kemp, Mr Isak Bowden-Floyd, Ms Jasmin McInerney, Dr Alexander Forrest Dr Remo](https://reader034.vdocuments.us/reader034/viewer/2022042204/5ea5db8843fed335ca71b27e/html5/thumbnails/24.jpg)
Acknowledgments
24 East Cove, Deal Island (2015)