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Pipeline Inspection and Environmental Monitoring Using AUVs

Bjørn Jalving, Bjørn Gjelstad, Kongsberg Maritime AUV Workshop, IRIS Biomiljø, 7 – 8 September 2011

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Kongsberg AUV Program

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Kongsberg Maritime AUV Program

• HUGIN dual use program since 1991; AUVs for civilian and military applications

• Commercial operations since 1997. More than 300 000 line km billed.

• Military operations since 2001.

• 2011: Pipeline Inspection

• REMUS program since 1993

• 1993 REMUS 100 Tested off the shores of NJ for the first time

• 2001: Hydroid established

• Large customer base

• 2012: Ocean Observer Initiative

2001: Military demo

1997: First commercial survey

?

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REMUS - HUGIN Oil & Gas Product Line

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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

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Autonomy

• The level of autonomy achieved by AUVs is mainly determined by their performance in four areas:

• Autonomy for Offshore O&G monitoring will be developed as demand permit. Existing autonomy is robust and proven technology in HUGIN and REMUS AUV.

AUTONOMY AREA DESCRIPTION STATUS

Energy Autonomy Reliable power sources for long endurace missions

OK

Navigation Autonomy

Precise navigation with little or no position estimate error growth for extended periods of time

OK

Sensor Performance and Sensor Processing

The ability to sense the environment, surroundings and vehicle state

OK More work for payload

Decision Autonomy The ability to interpret and adapt to unforeseen changes in environment and vehicle

• Autonomous survey missions in unknown areas (naval)

• Pipeline inspection • Environmental

monitoring

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Ocean Observatory Initiative (OOI) and AUV

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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

80 km

Figure: WHOI

Figure: WHOI

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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

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HUGIN AUV Leakage Detection

1. Acoustic leakage detection • Multibeam echo sounder • Synthetic aperture sonar

2. Digital still camera 3. CTD 4. CONTROS HydroC

• CH4 Selective measurement • PAH

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Leakage detection with EM 2040

HydroC integration HUGIN 1000 HUGIN 1000 digitial still camera

Acoustic Network (Kongsberg cNODE)

Surface Network

Power to sensors • From internal battery • Power control

Vertical

Horizontal

Sensor

Network

Sensor data format • Serial data • Analog

Data Storage • Sampling and storage of data

Network • Uploading of stored data • All or max/min/average

Sensor

Basic functions: • Sensor nodes • Communication • Navigation

SIIS

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Multi-sensor Pipeline Inspection

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.

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

SAS Images of Pipeline (Standard Processing)

50x100 m 50x100 m 10x10 m

10x10 m

SAS Spot Processing

20x16 m area Reprocessed to 2x2 cm resolution

SAS Bathymetry

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Autonomous Pipeline Tracking Demonstration 9 – 10 February 2011

Pipeline tracking demonstration, 9-10 Feb 2011

30 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

Real-time pipeline detection and tracking

• Possible pipelines detected and tracked based on real-time 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)

Overlay

Processed HISAS data from same area

Area 120x90 m Range 32-152 m

Recorded Wednesday

Processed HISAS data from same area

Area 40x30 m

Recorded Wednesday

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

EM 3002 data

120x120 m

Recorded Wednesday

Data from TileCam still image camera

Altitude 5.2 m Resolution 2.5x2.5 mm

Recorded Wednesday

Data from TileCam still image camera

Altitude 5.2 m Resolution 2.5x2.5 mm

Recorded Wednesday

Data from TileCam still image camera

Altitude 5.2 m Resolution 2.5x2.5 mm

Recorded Wednesday

Data from TileCam still image camera

Altitude 5.2 m Resolution 2.5x2.5 mm

Recorded Wednesday

Data from TileCam still image camera

Altitude 4.9 m Resolution 2.5x2.5 mm

Recorded Wednesday

Data from TileCam still image camera

Altitude 4.8 m Resolution 2.4x2.4 mm

Recorded Wednesday

Data from TileCam still image camera

Altitude 4.8 m Resolution 2.4x2.4 mm

Recorded Wednesday

Data from TileCam still image camera

Altitude 4.8 m Resolution 2.4x2.4 mm

Recorded Wednesday

Data from TileCam still image camera

Altitude 4.6 m Resolution 2.3x2.3 mm

Recorded Wednesday

Data from TileCam still image camera

Altitude 4.7 m Resolution 2.3x2.3 mm

Recorded Wednesday

Data from TileCam still image camera

Altitude 4.7 m Resolution 2.3x2.3 mm

Recorded Wednesday

Data from TileCam still image camera

Altitude 4.6 m Resolution 2.3x2.3 mm

Recorded Wednesday

Data from TileCam still image camera

Altitude 4.6 m Resolution 2.3x2.3 mm

Recorded Wednesday

Data from TileCam still image camera

Altitude 4.6 m Resolution 2.3x2.3 mm

Recorded Wednesday

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Field Deployed AUVs in IMR Operations

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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

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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 Ocean observatory Illustration: Woods Hole Oceanographic Institution. The Pioneer Array. www.whoi.e

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Summary

• 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

AUV Inspection and Environmental Monitoring

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Kongsberg Maritime