Autonomous Inspection of Subsea Facilities · 1/24/2012  · Autonomous Inspection of Subsea...

Autonomous Inspectionof Subsea Facilities

RPSEA 09121‐3300‐05RPSEA 09121‐3300‐05Final Presentation

RPSEA Ultra Deepwater Subsea Systems TAC MeetingRPSEA Ultra‐Deepwater Subsea Systems TAC Meeting

January 24, 2012

GFBEDC Boardroom

Sugar Land, TX

John Jacobson, Lockheed Martin,

AgendaAgenda

• Project Overview

• Phase I: Technology Development Integration and TestPhase I: Technology Development, Integration, and Test• Phase I Objectives

• Simulation Laboratory Results

• Risk Reduction and Local Offshore Trials Results

• Phase II: Gulf of Mexico Technology DemonstrationPh II Obj i• Phase II Objectives

• Technology Demonstration Test Program

• GoM Technology Demonstration ResultsGoM Technology Demonstration Results

• Conclusions

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Project ObjectivesProject 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

• Pre/post hurricane inspection by an AUVPre/post hurricane inspection by an AUV

• Reliable operation of a subsea valve (not funded) 

Phase I Objective:

—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

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Autonomy Integration Sequence & StatusAutonomy Integration Sequence & Status

Complete Complete Complete

Complete

Complete

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RPSEA RPSEA 0912109121‐‐33003300‐‐05 05 Phase I / Phase IIPhase I / Phase IISummary ScheduleSummary ScheduleSummary ScheduleSummary Schedule

Sep Oct Nov Dec Jan Feb Mar Apr May Jun Jul Aug SepAutonomy SW Dev. & Lab Integration

A tonom De elopment

2010 2011

Autonomy DevelopmentLaunch & Recovery / Control Van Equipment

DesignProcureAssembly, Integration & Test

Vehicle System Integration & TestVehicle Build

L&R / Control  VanComplete

Vehicle BuildFacility IntegrationDockside CheckoutBase Vehicle Dockside / At-Sea ShakedownLocal Autonomy Testing

Gulf of Mexico Validation TestingTest Planning

Local Offshore TestingComplete

Test Procedure DevelopmentGoM Test Readiness ReviewPacking & ShipmentMobilizationPierside Checkout / L&R TestingOffshore Autonomy Testing (Part 1)Off h A t T ti (P t 2)

GoMTest ReadinessReview

Gulf of Mexico 

2010 Plan

2011 ActualOffshore Autonomy Testing (Part 2)GoM Technology DemonstrationDemobilization / Return Shipment

Demo Complete

2011 Actual

2011 Add'l Testing

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Marlin Autonomous Underwater VehicleMarlin Autonomous Underwater Vehicle

SpecificationsDimensions:3.05m x 1.52m x 1.22 mWeight: 954kg (in air)Endurance: 12 - 18 hoursSpeed: 0 to 3.5 knotsDepth: 300m

Acoustic ModemAcoustic Modem

Acoustic Tracking Transducer

RF ModemGPS ReceiverStrobe

Homing & Docking

3D Imaging SonarForward Looking

SonarDVLHD Camera

Homing & DockingTransducer

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3D Imaging SonarSonar

RPSEA RPSEA 0912109121‐‐33003300‐‐05 Program:05 Program:Phase I Development ObjectivesPhase I Development Objectivesp jp j

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• Local offshore testing from Lockheed Martin facility in Florida

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Marlin OPIS Simulation Marlin OPIS Simulation LaboratoryLaboratory

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Marlin OPIS Simulation Marlin OPIS Simulation LaboratoryLaboratory

60” DisplayMonitors

TacticalHardware

ServerCabinet

EmbeddedHW Enclosure

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RPSEA RPSEA 0912109121‐‐33003300‐‐05 05 Program: Phase IProgram: Phase IMarlinMarlin™ ™ Offshore Platform Offshore Platform Inspection System Inspection System Mission Mission ProfileProfile

IngressAUV Launch& Recovery(>150m Stand-off)

AdaptivePath Planning

Inspect

15 m

EgressLockheed MartinMarlin™ AUV

Detect/AcquireDive toDetectedPlatformNext SliceChange

The Platform Inspection mission profile involves successive passes around the platform at a 15m standoff with 50% overlap of 3D sonar scans between passes

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platform at a 15m standoff, with 50% overlap of 3D sonar scans between passes. 

RPSEA RPSEA 0912109121‐‐33003300‐‐05 05 Program: Phase IProgram: Phase ISimulation Lab Run Results Simulation Lab Run Results –– Change DetectionChange Detection

Bent Members Detected

a priori ModelSonar-based Scanned ModelDetected Positive AnomaliesDetected Positive AnomaliesDetected Negative Anomalies

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Successful Detection of Large Scale Anomaly TypesSuccessful Import & Display of Platform Inspection Data into ArcGIS Tool

RPSEA RPSEA 0912109121‐‐33003300‐‐05 05 Program: Phase Program: Phase IIMarlin™ AUV Launch Marlin™ AUV Launch –– Feb 2, 2011Feb 2, 2011

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RPSEA RPSEA 0912109121‐‐33003300‐‐05 05 Program: Phase Program: Phase IIGoM Sonar Data Collection GoM Sonar Data Collection –– Risk MitigationRisk 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)pose estimation)

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RPSEA RPSEA 0912109121‐‐33003300‐‐05 05 Program: Phase IProgram: Phase IInitial Results: 3D Models Built from GoM Sonar DataInitial Results: 3D Models Built from GoM Sonar Data

Fixed Platform ~ 80 ft. 8 Legged Platform

Resulting 3D model

Sonar Data Set Represents One Pass Around Platform at a Single Depth

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3D Sonar ImageryPlatform at a Single Depth

RPSEA RPSEA 0912109121‐‐33003300‐‐05 05 Program: Phase IProgram: Phase ILocal Offshore Testing (Palm Beach, Florida)Local Offshore Testing (Palm Beach, Florida)

• Conducted Initial Data collection Runs (30 meter offset) on anRuns (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 Bargeof Opportunity (Cross Current Barge Reef) and Generated Higher Resolution Base (a priori) Model to be used for Inspection/Change Detection R

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Runs

RPSEA RPSEA 0912109121‐‐33003300‐‐05 05 Program: Phase IProgram: Phase ILocal Local Offshore Testing (Palm Beach, Florida)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

ChangesDetected

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Phase II:Phase II:Gulf of Mexico Technology DemonstrationGulf of Mexico Technology DemonstrationGulf of Mexico Technology DemonstrationGulf of Mexico Technology Demonstration

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RPSEA RPSEA 0912109121‐‐33003300‐‐05 Project: 05 Project: Phase Phase II II GOM Demonstration ObjectivesGOM 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

I d h 3D d l d i / d h– Introduce changes to 3D model and re‐inspect / detect changes– Demonstrate API TRL level 5 capability

• Mission planning & executionO ti l f t• Operational safety

• Ability to operate in typical Gulf of Mexico conditions• Autonomous inspection• Autonomous change detection• Autonomous change detection• Feature based navigation• Post inspection analysis• Launch and Recovery from a Typical Support Vessel

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Launch and Recovery from a Typical Support Vessel

RPSEA RPSEA 0912109121‐‐33003300‐‐05 Project: 05 Project: Phase Phase II II GOM Demonstration SponsorshipGOM Demonstration Sponsorship

In cooperation with RPSEA and supported by In cooperation with RPSEA and supported by Chevron Energy Technology CompanyChevron Energy Technology CompanyChevron Energy Technology CompanyChevron Energy Technology Company

Lockheed Martin demonstrated the Marlin Offshore Lockheed Martin demonstrated the Marlin Offshore Platform Inspection System’s capabilities In the US Platform Inspection System’s capabilities In the US

Gulf of Mexico in 2011Gulf of Mexico in 2011

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Technology Demonstration Test ProgramTechnology Demonstration Test Program

Test Item ObjectivesLaunch & Recovery Validate vehicle L&R pierside

Validate vehicle L&R offshoreValidate vehicle emergency recovery

Initial Shakedown Validate basic vehicle functionalityValidate checklists

AComms Checkout Validate AComms LinkValidate ATS LinkValidate RF Link

Initial Sonar Data Collection 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

P E i i & Ch D i V lid li h d i d f i fil f ( lPose Estimation & Change DetectionInitial Assessment ‐1

Validate pose alignment, change detection and fusion filter performance (open loop FBN)

Pose Estimation & Change Detection  Initial Assessment ‐ 2

Validate pose estimation, change detection and fusion filter (FBN loop closed with Perception & Response)

Pose Estimation & Change Detection Validate pose estimation change detection and fusion filter performance (ClosedPose Estimation & Change Detection   Final Assessment

Validate pose estimation, change detection and fusion filter performance (Closed Loop FBN)

Post Mission Processing Validate Initial model building , model re‐construction & change detection/localization capabilityImport to ArcGIS

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All Test Primary Test Objectives Achieved

Launch & Recovery System TestingLaunch & Recovery System Testing

DampingActuators

ShockAb b

Side View

Absorbers

Top View Track

A t H i

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Autonomous Homing & Capture

Marlin™ Offshore Platform Inspection System Marlin™ Offshore Platform Inspection System Shipboard ConfigurationShipboard ConfigurationShipboard ConfigurationShipboard Configuration

Vehicle Cradle &Vehicle Cradle &Vehicle Cradle &Vehicle Cradle &Deck Support StructureDeck Support Structure

Launch & RecoveryLaunch & RecoverySystemSystem

Marlin™Marlin™AUV   AUV   

Operations &Operations &Maintenance VanMaintenance Van

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Compact System that can be Quickly & Safely Deployed from Vessels of Opportunity

Marlin™ Offshore Platform Inspection System Marlin™ Offshore Platform Inspection System Mission Mission ProfileProfile

IngressAUV Launch& Recovery(>150m Stand-off)

OptimalPath Planning

Inspect

15 m Standoff

EgressOperational Sequence:• Pre-mission checkout• Generate inspection plan &

download to vehicleL h hi l & t t i i

D t t/A iDi t

• Launch vehicle & start mission• Ingress & detect/acquire

platform• Inspect platform• Egress to recovery location &

hi l Detect/AcquirePlatform

Dive toNext Slice

recover vehicle• Post-mission checkout• Offload data & process

Th l f i i i i fil i l i d h l f

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The platform inspection mission profile involves successive passes around the platform at a 15m standoff, with 50% overlap of 3D sonar scans between passes

3D Model Generation3D Model Generation

•Inspection conducted at

–Speed 2.0 kts (speed over ground)

Standoff from Structure 15M

• Mensurated dimensions:

‐ 42 5 meters long (base)–Standoff from Structure 15M

–100% overlap per depth slice

–4 depth slices One 27 minute mission to collect the

42.5 meters long (base)

‐ 21.1 meters wide (base)

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• Water Depth: 55 ftOne 27 minute mission to collect the 

data displayed

3D Model Generation3D 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)15.8 m long (mid beam)

‐ 16.9 m wide (mid‐beam)

One 41 minute mission to collect the data displayedcollect the data displayed

ROV operations noted 4 meter fluidized unconsolidated soils zone at bottom with zero

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zone at bottom with zero visibility

Change DetectionChange Detection

Buckled, bent and missing

members d t t ddetected

Positive (new features) and Negative (missing features) Detected and displayed as Marlin conducts the inspection

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Changes detected in real time (on the Marlin) against baseline model

3D Model Building of Reefed Structures3D Model Building of Reefed Structures

• EI 338 Artificial Reef consists of five reefed platforms and one d b i fi ld Artificial Reefdebris field

• Water Depth ~ 265 ft

• Employed “Spiral Survey”

Artificial Reef“North Complex”:• EI‐352‐B• EI‐297‐A• GC‐6

• Employed  Spiral Survey  pattern to establish safety / exclusion zones 

Debris Field:• EI‐338‐A

• Employed “Race Track Survey” pattern to conduct model building Artificial Reef

“South Complex”:• SM174‐A• EI‐330‐A

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Reefed Platform Spiral Search and Reefed Platform Spiral Search and Low Resolution Model BuildingLow Resolution Model BuildingLow Resolution Model BuildingLow Resolution Model Building

Spiral Search Mission Model Building Mission

Low Res Model

80 m

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180 m

Reefed Reefed Platform High Resolution Model BuildingPlatform High Resolution Model Building

• Model Building Missions conducted at multiple standoff didistances 

• Final high resolution model developed from data acquired at 

d ff15 meter standoff

High Res ModelHigh Res Model

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High Res ModelEI-352-B

High Res ModelEI-352-B

3D Model Data Analysis3D 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

CAD Model 3D Sonar Model

Future analysis will include:– Evaluation of alignment offsets

Perform statistical analysis of– Perform statistical analysis of SONAR model to structural member dimensions

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Initial data analysis shows alignment and dimensional accuracies in cm range

Autonomy for Structural SurveyAutonomy for Structural Survey

• Mission Planning

• Path Planning / Vehicle Guidance

• Supervisory Control

• Contingency Management

• Feature Based Navigation

• Model Building

Ch D t ti• Change Detection

• Recovery

• Geo‐registered model / data export

High Level of Autonomy Faster Safer Economical and More Accurate Data and Models

g / p

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High Level of Autonomy  ‐ Faster, Safer, Economical, and More Accurate Data and Models

2011 Gulf of Mexico Offshore Trials Summary2011 Gulf of Mexico Offshore Trials Summary

• Successfully Demonstrated Autonomous Inspection Capability

• Full operating profile• Full operating profile demonstrated multiple times

– 56 individual missions

– Two Fixed platforms

– Two Rigs‐to‐Reef sites with toppled Platformstoppled Platforms

– 70 Hours in‐water operations

Successfully Completed 56 Inspection Missions in 13 Available Days of Operation 

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ConclusionsConclusions

The Marlin Offshore Platform Inspection System is a robust tool for Structural Integrity Management of Subsea Infrastructure

A i S i hi h l i 3D S• Acoustic Survey using high resolution 3D Sonar

• Generation of high fidelity 3D models

• Real‐time detection and localization of structural changes vs. reference model

A t I ti ff i ifi t t d ffi i d t tAutonomous Inspection offers significant cost and efficiency advantages over current methods:

– 3D model generation in hours vs. days

Accurate geo registered model for structural integrity management assessment– 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– 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

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p / g q y

– Deepwater facility inspection

Questions?Questions?

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Contact InformationContact Information

John Jacobson

Lockheed Martin MS2

john.r.jacobson@lmco.com

(Office) 281‐251‐1131

(Cell) 713‐816‐3467

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