Kongsberg Maritime - Championing the UK subsea … Survey Class AUV: HUGIN AUV System 09.02.2016...

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Kongsberg Maritime

Inspection Class AUV Technology:

The Transition from Survey to Inspection

Atle Gran

Area Sales Manager Marine Robotics

Disclaimer:

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The following presentation is designed to identify some of the technology gaps to enable survey class cruising

AUVs to transition to inspection class autonomous vehicles.

The information presented is not exhaustive and does not necessarily indicate any particular product or

development by Kongsberg Maritime. There may be other technologies under development that are not included.

Thanks for their input:

• Memorial University Newfoundland

• Fugro

• AXA Engineering

• KM Marine Robotics and Underwater Mapping Departments

• University of Southern Mississippi

• Hydrography

• Oceanography

• Geohazard Surveys

• Pipeline Inspections

• Route Surveys

• As-Built Surveys

• Environmental Monitoring

• Benthic Habitat Mapping

• Marine Archeology

• EEZ/UNCLOS Surveys

• Search and Salvage

• And more….

What are AUVs Used for Today?

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EM2040 Courtesy of Fugro

EM2040 Courtesy of C&C Technologies

The State-of-the-Art Survey Class AUV?

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State-of-the-Art Survey Class AUV:

HUGIN AUV System

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Typical Payload Sensors:

• HISAS Synthetic Aperture Sonar

• EM2040 Multibeam Echosounder

• EdgeTech SSS & Sub-Bottom Profiler

• CathX Ocean Colour Still Image Camera

• CathX Ocean Laser Profiler

• OFG Magnetometer

• Contros HydroFlash CH4

• Franatech METS

• WetLabs Turbidity

Dimensions:

• Length: 5.2 to 6.5 m

• Diameter: 75 cm

Depth Ratings:

• 3000, 4500 and 6000 m

Power Supply:

• Rechargeable and swappable

Lithium Polymer batteries

Endurance:

• 24-70+ hours with payload sensors

running

What is the Challenge?

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How do we transition from Survey to Inspection?

1. Technology

• Integration of new sensors (laser profiler, color camera etc.)

• Greater adoption of SAS

TECHNOLOGY GAPS

• CP Assessment

• Mass spectrometry for locating and identifying leaks for carbon fingerprinting

• Ultrasonic/Non-Destructive Testing for structural integrity

• Integration of sensor technology on subsea infrastructure with data harvested by the AUV

New Sensor Integrations

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Courtesy of CathX Ocean

Courtesy of CathX Ocean

• Cathx Ocean color camera with laser profiler is

being integrated for delivery 2016

• Ocean Floor Geophysics magnetometer is being

integrated for delivery in 2016

• Environmental sensors being integrated for

delivery in 2016 include:

– WetLabs ECO Puck CDOM fluorometer

– WetLabs ECO Puck Chlorophyll A

– OCR-504 Radiometer

– Biospherical Instr. QSP-2150 PAR

– Satlantic DeepSuva SUNA V2 Nitrate

– Contros HydroFlash DO

Greater Adoption of SAS

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• Synthetic Aperture Sonar

• HISAS 1032 theoretical resolution 2 x 2 cm

• HISAS 2040 theoretical resolution 1.2 x 1.3 cm

• Practical resolution 4 x 4 cm

• Range independent resolution

• HISAS 1032 range: 300 m either side

• HISAS 2040 range: 150 m either side

• In-Mission SAS and Bathymetry processing

850 kHz SSS

HISAS 1030 HISAS 2040

/ 9 /9-Feb-16

1x1 m cube

Range 320 m

1x1 m cube

Range 275 m

Submarine wreck

Range 205-245 m

HISAS 1030 on HUGIN 1000

Range 45-325 m

AUV altitude 40 m

Speed 2.3 knots

HISAS Data

What is the Challenge?

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How do we transition from Survey to Inspection?

1. Technology

2. Vehicle Behaviours

CAPABILITY GAPS

• Efficient hovering/slow speed manoeuvring

• In-mission adaptive control

• Relative navigation

• Subsea residency

• Data harvesting from in-situ sensors

What is the Challenge?

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How do we transition from Survey to Inspection?

1. Technology

2. Vehicle Behaviours

Docking

Hovering

Pipe Tracking

Pipe Tracking

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• Autonomous tracking using HISAS/SSS and

EM2040

• Pass 1: alongside pipe to collect SAS/SSS

imagery, bathymetry and create a-priori map

• Pass 2: overhead collecting 400 kHz

bathymetry and photo mosaic

• No interaction with operator required

• Track points sent to surface in real-time

SAS Imagery

EM2040 Bathymetry Photo Mosaic

Adaptive Control

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Range 52 m Range 28 mRange 80 m

Range 64 mRange 84 mRange 90 m

1. HISAS processing

occurs on-board in real

time

2. In-Mission automatic

target recognition

algorithms classify

mine-like objects

For MCM Operations the latest generation HUGIN MR is equipped with HISAS 1032

Adaptive Control

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TileCam on HUGIN

Altitude 5 m3. On-board adaptive

control re-plans the

mission to photograph

high-priority targets

4. Revised mission

plan transmitted to

operator for approval

5. AUV completes detection, classification

and identification in a single dive

Adaptive Control

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Example: LEAK/SEEP DETECTION during Pipe Survey

1. Analyse EM2040 Water Column data in mission

2. Analyse METS/PAH sensor data in mission

3. If bubbles in water or hydrocarbons are detected then HUGIN stops current mission objective

4. Report to operator

5. Autonomously circles back to detection area

6. Conducts multiple slow speed passes to record high resolution data

Example: CHANGES IN BATHYMETRY or SEARCH AND RECOVERY

1. Analyse EM2040 and SSS/HISAS imagery in real-time

2. Apply known bathymetry/imagery filters

3. Run autonomous change detection algorithms

4. Identify discrepancies

5. Report to operator

6. Autonomously return to identified discrepancies

7. Conducts multiple slow speed passes to record high resolution data

What is the Challenge?

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How do we transition from Survey to Inspection?

1. Technology

2. Vehicle Behaviours

3. Improve the benefits of using AUVs

BENEFITS

• Higher survey speeds

• Better quality, more consistent data with better geo-referencing

• Lower life cycle costs

• Flexibility of operations

What is the Challenge?

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How do we transition from Survey to Inspection?

1. Technology

2. Vehicle Behaviours

3. Improve the benefits of using AUVs

4. Commercial challenges

CHALLENGES…?

• Acceptance that AUVs work differently from ROVs and produce a different data set

• Acceptance that AUVs will augment, not replace ROVs

• Lack of real-time visual feedback for the majority of operations

– Could be overcome by the introduction of real-time 3D visualisation of AUV operations

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What’s Next?

kongsberg.com

09/02/2016