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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p
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
(Office) 281‐251‐1131
(Cell) 713‐816‐3467
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