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AUV Pipeline Inspections - The Pipeline Industries Guild
AUV Pipeline Inspections Subsea Pipelines Integrity Management 2011 PROUD MEMBER OF Overview AUV Pipeline Inspections • What are UUVs, ROVs and AUVs? • How does an AUV Work? • Current AUV Applications • AUV Pipeline Inspections • The Future AUV Unmanned Underwater Vehicles AUV Pipeline Inspections An Unmanned Underwater Vehicle (UUV) is a submersible with no humans on board. There are two types of UUV: Remotely Operated Vehicle (ROV) Autonomous Underwater Vehicle (AUV) Remotely Operated Vehicles AUV Pipeline Inspections • Tether (Cable) • Underwater • Remotely Operated • Robot Joystick ROV Control Umbilical (Significant length) TMS or Garage Tether ROV Uses AUV Pipeline Inspections • Inspection, Repair and Maintenance • Construction Support • Drill Support • Ship Inspection • Touch Down Monitoring Autonomous Underwater Vehicles AUV Pipeline Inspections Image courtesy of iRobot Image courtesy of Bluefin Autonomous Underwater Vehicles AUV Pipeline Inspections Inside an AUV: • Power – An AUV has no tether • Control – Active Surfaces • Propulsion – Motor & propellers • Control System – Computers • Sensors – Navigation and payloads Autonomous Underwater Vehicles AUV Pipeline Inspections Payload Sensors: • Side-scan sonars (Imaging) • Optical Cameras and Video (Imaging) • Single- and Multi-beam Echo Sounders (Bathymetry) • Acoustic Doppler Current Profilers (Currents) • CTD (Conductivity, Temperature and Depth) • Other Scientific Instruments Autonomous Underwater Vehicles AUV Pipeline Inspections Steps to Follow: • Mission Plan • Launch • Monitor • Recovery • Post-Process • Report Autonomous Underwater Vehicles Mission Plan Data Courtesy of Portuguese Navy Autonomous Underwater Vehicles Launch Autonomous Underwater Vehicles Recovery Autonomous Underwater Vehicles Features • Post-Process & Reports: – High Resolution – Stable Platform – Repeatable Autonomous Underwater Vehicles Applications AUV Technology Now Tool of Choice for: • Deepwater Survey Applications • Underwater Mine Hunting • Under Ice Oceanography • Low-logistic Pipeline Inspections SeeTrack AutoTracker Enabling Cost Effective Pipeline Inspection Using AUVs This world-first technology enables AUVs to carry-out inspections of export pipelines using its existing payload sensors to detect and adjust its own trajectory to accurately track the pipeline SeeTrack AutoTracker Enabling Cost Effective Pipeline Inspection Using AUVs Low-Logistic Surveys: • Rapid Deployment • From Littoral to 1000 meters • High Quality Data can be Used for Construction SeeTrack AutoTracker Improved Low-Logistics Operations: Before SeeTrack AutoTracker ROV Operations 1 knot With SeeTrack AutoTracker AUV Operations 4 knots SeeTrack AutoTracker Autonomous Behaviours: The key autonomous behaviours allow the AUV to: • • • • • Deal with known and unknown burials Carry out a simple acquisition Carry out a complex acquisition Search and acquire the pipeline Search and skip sections SeeTrack AutoTracker Autonomous Behaviours: B Transit to pre-programmed start point Pipeline detected Inspection begins dynamically adjust waypoints as required Pipeline enters unknown/is buried or pipeline track lost Search begins ? Pipeline located „Back to Start‟ manoeuvre issued A Missing data collected along buried pipeline route Inspection Continues Recovery SeeTrack AutoTracker Constant Offset Tracking Tracking 35m Offset Pipeline 22” AUV track Speed 3-4 Kts Altitude 8m Other Pipeline” SeeTrack AutoTracker Accurate Anomaly Detection Free span area Free span area WOSPS 20 Rock dump SeeTrack AutoTracker Results Outputs: • Pipeline Position • Spans • Rocks, Nets, Debris • Out-of-straightness • Seabed and bathymetry In Future: • Micro-bathymetry & Optical • Depth of Burial • CP SeeTrack AutoTracker World Record Breaking: FUGRO Survey Pty Ltd hold the record for the longest low-logistics active AUV continuous inspection at 31 km using AutoTracker on a Teledyne Gavia. Coming in 2012 Subsea 7‟s AIV Autonomous Inspection Vehicle: • Subsea 7 and SeeByte collaboration • Extensive “inspection” capability – Forward look sonar – Downward looking sonar – Video cameras • Mark 1 AIV operational deployment in 2012 Subsea 7‟s AIV Autonomous Inspection Vehicle: Autonomous Underwater Vehicles Contact Details Ioseba Tena Email: [email protected] Mobile: 0783-741-6606
Record-breaking AUV Pipeline Tracking Technology
