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AUV Pipeline InspectionDamian LingSubsea Survey EngineerChevron - ETC 2017 Chevron North Sea Limited Company Confidential
SummaryChevron and Total under their SubseaTechnology Collaboration have been developingtechnologies to enable pipeline inspection usingan Autonomous Underwater Vehicle (AUV).The presentation will provide background to thedesign, developments, technical challenges, andan update of progress including the latest datafrom offshore trials of a commercial vehicle.Thanks to Oceaneering Survey Services for theimages and support on the project. 2017 Chevron North Sea Limited Company Confidential2
Project Approachand ObjectivesGeneral Approach to Technology Development: Engage with the AUV IndustrySupport research and developmentProvide technology trial opportunitiesDe-risk technologies for deploymentEngagement of Business UnitsObjective of the project : Development of a new approach to subsea pipeline inspection using AUVs 2017 Chevron North Sea Limited Company Confidential3
Evolution of Pipeline InspectionROVAUV todayAltitude 1m above pipelineAltitude 6 m above pipelineInnovativeInspection AUVAltitude 2,5 m above pipelinespeed ( 4 knot)100 Km of Pipe Takes 15hspeed ( 4 knot)100 Km of Pipe Takes 15 hNo Need for DP VesselNo Need for DP VesselNavigate using As Built DataNavigate using Auto-TrackingPost Processing of DataPost Processing of DataReal-time Data ProcessingPipe defects – FeaturesCP SurveyManual Obstacle AvoidanceNo CP ( Technology Gap)CP Survey (Under Development)No Obstacle Avoidance SonarAutomatic Obstacle AvoidanceSonarspeed ( 0.5 knot)100 Km of Pipe Takes 5 DaysNeed Min. DPII VesselVisual Navigation 2017 Chevron North Sea Limited Company Confidential4
Technology ChallengesWe considered four main technology challenges atproject inception: Subsea Navigation Visual Inspection Free Span Detection CP Measurement 2017 Chevron North Sea Limited Company Confidential5
Project StatusPhase 3Finalized VendorTrialPhase 2(Oceaneering)Trialand ProjectPhase 1Kick-offTrialOTC-24224-MSPaper Issued201220132014PipelineSpecification Issued PipelineInitiationInspectionSpecification(RFQ) 2017 Chevron North Sea Limited Company Confidential20152016Phase 1Design Phase 2Review DesignReview2017Phase 3DesignReview66
Subsea NavigationObstacle Detection and Collision AvoidanceNew nose cone designed to accommodatehorizontal and vertical beam sonar.Obstacles are represented in a probability gridand windows of safe travel selected in real-time. 2017 Chevron North Sea Limited Company Confidential7
Subsea NavigationRobust Real-time Pipeline FollowingPosition and altitude control from allavailable sensors.Software computes statisticalconfidence of all sensors anddetermines which to use.ALL POTENTIAL PIPELINES AREDETECTEDREAL-TIME DISPLAY SHOWSPIPELINE DETECTION FROMMULTIPLE SENSORSTarget is 1 m crosstrack and an altitude of 1to 2 m above pipeline. 2017 Chevron North Sea Limited Company ConfidentialPIPE FOLLOWING WHEN PIPE MATCHESAS-BUILT (GREEN IS TRACKED, WHITE ISAS-BUILT)8
Subsea NavigationReal-time Feature Based NavigationAnode Computer based vision algorithms todetect and identify features Along –track distance re-calibratedagainst feature library Re-acquisition if pipeline is lostSmart Behaviours – a move towardsfull autonomy:Mission adapts as a result of condition: Burial status Free span conditions Pipeline crossings Anomaly 2017 Chevron North Sea Limited Company Confidential9
Visual InspectionDigital PhotographyHigh Resolution DigitalPhotographyRendered into a scaled photomosaicImages are collected underexposed to allowadjustment for variation in lighting with altitude 2017 Chevron North Sea Limited Company Confidential10
Visual InspectionDigital PhotographyHigh Resolution DigitalPhotographyRendered into a scaled photomosaic 2017 Chevron North Sea Limited Company Confidential11
Freespan DetectionLaser scanningSignificantimprovement inresolution of crosssectional profilesAbility to create effective 3Dmodels and overlayphotography3D modeling 2017 Chevron North Sea Limited Company Confidential12
Freespan DetectionLaser scanning7m altitude5m altitude(noise level 1cm))(noise level 3mm)Resolution continues to increase as we lower altitude (1 – 2 m) 2017 Chevron North Sea Limited Company Confidential13
Freespan DetectionProgram also accommodatesfreespan detection using sidescan sonar (with auto pipelinetracking) offset from pipeline 2017 Chevron North Sea Limited Company Confidential14
CP SurveyContactless CP byAUVImage courtesy of TOTAL S.A Exploration and ProductionPatent FileNumber DatePCT/FR2015/051193TitleUnderwater vehicle for05/0 inspection of a subsea5/15 structure in a body of waterand related method 2017 Chevron North Sea Limited Company ConfidentialTOTAL have been developing anew CP approach which is beingintroduced into the program15
Value Proposition Utilize AUVs for pipeline inspection as a standard integritymanagement approach Cost savings in comparison to ROV inspection, due to increasedspeed of inspection and lower vessel cost, particularly in deeper water Improved quality and more manageable data with HD photographicmosaic and 3D laser cross section model Data quality improvement over ROTV surveys due to navigation closerto pipeline (closer distance and better aspect ratio) and platformstability 2017 Chevron North Sea Limited Company Confidential16
Lessons LearnedWhat went wrong: Not a lot (so far) Estimation of time for contracting Need to assess turbidity in real time and adjust sensors Lack of data management standards for new deliverable formatsWhat went right: Detailed specification Offshore trials approach is powerful to validate design assumptionsand simulation results Distinct milestones with criteria for payment Contracting with service provider not manufacturer Working as a team 2017 Chevron North Sea Limited Company Confidential17
Where next? Adoption of Pipeline Inspection AUV in our Subsea IntegrityManagement Programs Future Field Resident AUV systems for inspection, monitoring andlight intervention resulting in reduced vessel days. 2017 Chevron North Sea Limited Company Confidential18
Questions?Contact InformationDamian LingChevron ETC 44 1224 334000damian.ling@chevron.com 2017 Chevron North Sea Limited Company Confidential19
Evolution of Pipeline Inspection Need Min. DPII Vessel ROV Post Processing of Data Altitude 1m above pipeline speed ( 0.5 knot) 100 Km of Pipe Takes 5 Days CP Survey AUV today No Obstacle Avoidance Sonar Navigate using As Built Data Post Processing of Data Altitude 6 m above pipeline No CP ( Technology Gap) Innovative Inspection AUV
