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