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