ROV Data Collection Results

Transcription

1 ROV Data Collection Results Data is processed and displayed din seconds through the ROV communications channels The operator can view the results while the ROV isinposition in anddetermine determine ifadditionaldata data collection is needed before moving on to the next area 11

2 Reliability Testing Temperature, Shock, Vibration Prototype sensor passed all preliminary reliability tests Operational Temperature: 30 C to 1 C Storage Temperature: 60 C to 1 C, 5 cycles, 1 hour soak at each extreme, 2 C/min transition Shock: 3 pulses per direction along each of 6 principle directions, ½ sine shock at 3g acceleration and11msnominal nominal duration Vibration: MIL STD 167 1A, Exploratory Vibration Test ( ) 12

3 Phase 2 Program Goals Apply laser scanning to specific workflows Steering Committee: BP, Chevron, Shell, Technip, ConocoPhillips, Total, UTEC Survey Defined operational scenarios for the sensor to provide the most value to industry Phase 2 plan developed to answer key questions from the Steering Committee and to further develop the technology to perform specific operational tasks. Sensor commercialization and industry adoption are program goals As built modeling and inspection from a static platform Inspection from a Mobile platform 13 Rapid survey for sub sea tieback

4 System Updates 3000m window Iterative mechanical and optical design process to ensure not only the survival of the window but also integrity of optical performance at 3000m Finite Element Analysis for deflection, deformation, and yield strength violations of metal endcap and sapphire window at 3000m fed back into optical models Result was 15mm thick sapphire window Windows currently in house for custom anti reflection coating New endcaps are in house waiting for final assembly Eye safe mode System now designed with Class 1 (eye safe) mode for lab or ship board testing of sensor Can be configured to switch to Class IIIb only at safe depths 14 FEA shows area of greatest deflection in endcap Sapphire window in interferometer for flatness testing

5 Survey Mode Design and Build Re design of optical front end Reduced inner diameter requirement from 7 inch to 6 inch smaller diameter housing Finite Element Modal Analysis of new optical trusse shows 1 st mode at > 200Hz Stable since MIL SPEC for shipboard equipment is up to 33Hz Upgraded laser from 7,500 to 20,000 pulses per second Upgraded dreceiver to > 25x higher h sensitivity Target development Ability to make point to point measurements on screen within minutes of acquiring ii data dt Located rotation stage to enable 360 azimuth FOV Angular accuracy will be slightly worse than 30 FOV Testing in Ott Oct. to verify angular accuracy of scanner 15

6 Salt Water Tank Tests Salt Water Test Goal verify range precision and accuracy does not degrade with salt water as opposed to fresh water. All testing to date has been in fresh water. Instant Ocean Aquarium sea salt was mixed with tap water to create 35 psu saline water in our 30 foot ttest ttank. This provides a complete mix of salts and minerals to simulate ocean water. Salinity was verified along the length of the tank with an Instant Ocean Hydrometer Result did not measure an increase in range precision or decrease in accuracy when comparing fresh water and salt water results 16

7 Turbidity Tests Turbidity test performed at University of Wyoming, Laramie August 2, 2012 Goal Verify if visual optical clarity is a good measure of laser sensor range capability in turbid waters Theory Reference 1 discusses the link between optical visibility of a black/white disk with NTUs (Nephelometric Turbidity Units). A NTU of only 2 should produce an optical visibility of the black/white disk at only 2 meters. 3D at Depth s laser sensor is expected to have at least the range of optical visibility Secchi Disk 17 1 D. G. Smith and R. J. Davies Colley, IF VISUAL WATER CLARITY IS THE ISSUE, THEN WHY NOT MEASURE IT?

8 Turbidity Tests Test was performed in the University of Wyoming s 3.8 meter long water flume Turbidity is measured with a Eureka Environmental Manta2 Turbidity Meter, 0.1NTU resolution. This was provided by Dr. Carl Legleiter at the University of Wyoming Magnesium hydroxide was used to increase water turbidity Note this was not the best selection as magnesium hydroxide will slowly dissolve, thus the turbidity slowly decreases. This was pointed out by our PM Don Richardson. 18

9 Turbidity Tests Sample data from turbidity test. A small amount of turbidity quickly reduces visibility. The scanner acquires good data when the target is visible with an UW camera. 0 NTU, 383cm 2.7 NTU, 383cm 2.7 NTU, 248cm Turbidity Test Summary if you can see it with the ROV underwater camera, we can scan it. 19

10 Con Ops for Static UW Laser Scanning Task: Static laser scanning at depth for imaging and survey Collect 3D point clouds of underwater seabed and assets in order to model as built relationships. Plan: Determine the key operating parameters for the scanner, develop a concept of operations, and perform tests. Key Operational Parameters include; 1. Depth designed for 3000 m 2. Water clarity categorize based on range and build a con ops for different water clarity situations water clarity situations 3. Platform ROV tethered 4. Environment Stationary on the sea bed; either on ROV or tripod/stand 20

11 Range and Water Clarity Long range: 15+ meters Water clarity: good to excellent Short range: 2 8 meters Water clarity: poor to fair 21 Medium range: 8 15 meters Water clarity: fair to good

12 Field Modeling to Determine Scanner Locations and Scan Envelopes Simple field example: Survey as-builts Manifold Wellheads PLET s Static scanner operational concept 1 Tripod mounted ROV tethered Tripod mounted, ROV tethered Key operational parameter: Minimize the number of unique scanning locations for the dt data collection area 22

13 Registration Survey Targets Goal: Determine the most effective targets to derive a coordinate point Initial research leverage land based techniques and targets Survey prism Retro reflective targets B/W Targets 6 Spherical Targets 23

14 Results of Registration Target Scanning Point in BW Target Resulting scan grayscale intensity mapped Sphere from points Target Type Point Fidelity Applicable to UW? Sphere High Yes B/W Target High Yes (within 45 deg) 24

15 Next Steps Complete build and lab test of upgraded sensor Pressure testing of 3000mdesign Integrate 360 rotation stage In 2012, perform a technology trial to validate underwater static survey and static 3D imaging con ops at maximum range in a salt water environment. 25

16 Program Progress 2011 Phase 1 Sensor Design, Build, Lab Test st In-Water Trial (Pool) ROV Integration & Tank Trial Phase 2 In Process Field Asset Modeling & Inspection System Update Full Range Pool Verification Rapid survey for subsea tieback System Development Static Open Water Trial Development and execution Field Asset Modeling and Inspection from Mobile Platform System Update ROV Tank Test System Update 26 Open Water Trial of Mobile Platform Scanning

17 Conclusions Underwater laser scanning has been proven to collect point clouds with accuracies comparable to land based scanners Phase 1 moved the technology from the lab to a ROV test tank (TRL2 5) Phase 2 applies the technology to solve specific industry objectives and provides open water trials moving the technology from test tank to open water Deep water static scanning tests Deep water survey metrology tests Deep water moving platform tests Next steps: Verify static surveying and imaging con ops Complete hardware upgrades Full range salt water trial in late

18 Developed by: 28