Pipeline Inspection

PIPELINE INSPECTION Clive Anderson Stolt Offshore

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Agenda: •Why Inspect •Regulations •The IMR Cycle •What is a pipeline •Inspection Methods •Data Acquisition •Data Processing •Reporting •The Future •Conclusions •Questions

The agenda for today’s presentation.

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Why Inspect ?

•This is the famous pipeline inspection expert Sherlock Holmes checking a marble pillar for signs of corrosion! •Notice his dress, this is what passed for PPE in Victorian times!

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Why Inspect? •Car = Major asset, £10K’s •You want to keep it in condition •Retains value & operates well •Maintenance = servicing •Inspection = MOT •MOTè Fit for purpose •MOTè Road Tax & Insurance

If not maintained it’s: •Unreliable •Not fit for purpose •Fails the MOT •Worth nothing •Costs you money •SORN & £1000 fine •Delays you: walk or bus.

•Society (Government) recognises that cars must be fit for purpose & drivers have duty of care to the public •Hence there are Acts & Statutory Instruments to ensure this happens. •For cars this means: MOT, Insurance & Road Tax.

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Why Inspect?:

Huge downside if not in good condition:

•Major Asset worth £10 - £100M’s

•Contents may stop flowing or leak out!

•Owners have a vested interest to...

–Environmental clean up

–Maintain pipeline in efficient condition.

–Business Interruption

–Duty of care: environment & marine users

–X £1M’s DTI / HSE Fines

•It will retain it’s value, less depreciation

–X £10M’s lost production - daily

•Sold on to next field owner / operator

–X £???M’s Law suits, Litigation

•Just like you & your car

•Pipeline operator has a vested interest in keeping the line in good condition. •If the don’t the contents may stop flowing or even leek out! •Just as the government has lawful MOT regulations for cars. •So they have lawful regulations - statutory instruments - for pipelines. •The MOT is actually the “Fitness for Purpose Assessment”, the FPA

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Regulations To ensure pipelines are maintained: •Pipelines Safety Regulations, 1996. =Statutory Instrument 1996/825 –Obligatory to keep lines in good condition. –Must Inspect, Maintain & R epair. –“ Fit for

Purpose Assessment” = MOT

–The pipeline is then insurable –Just like your car

•The Ten Commandments, an early example of regulations. •The rules governing inspection are the Pipeline Safety Regulations. •Compulsory to keep pipelines in good condition. •You must service them, like your car. •That is you Inspect, Maintain & Repair them. •The MOT for pipelines is the Fitness for Purpose Assessment.

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Pipelines Safety Regulations Up to 1996: • • • • • •

Various regulations E.g. SI 1513 Complex Ambiguous Prescriptive Open to interpretation

Post 1996:

• Pipeline Safety Regulations • • • • •

= SI 1996 / 825 Aligned with HSWA Simple Goal setting: Clause 13 “The operator shall insure that a pipeline is maintained in an efficient state, in efficient working order and in good repair.” • PSR facilitated: – Risk Based Inspection – Cost savings & efficiency – Innovative systems

•Up to 1996 there were various regulations including SI 1513. •They were very prescriptive, open to interpretation and not working well. •Regulations were revised and consolidated resulting in PSR - SI 1996/825 •Written so that it was aligned with the Health & Safety at Work Act 1974. •This brought with it a shift from prescriptive to goal setting legislation. •The crux of the PSR legislation is Clause 13 - a “one-liner”, 21 words. •The legislation sets goals: I.e. prove the pipeline is in good condition. •Owners have responsibility to put systems in place to achieve that. •The new regulations enabled a move to Risk Based Inspection. •Freed inspection contractors to provide solutions, systems, technology, and to innovate.

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ABCDEFGH?JKL?NOPQ?STUVWXYZ

The IMR Cycle

• • •

RBI IMR (Repair) IMR (Routine)

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•RBI: Risk Based Inspection •

An inspection regime such that you are confident the asset will be in the same condition at the next inspection interval.

•

Permits flexibility & efficiency, cost effective solutions.

•

Allocate inspection effort where it is most effective & required.

•

Explore alternative survey methods / strategies

•

Permits new technology & innovation

•

Customised IMR for each asset.

•

Based on risk assessment, trend analysis & experience

•This is one definition of a Risk Based Inspection - quite succinct, good. •The move to RBI, facilitated by the Pipeline Safety Regulations 1996, was liberating. •It allowed the Operators, Integrity Managers and the survey / inspection contractors to develop suitable, cost effective & efficient, techniques and systems. •Importantly:- a Customised Inspection & Maintenance Routine means you don’t have to inspect every component of the asset infrastructure every time.

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IMR: Inspection & Maintenance Routine. Customised for each “asset”

Sets out for each asset:

•

Cover asset infrastructure:

-

Wellheads Platforms Risers SSIV’s Pipelines Umbilicals Cables Landfalls

•Risks & probability •Pipeline anomaly criteria

• •

Links & nodes Surface & subsea

•Types of inspection (Controls) + Recommended: •Interval - each inspection type •Interval - each asset component = planned inspection schedule. They can be revised: •Through trend analysis. •Life cycle: new - mature - old (dead or even re-incarnated!) •Change of use

•IMR = document, customised for each particular asset. •Describes all the infrastructure of an asset •Notice - logical sets of structures - logical to use different inspection techniques. •To create the IMR each component of the asset is risk assessed. •Maximum conditions are set above which they are anomalous. •The IMR is designed, based on: -RBI philosophy -Engineering - predicted deterioration of components -Experience & Common sense.

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Operators: •Accountable •PSR Clause 13 •Manage Budget •£££’s & ITT

PSR RBI FPA

ir pa Re

Ma int en an ce

Inspection Maintenance & Repair

Inspection

Integrity Management Consultants: •Analysis & Assessment •Recommendations •Fit for Purpose?

Survey & Inspection Contractors: •Gather data •Report •Solution providers

Visual representation of how regulations & parties involved in IMR interact. •Survey & Inspection Contractors survey & report pipeline conditions. •Reporting according to condition & anomaly limits: anomalies. •IMC’s assess the results & advise on pipeline condition. •They issue the “Fitness for Purpose Assessment” •Operators are accountable for pipeline integrity per Clause 13 of PSR 1996. •Operators manage the cycle in the light of the recommendations. •They set budgets for Inspection and invite bids to conduct Maintenance & Repair work as it is needed. •Finally, we need someone to police the whole system and that is…… •The Health & Safety Executive inspectors = Traffic Warden. •Seen here slapping an improvement notice on an Oil Exec’s car. •Their experts will visit & audit IMC’s & operators and audit FPA’s. •If they find things are not in order, they will issue an Improvement Notice. •And they keep everyone on their ………..Toes. •This is a closed loop - epitomises much of what happens in IMR. •It is commonly called the IMR cycle 11

THE IMR CYCLE Maintenance & Repair

Maintenance & Repair Year 1 Anomalies

Start IMR Schedule

Assess

Report

GI Year 1

Anomalies

Workscope

Inspection

Review Schedule

Assess

Report

GI Year 2

Inspection

Anomalies & Monitor Items

Data

Workscope

Data

Year on Year: GI Survey

2 Year Inspection Cycle - GI •Consult the IMR •Develop workscope, conduct inspection, acquire data. •Assess data onboard the vessel. •Determine anomalies (damage & conditions which threaten integrity) •Report from the vessel (7 - 14 days) •IMC’s then assess the data & make recommendations •= Closed cycle •Information from year 1 is carried into Year 2 •IMR Schedule plus year 1 findings determine Year 2 workscope. •Reviewed & adjusted by IMC’s / Operators. •Survey & Inspect - gather data. •Determine anomalies & monitor items •Monitor items = anomalies that are no longer anomalous but need monitored •Report from the vessel (7 - 14 days) •IMC’s then assess the data & make recommendations •= Closed cycle 12

THE IMR CYCLE Maintenance & Repair

Maintenance & Repair Year 1 GI Anomalies

Start IMR Schedule

Assess

Report

GI Year 1

Anomalies

Workscope

Inspection

Review Schedule

Assess

Report

GVI Year 1

Inspection

Anomalies & Monitor Items

Data

Workscope

Data

1 Year Cycle: GI then GVI Survey

1 Year Inspection Cycle - 2 Surveys, GI & GVI. •Consult the IMR for GVI inspection requirements •IMR Schedule plus year 1 GI findings determine year 1 GVI workscope. •Written by inspection contractor. •Reviewed & adjusted by IMC’s / Operators. •Survey & Inspect - gather data. •Assess data onboard the vessel. •Determine anomalies & monitor items •Report from the vessel (7 - 14 days) •IMC’s then assess the data & make recommendations •= Closed cycle •Build up database of pipeline conditions that are assessed. •Subsequent inspections: planned based on IMR schedule & historic data

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There are various cycles & feedback loops in the IMR cycle: •Yearly –By Inspection type –Between inspection types. When you are out inspecting, there is the daily cycle. Which looks like this.

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On Groundhog Day the people of Seaway Petrel consult Punxsutawney. If he sees a shadow that means another 2 weeks of survey……………….

•= Groundhog day. •Inspection can be a little bit repetitive……….. •But, inspection being inspection, there is always something that comes along that is interesting.

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UXO

•This certainly broke the daily cycle! •This is a “UXO” anomaly, an unexploded object. •A 3000 pound air dropped mine. •Dropped sometime in the 1960’s. •When we find one of these we: –DO NOT touch it…..! –Photograph it. –Call the Royal Navy bomb squad. –Make it stable - if it isn’t - we sand bagged this one. –Stay on site until Navy or a guard boat comes out. –If we’re lucky we see the explosion. •There are some more UXO slides later. •Other interesting thingss: –Usually find 1 or 2 of towed sidescan & pinger fish each year. –A coffin - assumed a burial at sea. –Plenty of marine life: lobsters, big monkfish etc.

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What is a Pipeline? In its simplest form a pipeline comprises: • Risers • Spoolpiece • Sealines • Landfall

There are analogies to human anatomy: • Pumping oil = heart • SSIV = valves • Pipeline = arteries • Umbilicals = nerves – electro - hydraulic umbilcals – fibre optic cables (optical nerve)

•The oilfield is not dissimilar to the human body •It’s lifeblood is the flow of oil and / or gas through pipelines. •Burst or clogged arteries are unhealthy as are burst or clogged pipelines. •An SSIV is a subsea isolation valve, an automatic stop valve. •They were made compulsory after Piper Alpha, 6/7/88. •167 people lost their lives then. •There is no better reason than that to inspect, maintain & repair. •Safety is paramount.

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Riser: Connects platform to sealine via a spoolpiece

Sealine (purple): The export pipeline connects riser / spoolpiece to processing facilities ashore

Landfall: The part of the export pipeline in the inshore zone

•Here is a diagram of a very simple pipeline system. •It shows the 3 main sections of a pipeline. •In reality oil & gas infrastructure is much more complex. •“Pipeline” is a misnomer, we inspect linear & point features of infrastructure. •There are many different types of point and linear features.

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RISERS

Risers can degrade rapidly due to • • • • • •

Instability Current Wave Action Corrosion - electrical & chemical Wave Action / Movement Impact

Inspection options: • • • •

Above sea level - RATS Splash Zone - RATS / divers Subsea - DP Vessel & ROV’s Subsea - Platform based ROV’s

•The pipeline is at its most vulnerable in the splash zone. •Subjected to alternative wet & dry cycles at different intervals. •Tidal cycle (12 hour - diurnal) and wave cycle (seconds). •Above the splash zone it is impacted by salty air. •And also subjected to sunlight & temperature cycles & wind action. •Which are the enemies of paint and the allies of corrosion. •Riser is very susceptible to impact by supply vessel. We also see the Rope Access Technicians at work. •They inspect, clean, repair, maintain and lift heavy objects •Usually to be found swinging from platforms or vertical cliff faces. •It must be great when your job is your hobby! •RAT inspection & intervention teams are an innovation: –Safer than scaffolding - offshore scaffold operations are very dangerous. –Quicker, more efficient –They can get into places scaffolding can’t –Cost effective solution.

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SEALINES North Sea: • 20,000+km “pipeline” • = Linear features - Pipelines: gas & oil & water - Umbilicals - electric, hydraulic, chemical elements. - Cables - electrical & fibre optic - Multifunction pipeline bundles

At risk from: • Anchors & Trawl gear • Instability • Current & Wave Action • Corrosion - electrical & chemical • Upheaval Buckling (expansion) • Munitions

Survey Platforms: – Vessel, usually “DP” – Plus ROV’s – Eyeball & Workclass Main Types of Inspection : • GI = Acoustic sensors • GVI = Visual sensors

•There are thousands of km’s of pipeline in the north sea. •Carry varying products, including water - injected for enhanced recovery. •Some are still operating, efficiently & safely, beyond original lifecycle. •Some 30+ years old, still operating due to over-engineering & good IMR. •These are the main risks to which they are exposed. •Unlike a car, you can’t wheel pipelines into a garage for inspection / MOT. •You have to go out & look at them somehow. •You need survey & sensor platforms: vessels & remotely operated vehicles. •Usually the vessel will have “DP” capability, I.e. Dynamic Positioning. •This permits “follow-sub” mode: I.e. “station-keeping” on the moving ROV. •It also facilitates a means of positioning the ROV. •Sensors are mounted on the ROV which substitute for your eyes and ears. •Knowing vessel & ROV position & attitude lets you position the sensors. •Sensor data is then “added” to give you positioned pipeline condition data.

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LANDFALLS • • • =

TOB to @ 3km offshore. Through the inter-tidal zone. Buried, rock-dumped or in conduit. Protected

At Risk From • Anchors & Trawl gear • Munitions • Very Strong Currents • Wave Action - to seabed • Erosion / Deposition • Beach activities • Corrosion - chemical & electrical

Survey Platform: – Shank’s Pony – Inshore survey vessel Sensors: • RTK back pack • Radio-detection tools • Innovation:- Divining rods • RTK, SVS, SBP, SSS • Divers, Mini ROV • CP (Trailing wire / snake)

•This is a professional landfall survey team, working very hard. •PPE = work boots & sun-block! •A pleasant way to spend a month in summer. •Landfall is often defined as from top of beach to @ 3km offshore. •The 3km offshore is not a hard and fast rule. •In the southern north sea it’s the sort of safe distance that you can comfortably bring a large vessel into the beach. •Given that you are going to do an inshore survey with a suitable inshore vessel then why risk the large offshore vessel to unnecessary risk, hence 3km. •In some places a large vessel can get within 10’s of metres of the shoreline.

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•Inshore, the effects of tidal forces are amplified by shallow water effects. •Strong currents, erosion & deposition, long shore drift, high energy zone. •Shallow water means waves impact on seabed: churning it up. •It is not unusual to see 2 metres of seabed erosion between yearly surveys. •Various cycles: diurnal tides, seasonal - winter storms, yearly. •Currents: example here of Bacton, this shows 1.2ms = 2.3 knots. •They can be a lot stronger than that, e.g Shetland - 7 knots in places. •Surveyed once a year. •What would you find if you: –Monitored daily? –Or before & after a storm. –What impact will coastal defence policies have on east coast landfalls?

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•A few examples of pipeline landfalls. •LHS: landfall somewhere sunny, a perfect survey / inspection location. •Top & Middle RHS: Landfall Shetland. •We use divers at these locations due to local seabed topography & kelp. •Acoustic methods can’t get through the kelp. •Bottom RHS: Landfall somewhere with no Working at Height policy. •You would not get away with this in the north sea = safety is paramount!

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Survey / Inspection Methods

•This was probably taken in the 19th century sometime, somewhere. •Maybe on the railroads in the wild west of America. •The clothes may look daft to us but it is obvious that they are wearing work clothes fit for their activity, I.e. PPE, good for them. •The instrument on the left is an astroblade. •Today that would be an intergalactic, in line, roller skates or a rocket powered skateboard. •The tripod, table & telescope on the right is what was called a “Plane Table”. •Based on tacheometry, it is a fast method for conducting detailed survey. •The present day equivalent would be the Total Station or RTK backpack. •In the next few slides we’ll look at the main inspection modes: GI & GVI. • GI = General Imaging = side scan sonar, acoustic inspection •GVI = General Visual Imaging = cameras = visual inspection •Plus the types of sensors utilised for each type of survey

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Inspection Methods Inspection

Survey Platform

Type / Method

Component

Notes / Restrictions

RATS

Platform based

Visual - cameras NDT techniques

Riser

Down to splash zone Weather

Diver

Platform or DP vessel based

Visual - cameras NDT techniques

Riser Pipeline Point structures Landfalls

Landfall GI

Inshore survey vessel

Hull mounted Accoustic

Depth, Current Weather, Sea state HSE Inshore only

Pipelines

CP snake

Weather, tides Seastate @ 1m Fishing gear

Oil platform or DP survey vessel 3 X Eyeball ROV’s

Visual – cameras NDT techniques FMD

Legs Structural members

Weather Sea state @ 2m

Risers

Current, Visibility

Pipeline GI

Survey vessel ROTV

Towed SSS Accoustic

Pipelines

Seafloor structures only Cannot stop

Structures

Current restrictions Seastate @ 2m

DP survey vessel WROV

DP follow sub

Riser

Current restrictions

Pipeline GVI

Visual – cameras CP

Pipeline Structures

Visibility Seastate @ 4.5 – 5 m

Structural GVI

This table summarises the common types of survey we have conducted historically. •GI = General Imaging inspection = side scan sonar •GVI = General Visual imaging = cameras •NDT = Non Destructive Testing •FMD = Flooded Member Detection •CP = Cathodic Protection: –A zinc anode is attached to the structure. –It corrodes = oxidation, loss of electrodes = sacrificial anode. –Structure protected by small electric current. –CP inspection tool is basically a current meter. –Proximity & contact tools determine milli-volts –Determines the status of the CP system: is it working Certain methods require a vessel with Dynamic Positioning capability: •To keep station next to structures or relatively over a moving vehicle •To position the subsea survey platform (ROV / Diver) & sensors

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Inspection Methods SENSOR PLATFORMS

INSPECTION TYPE GI

GVI

Combined

Platform:

ROTV

OBS ROV

WROV

Survey Vessel:

ü

Accoustic only

Visual

r

ü üü

Sensors:

DP

ü ü

Visual & Accoustic

DGPS

ü

ü plus XP

ü plus XP

Poor tracking

Seapath

r

Gyrocompass

ü

MRU

r

ü ü ü

ü ü ü

WROV

WROV

OBS ROV

OBS ROV

Sensor Platforms:

ROTV

Historically - single mode GI or GVI inspection cruises: •GI - Spring - general inspection X sidescan •GVI - Summer - detailed inspection X camera Fast ROV “GI”: •Facilitated by WROV & DP vessel combination •Increased SSS target accuracy < +/- 5m •Can stop & conduct GVI on detected damage •Can intervene if necessary •Multi-tasked cruises with GI & GVI capability

Fluxgate compass

ü

ü ü

Bathy

r/ü

ü

ü ü ü ü ü ü ü

Gyrocompass

r

r

MRU

r

r

SSS

ü

r

OAS

r

r

Altimeter

r/ü

r/ü

ü

Cameras

r

1 maybe 2

3+

Lighting

r

ü

Scanning Profilers

r

r

ü ü

Swathe Bathy / Profiling

r

r

ü

CP Contact

r

CP Continuous

r

ü ü

ü ü

Overside

N/A

ROV mounted

r

1-limited

2-multi function

Responder

CTD Manipulators

•GI: towed SSS survey, fish or ROTV, low tech, DP not necessary. –Fast method of amassing general information about pipeline condition. –Looking for spans, exposures, movement, large anomalies / damage. –No detail on localised anomalies: cracks, bare metal –Conducted at start of year - results used to plan GVI workscope. •GVI: ROV sensor platform positioned by HiPAP / transponder system. –Visual camera inspection plus accoustic sensors. –Looking for detailed damage to pipelines & structures. –Conducted in summer using information from the GI. •The advent of fast ROV’s, Solo I & Solo II, along with custom built ROV survey vessels led to the fast ROV GI survey: speeds up to 8 km/hour. –Importantly, the ROV / DP vessel combination lets you slow down & stop. –I.e. you can conduct both inspection types on the same cruise. –As long as you carry the correct sensors. –Surveys have started to merge into combination GI / GVI inspections. –Though still generally planned as GI & GVI. 26

SURVEY PLATFORMS Seaway Petrel - Hi-Tech

RRS Ernest Shackleton

Humber Surveyor

Old Survey Vessel

“Survey Platform” = what you deploy your Sensor Platform from = vessel

Seaway Petrel:

MV Humber Surveyor:

•State of the art ROVSV, built 2003.

•Originally Firth of Forth Passenger Ferry

•Dual Independent HiPAP 500 DP

•Catamaran - operated by ABP

•Fast RO: GI at @ 8kmh.

•Humber Estuary Survey vessel

•Solo II survey WROV

•Utilised for inshore survey - landfalls

•Internal ROV hangar

•Hull mounted sensors

•Custom built Hydrolift launch facility •Also carries Eyeball ROV •Operations in sea state of 4.5m+

RRS Ernest Shackleton:

Old Survey Vessel:

•Antarctic Research Vessel

•Converted fishing vessel.

•Ice breaker

•ROTV survey vessel

•2005 GI / GVI cruise platform

•Superceded by FAST ROV solution

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SENSOR PLATFORMS Solo II WROV New Tech.

SeaEye Lynx

Solo II WROV New Tech.

ROTV - Old Tech.

“Sensor platforms” = vehicle you deploy your sensors on.. Solo 2 WROV:

Solo 2 Workclass Survey ROV:

•Stolt Offshore

•Good view of camera booms

•Custom built GI & GVI fast WROV

•EM3000 mounts

•Weighs @ 6 tonnes

•Stills cameras.

•GI speed to @ 8kmh

•Obstacle avoidance sonar

•Inspection & Intervention capability.

•Camera booms, cameras & lights •No manipulators - not installed.

Lynx:

ROTV:

•Observation ROV

•Steerable frame with SSS transducers

•1 forward looking camera

•Superceded by Fast WROV solution

•Probably another camera on it.

•Using Seaway Petrel & Solo II.

•Manipulator - limited intervention

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Combination GI / GVI Inspection Spread Solo II Sensors: •Responder - position via HiPAP •Gyrocompass - heading •MRU - pitch & roll •Bathy Unit - depth below sea level •Altimeter - height over seabed •Pipetracker - track pipe & DOB •Profilers / Swathe - cross profiles •CP - Field gradient & potential •GI SSS Systems - accoustic •GVI Camera Systems - visual

•This is now the combination of survey & sensor platforms we conduct inspection with, whether for GI or GVI. •Someone, somewhere, at sometime during the survey is going to ask us to undertake GI when we are conducting GVI or vice versa. •So we equip the vessel & ROV to accommodate both modes.

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Petrel Online Survey

Petrel Online ROV

•This is the online ROV & Survey room on the Seaway Petrel •The ROVERS always get the plushest chairs. •A busy place when inspecting LHS: Online ROV: •L to R: •Co-pilot, pilot, inspection engineer seats. •ROV systems PC’s & monitors –Power management –System status, power, thrust etc. •Video: 2 X 3 VCR banks - hot swap •Pipe-tracker control •Obstacle Avoidance Sonar (OAS) •ROV camera monitors

RHS: Online survey station: •DGPS: –GPS receivers, Multifix 4 –Decoders / demodulators •NaviPac: positioning •NaviScan: sensor data logging •Helmsmans PC •PC’s & surface control units for: –Profiler, E.g. TriTech –Swathe. E.g. EM3000 –Bathy / Altimeter –Coda –Analogue & digital video control –Video encoders - digital video •ROV camera monitors: port, centre, starboard 30

Data Acquisition

The future of acquisition & processing?

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Acquisition Process • Log sensor data • Log position & attitude data •

Event & QC data (SSS / Video)

• • • • • • • • • • • • • • •

Capture anomaly images Smooth position & bathy Smooth & event X-profiles Smooth long profiles Smooth & event pipetracker Apply tides Merge events & position QC events Export PRISM Files QC PRISM Files Assign anomalies Assign monitor items Export Report Data Collate Reports IDC of Reports

System = Network – NAS / RAID Unix = NaviPac / NaviScan - Unix Servers = SSS – Coda = Video – Seamap / Visualsoft = Image grabs - Offline = Seamap – Offline = Seamap – Offline = Seamap – Offline = Seamap – Offline = Seamap / PolPred - Offline = Seamap – Offline = Seamap – Offline = Seamap – Offline = PRISM – Offline = PRISM – Offline = PRISM – Offline = PRISM - Offline = Word – Offline = C.Doc, onshore

=

Acquisition

=

Processing & Interpretation

=

Reporting

First part of a process:

• • • • •

Acquisition Processing Interpretation Assessment Reporting

Acquisition is the first part of a sequence of parallel and sequential processes that form the A-P-I-A-R . This table is a simplified version of the sequence.

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Acquisition - Sensors Basics (very): • Transducers = underwater speakers & microphones. • • •

Sound pulses emitted, reflected & multiple return pulses timed. 2 way travel time & speed of sound in water known. Distances to reflectors calculated:- sets of data points.

• • •

Referenced to sensor electrical centre Sensors referenced on survey platforms via offsets Vessel (DGPS) & ROV (HiPAP) position known

+ = =

Platform attitude: heading & orientation data Geospatial data set referenced by time (GPS 1 PPS signal) Fixed in XYZ framework: geodetic reference system

• • •

Echo-sounder Side Scan Sonar Sub-Bottom Profiler

• • •

Scanning Sonars Scanning Profilers Multibeam-swathe bathy

•

Multibeam-profilers

Towed SSS

Hull mounted Echo-sounder Swathe bathy

Towed SBP

These are the basics of acoustic inspection detection / positioning in none too technical terms. The import points are that: •sensors collect discreet patterns of points / data •These can be positioned, absolutely, through positioning of sensors & survey platforms. •As long as they are synchronised.

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Acquisition - Position Determination Platform /System / Sensor Survey Vessel DGPS Systems 1. GPS Antenna Position + Vessel Gyrocompass + MRU5 +

Vessel offsets

2. HiPAP CRP position + Vessel Gyrocompass + MRU5 + HiPAP 500 range, vertical & horizontal angles ROV 3. ROV responder position + ROV Gyrocompass + ROV MRU5 + ROV Offsets to survey sensors (SSS) 4. ROV Sensor positions + ROV Gyrocompass + SSS Altimeter + SSS slant target ranges

Measures: =

Determines:

XYZ position

= 1. GPS antenna position

= Vessel bearing = Vessel pitch & roll = XYZ separation GPS Ae. – HiPAP CRP

= 2. HiPAP CRP position

= Vessel bearing = Vessel pitch & roll = XYZ separation HiPAP CRP – responder

= 3. ROV position (Responder)

= ROV bearing = ROV pitch & roll = XYZ separation ROV - ROV sensors = = =

Bearing to SSS target SSS – seabed height SSS – target slant range

Origin for HiPAP XYZ measurement

The common link to position ROV sensors = 4. ROV Sensor positions (SSS Port / Starboard) The common link to position SSS targets = 5. SSS target positions

This is a more quantitative & qualitative version of the previous slide. The point is that everything must be linked: •Physically •By time synchronisation •By measurement If this is in place the system becomes automated and massive data sets can be recorded. If you don’t achieve this, or miss something the data can be useless.

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Acquisition: Position & Sensor Data CODA Waterfall Displays

ROV SSS Trigger

VGA

Port

SIU4 I/FBox

Vessel Sensors

Vessel Position

Heading Pitch & Roll HiPAP XYZ

Position Easting / Northing Offsets

CTD

Trigger

Starboard

ROV Sensors

Starboard Port

Digital SSS Data

Ultra 120 Thermal Printer

SSS Data

Depth, Altitude Heading Pitch & Roll

Annotation

Online CODA

Fix, position, KP, time, gyro, depth, altitude, pitch & roll

Log CODA Data

Online NaviPac / Naviscan

Log Data NaviPac / NaviScan

Original Logged Data: SSS (Coda), Position & Sensor (ROV / Vessel) Network / Server: Working files: Coda Tag (Event) Files, Seamap, PRISM Files, Import / Export

This is a schematic diagram showing the acquisition of data & information during GI SSS inspection. There are 2 elements of the system: •Positioning & attitude data •Sensor data All acquired raw data is logged on networked mass data storage (NAS / RAID) and backed up to tape.

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Data Processing

This is what you can end up with if you don’t get data processing right!

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Processing Original Logged Data: SSS (Coda), Position & Sensor (ROV / Vessel) Network / Server: Working files: Coda Tag (Event) Files, Seamap, PRISM Files, Import / Export

CODA Event Tag Files

Offline Eventing

Offline Event QC

Seamap Processing

Import Tag Files

Smooth Nav. Apply Tides

Import Coda Event File

CODA (Geophysicists)

Seamap Processing

Merge CODA Nav & bathy

Export Event File

QC Event File

SEAMAP (PolPred) (Senior Data Processor)

SSS Image Capture

SEAMAP (Senior Surveyor) Assign MI No's.

Export PRISM File

PRISM File C/W Anom & MI's Geophysicists

Seamap Processing

MI List

Anom Span Span List Anoms List

Condition Summaries Reports Co-ordinator QC PRISM Files

Senior Surveyor

Aquisition Summaries

Collate Asset Reports

Asset Reports Asset Reports

APA PRISM Files

Determine MI's

PRISM Files, Images & Reports Reports Co-ordinator Onshore

Customer Comment

Assign Anomalies

IDC

Span Analysis

Assessed Anomalies & MI's QC'd Assessments

APA Onshore

QC'd PRISM Clean DataSet

PRISM Files

PRISM Network

Once the data is logged it has to be processed. This involves: •Eventing: SSS data & video data. –Done digitally –Data is replayed and the records are marked with electronic event tags. •Smoothing of ROV position data •Smoothing & eventing of X-profile data (GVI) •Apply tides & smooth depth data (bathy / altimeter) •Merge data sets by time stamp / event: –Events –Position –X-profiles –Bathy •This is done using copies of the raw data, never work on original data. •Raw data is regularly backed up to tape or other mass storage medium.

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Step Process / Description LF From SSS Data Eventing 1 Completed Tag / event Coda files Log file Geo's 2 QC Coda Tag / event files 1 SGeo 3 Merge QC'd Coda Tag / Events files 2 SGeo 4 Transfer QC'd Coda Tag / Events files 3 SGeo Nav Data Processing 5 Smooth Position Log file SDP 6 Smooth bathy Log file SDP 7 Create tide files Create file SS 8 Apply tides 7 SDP Coda Data Merge / Event QC 9 Import Coda Tag / event files 4 SDP 10 Merge Coda with smoothed Nav. & bathy 9 SDP 11 Export Seamap event file 10 SDP 12 QC Seamap event file 11 SS Assign Anomalies & MI's 13 Determine all anomalous events (excluding spans) 12 SS 14 Span list to APA (all spans) 13 SS 15 Anomalous span list from APA 14 APA 16 Assign anomaly No's to events & spans 15 SS 17 Anomaly list to APA & SGeo (numbered, with spans) 16 SS 18 Determine MI's (numbered), List from APA 17 APA 19 Add MI numbers & details to Seamap Event file 18 SS PRISM Export & QC 20 Export PRISM files 19 SDP 21 QC (1st pass) PRISM files 20 SDP 22 Amend Seamap events & re-export PRISM file 21 SS / SDP 23 QC PRISM File: PRISM & Excel QC 22 RC 24 Amend PRISM file per results of Excel QC 23 RC / SDP Compile 2005 GI PRISM Dataset 25 Capture SSS anomaly images 17 SGeo 26 SSS anomaly images to image directory 25 SGeo 27 Generate PRISM anomaly file (Anom's & MI's) 19 SDP 28 Cross check PRISM files / dataset for completeness 27 RC Collate 2005 GI Asset Reports 29 KP Limits / work completed tables CSA SS / SGeo 30 Asset condition & anomaly summaries. CSA SGeo 31 Data acquisition summaries CSA SS 32 Weather Log CSA Sec 33 Results (Anomaly & MI tables) section 4 CSA RC 34 Write, edit & check asset report 29 – 33 RC Asset Report Check & Transmittal 35 1st Pass QC check asset reports 34 WSR 36 Apply report corrections 35 RC 37 Email QC'd asset report to onshore co-ordinator 35 RC 38 Email QC'd PRISM data to onshore co-ordinator 28 RC

To

Timescale

SGeo ----SDP

ASAP ASAP ASAP 12 hours

----SDP ---

ASAP ASAP ASAP 12 hours

----SS ---

1 hour 1 hour 1 hour 2 hours

--APA SS --APA & SGeo SS SDP

2 hours 1 hour 1 hour 2 hours 1 hour 24 hours 3 hours

----RC --RC

1 hour Instant 2 hours 1 hour 2 hours

RC RC RC ---

Ongoing Ongoing 1 hour 2 hours

RC RC RC RC RC RC

24 hours 24 hours 24 hours 24 hours 7 days 7 days

RC RC RC Onshore RC Onshore

12 hours 12 hours Instant Instant

•This does not have to be read in detail. •This is a SSS survey internal deliverables process list •There are 38 internal deliverable in this list. •It’s here to indicate why: –Everything must be time-synchronised. –The survey process must have structure. –Everyone involved must be very clear of their deliverables –Everyone must know where & who they are getting data from –Everyone must know where & who they sending their data to. •This is all set out in the procedures.

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Reporting

These are the reports co-ordinators.

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Reporting - Deliverables Deadlines: •

Anomalies threatening integrity: immediate

•

Significant features - 24hrs - daily call

From asset completion: • • –

Anomalies - 7 days Survey report - 4 weeks, including: PRISM Files

– –

“Complete” Reports “Single Pager”

To achieve these goals the reporting process must: • • •

Automate repetitive tasks Be fully auditable Be systematic - no repetition

• •

Conduct QA & QC Have a clearly defined structure from the start

•Any pipeline condition that may have an immediate threat on asset integrity must be reported immediately. •Every day there is a daily conference call - ship to shore - to discuss the last 24 hours summary findings (after safety issues discussed). •We work to a 4 week deliverables schedule for reporting: I.e. for delivering a final, QC’d, collated report & QC’d PRISM files. •The acquisition, processing & interpretation process delivers listings at an early stage in the sequence. Because of this we provide simple listings as early as we can. Hence the 7 day anomaly deliverable.

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PRISM - Pipelines

•PRISM files are the main deliverable. •PRISM = Pipeline Reporting Inspection System Multimedia. •It is an interactive computer graphic representation of the pipeline. •Evented pipeline conditions are indicated by suitable symbols. •(Looks like some creative eventing here - fish, seahorse, toucan) •An anomalous event is indicated by a red number. •A monitor item is indicated by a negative - blue number. •PRISM contains all of the pertinent data from the inspection. •The slide shows the PRISM pipeline data sheet. •Linked to the pipeline data are: –Anomaly reports –Inspection datasheets –Profiles: long profiles & individual X profiles –Photographs –FHR’s - First hand reports –Images: side scan data & video images. –SSS & Video clipes •PRISM is a database with flexible user defined reporting. 41

PRISM - Anomalies

•This is an example of anomaly data available through the pipeline data sheet •RHS: Pictures of the anomaly •LHS: Engineering assessment of the anomaly with recommendations.

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PRISM - Self Configurable Reports

•PRISM is very flexible in its reporting output. •The report control box - RHS is used to configure reports. •KP limits to narrow the search / report •Can look at: –1 pipeline, 1 year –1 pipeline, many years –Multiple pipelines –Select individual data: anomaly types / conditions

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PRISM - Position Comparisons

•This is a PRISM pipeline plan position screen. •The graphic shows 3 sequential years pipeline data.

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PRISM - Structures

•This is the PRISM structural data sheet. •Structural anomalies are represented on drawings by numbered hot spots. •A linked set of drawings at various scales & component levels allows you to drill down into more & more detail. •Linked with the anomaly hot spots are anomaly datasheets, reports, pictures etc.

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PRISM Structures - Drill Down

•Example of the 1st level of drill down. •The red numbers are the hot spots where you drill down further. •Diagrams plus data boxes at the bottom of the screen.

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DV SDLT Tape Drive

Eyeball ROV Camera

Video Overlay In

VisualSoft DVR

VisualSoft Offline Archive

DV SDLT Tape Drive

CP to Video

Eyeball ROV Gyro, Bathy/Alt, Camera, CP

ROV Monitor Port

ROV Monitor Centre

ROV Monitor S'board

Digiboard

Video out

From Workclass ROV Camera's (direct)

Port Centre Starboard Starboard

Video overlay in

Centre

Port

VisualSoft Offline Review

DV RAID

Port Video

Digital Video 1GB Switch

Eyeball video Online

Video - Starboard COE PC (Video Grabb)

COE PC Offshore Manager

Communications Bridge OffshoreManager Client Office Online Solo I Eyeball Offline

Clearcomms Yes Yes Yes Yes Yes Yes Yes

Microphine

Centre

DVD Writer

Eyeball ROV PC Internal Phone Yes Yes Yes Yes Yes Yes Yes

VSAT Optional Yes Yes Yes (Share) ---Yes

Port

CP to Video

Quad Camera Monitors: (3 Solo & 1 Eyeball Camera's) Bridge, Offline, Client Office, Offshore Manager

UHF Existing ---Yes -------------

Starboard

Centre Video Starboard Video

VisualSoft Online Port Camera

UPS Key Systems

VisualSoft Online VisualSoft Online Centre Camera Starboard Camera

Online Video 1GB Switch

Portable USB Storage (X 4)

Video Control

NaviPac Telegram

KVM

Video - Centre

3 Way Switch

Mouse

Keyboard

COE PC Client

Video - Port

COE PC Sec. / MSO

Printer

Single Sheet Scanner

Video Control

Client Office - Fax

COE NAS Box CP from Solo I DP / Video Review Printer

Keyboard

COE Server

Mouse

COE PC Online (Surv Tech - APA / CP)

Multi-feed Scanner

Spare UNIX server

Senior Surveyor COE PC COE PC COE PC COE PC Offline (DP / Spare) Offline (Tech Rep.) Offline (Insp Eng)

Survey 1GB Switch CODA 1GB SWITCH

Senior DP

CP Contractor PC Online

CP from Eyeball

Photocopier Video Control

Survey 1GB Switch

Coda Waterfall Displays: Online, Offline, Solo I, Client Office, Offshore Manager

APA PC Online

Printer Keyboard

Mouse

Main UNIX server NaviPac Telegram UPS Key Systems

Survey RAID Survey SDLT Tape Drive

Survey Container

CODA Offline PI No.2

CODA Offline PI No.1

Coda DA Online (Spare)

Coda DA Online

Ultra Thermal Printer

From ROV SSS Transducers Via Ethernet Bottle

Wet / Dry Lab's

Solo I Control

Client Office

Obs ROV Control

Offshore Manager

COE PC Online UPS Key Systems

Helmsman Online

Helmsmans Displays: Bridge: Fore & Aft, Online, Offline, Solo I, Eyeball, Client Office, Offshore Manager (VGA via CAT5)

Ultra Thermal Printer

NaviScan Online

NaviPac Online

Digiboards

Digiboard

Solo ROV Gyro, MRU, Bathy/Alt, Pipetracker, Profilers, EM3000, CP

3 X DGPS, HiPAP, Seapath, Gyro, MRU, 1-PPS, CTD

•We have looked at data acquisition, processing and reporting. •This is the survey spread for the combined 2005 GI / GVI Cruise. •It is a schematic diagram of the systems required for: –Data acquisition –Interpretation & processing –Reporting: •Survey Platform: RRS Ernest Shackleton •Sensor Platforms: WROV = Solo II & Lynx. •120 days multi-function operations including: –GI pipeline inspection –GVI pipeline inspection –CP Inspection –Seabed structures spot dives –Platform & riser inspection –Platform 500m zone debris surveys –Pipeline route corridor surveys –Out of straightness survey 47

Some Examples: •Anomalies •Data

C/O The Reporters

No comment!

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Sonar Image Pipeline Movement

•Sonar image - pipeline movement. •Pipes can move by the action of currents •They also expand & contract - moving much like a snake. •The ridges are where sediment has built up beside the pipe before it has moved. Note: •displaced & intact stabilisation - mattresses. •Fully exposed V buried pipeline

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Processed Position Pipeline Movement

•This is the plotted position of the pipeline in the last sonar image. •The top line is the original position of the pipeline “as-laid” •The bottom line is where it has moved to. •This was quite an impressive example of movement & the operator took immediate action to conduct remedial stabilisation work on the line.

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A sample digital SSS image. A & D shadows of where pipeline enters the structure - not anomalous. B - pipeline C - some snatch on the record - where there has been some pull on the fish or survey platform.

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Sonar Image Upheaval Buckle

•This upheaval buckle was detected during a GI - acoustic SSS survey. •This is classic SSS image of an upheaval buckle - it pokes you in the eye. •It screams “anomaly” - we were ecstatic when we discovered it. •As the GI survey platforms were DP survey Vessel & WROV it was possible to stop and conduct GVI - visual inspection. •The client took immediate remedial action - rock dumping.

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GVI of Upheaval Buckle: Top left: ROV on seabed Looking under pipeline. Estimated height 4 metres.

•These are video grabs of the same upheaval buckle. •Based on GI & GVI inspection & first hand reporting the client was able to take immediate action to remedy this anomaly.

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Port, centre & starboard & suitable lighting & suitable camera angles. E.g. Where there are spans you would back light with 1 camera to silhouette the bottom of the pipe - cameras pointing inwards.. E.g. Movement - you would position cameras to look ahead to see sediment ridge build up - this can be 2 to 3 metres away from the pipe & you may miss it on if cameras are looking inward.

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Cross Profiling

Where a pipe is layed in a trench you may have to raise the profilers to see over the spoil heap to the natural seabed.

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CP Inspection Data

•This is a sample of CP data. •It’s a black art. •It’s obvious where the CP (Cathodic Protection) anomalies are though. •CP values: contact & continuous are available in the CP data box on the PRISM pipeline data sheets.

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Examples of damage: •Top left: pipeline slipping through weightcoat. •Top right: anchor damage - 20” pipeline, dragged 450 metres offline. •Bottom left: anchor under 4 inch line - resulted in immediate remedial action. •Weightcoat loss around joint / weld - monitor.

57

•Close up of UXO shown earlier - air dropped mine. •The tether is the silk parachute cord.

58

•And again, same UXO.

59

•Another UXO. •Which ones the bomb & which ones the pipeline? •Answer on last slide plus one!

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•Close up of the last UXO c/w scale - 10 centimetre divisions..

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(Back to) The Future •

PRISM on Internet (rolled out 2004)

•

Live data to client PC via internet - video & SSS?

•

Digital cameras to supercede analogue - when?

•

= Another magnitude of data storage?

•

Laser profilers?

•

Move full reporting process onshore?

•

Get rid of paper report?

•

Greater emphasis on data rather than report.

•

Digital cameras & software: new imaging techniques

•

AUV’s for GI survey?

•

Coastal defense policy - consequences of erosion?

•

Intelligent infrastructure: build in inspection?

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Conclusions •

Pipeline inspection is a mature business but continues to embrace new technology.

•

Management of change: adapting to new systems.

•

Digital age has almost eclipsed the analogue age.

•

Days of pure GI / GVI cruises gone: the multi task GI / GVI cruise is here.

•

Client (in the office) is getting closer & closer to live raw data.

•

Control of multiple surveys through one contractor produces consistent results

•

Inspection / survey must be fun!

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? NSPECT ? ON, MA ? NTENANCE & REPA ? R

•To continue on the “Catchphrase” / pictorial pun theme. •Here is the last offering. •= “We are the eyes in Inspection, Maintenance and Repair.”

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No difficult ones!

Any Questions????????????????????????????????????????????????????????

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