Application of robotics in offshore oil and gas industry- A review Part II

Inspection of ship hulls and marine structures using autonomous underwater vehicles has emerged as a unique and challenging application of robotics. The problem poses rich questions in physical design and operation, perception and navigation, and planning, driven by difficulties arising from the acoustic environment, poor water quality and the highly complex structures to be inspected. In this paper, we develop and apply algorithms for the central navigation and planning problems on ship hulls. These divide into two classes, suitable for the open, forward parts of a typical monohull, and for the complex areas around the shafting, propellers and rudders. On the open hull, we have integrated acoustic and visual mapping processes to achieve closed-loop control relative to features such as weld-lines and biofouling. In the complex area, we implemented new large-scale planning routines so as to achieve full imaging coverage of all the structures, at a high resolution. We demonstrate our approaches in recent op...

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Advanced perception, navigation and planning for autonomous in-water ship hull inspection

Magnetic flux leakage (MFL) detection is one of the most popular methods of pipeline inspection. It is a nondestructive testing technique which uses magnetic sensitive sensors to detect the magnetic leakage field of defects on both the internal and external surfaces of pipelines. This paper introduces the main principles, measurement and processing of MFL data. As the key point of a quantitative analysis of MFL detection, the identification of the leakage magnetic signal is also discussed. In addition, the advantages and disadvantages of different identification methods are analyzed. Then the paper briefly introduces the expert systems used. At the end of this paper, future developments in pipeline MFL detection are predicted.

https://www.mdpi.com/1424-8220/15/12/29845/pdf

Theory and Application of Magnetic Flux Leakage Pipeline Detection

This paper reports a real-time monocular visual simultaneous localization and mapping (SLAM) algorithm and results for its application in the area of autonomous underwater ship hull inspection. The proposed algorithm overcomes some of the specific challenges associated with underwater visual SLAM, namely, limited field of view imagery and feature-poor regions. It does so by exploiting our SLAM navigation prior within the image registration pipeline and by being selective about which imagery is considered informative in terms of our visual SLAM map. A novel online bag-of-words measure for intra and interimage saliency are introduced and are shown to be useful for image key-frame selection, information-gain-based link hypothesis, and novelty detection. Results from three real-world hull inspection experiments evaluate the overall approach, including one survey comprising a 3.4-h/2.7-km-long trajectory.

/pdf/real-time-visual-slam-for-autonomous-underwater-hull-47msc21576.pdf

Real-Time Visual SLAM for Autonomous Underwater Hull Inspection Using Visual Saliency

Note: Includes index + new features guide (1995) + quick reference Reference Record created on 2004-09-07, modified on 2016-08-08

Signal processing toolbox for use with MATLAB : ユーザーズガイド

Parametric interpolation method for probabilistic fatigue analysis of steel risers

Optimization of Flexible Pipes Dynamic Analysis Using Artificial Neural Networks

This paper presents an insight into some different methods for prediction of extreme response values of slender structures belonging to moored floating units. The methods investigated are: Weibull-tail fitting, SRSS, SRSS modified, LS and LS modified (API). All these methods are based on a single time series sample of the response parameter. The statistical uncertainty associated to each method is assessed by means of analyzing several independent simulations of the response parameter. Numerical examples include the top tension response analysis of two mooring lines: one connected to an FPSO in deepwater and the other to an FPSO in shallow water.Copyright © 2003 by ASME

On the Extreme Analysis Applied to Moored Floating Platforms

In August 2001 the MRL-5 production manifold was installed by PETROBRAS in 940 meters water depth at the Marlim field offshore Brazil. The semi-submersible Amethyst, using an 18-5/8” marine riser, deployed it into the location. During the manifold deploying, several in-site measurements of the hook forces (force at the drill line dead end) and the semi-submersible accelerations were done. Both time series for the vertical accelerations and forces were obtained for two positions of the manifold along the water column. The main objective of this paper is to compare the results from the column riser system numerical analysis with the riser axial forces measurements obtained by the monitoring system.Copyright © 2003 by ASME

Luis Volnei Sudati Sagrilo

Papers

Parametric interpolation method for probabilistic fatigue analysis of steel risers

Optimization of Flexible Pipes Dynamic Analysis Using Artificial Neural Networks

On the Extreme Analysis Applied to Moored Floating Platforms

Comparing Measured and Calculated Forces of a Manifold Deployment in 940 Meters Water Depth

Statistical Uncertainty Analysis in Time-Domain Fatigue Assessment of Steel Risers