| Delving Deeper with Autonomous Underwater Vehicle |
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| Written by Terry Knott | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Tuesday, 08 September 2009 | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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"Making the development of future oil and gas fields in very deep water both possible and economically attractive will require a host of new technologies. Terry Knott learns more about BP’s deepwater technology programme and its role in supporting the company’s leading position in this core business area" Ask David Brookes – or any member of BP’s deepwater facilities technology team – why BP is committed to driving forward deepwater research and development (R&D), and the answer is clear and unequivocal.
‘Over the next four years, the proportion of oil and gas BP produces from subsea fields around the world is going to more than double,’ he explains. ‘By 2012, we estimate that over half of our field development projects that are likely to be under way by then will be in deep water. Many of these could be in water depths of 2500m, 3000m or even more. If we are to be able to move to such depths and pursue these opportunities economically, we have to be ready with the right technology at the right time. Without this, opportunities may be lost.’ As a veteran of deepwater technology development and currently director of BP’s deepwater facilities technology programme, Brookes is keenly aware that to achieve these goals, BP must take current subsea know-how to new levels and lead the way in an industry sector that is fast-moving and highly competitive. ‘Success will not be achieved by concentrating entirely on just a few game-changing technologies,’ he asserts. ‘The deepwater challenge we are tackling has so many facets that we must be experts in a wide range of technologies, and understand too the fundamental science of the environment we are working in. Proceeding with current technologies will attract an ever increasing price tag as we work in deeper waters – our task is to identify the breakthrough technologies that will keep the cost down and convert these into practical and reliable solutions for BP’s business units to be able to benefit from them.’ Inspecting subsea production equipment in deep water using an autonomous underwater vehicle (artist’s impression) Currently, BP operates over 150 wells located on the seabed and is partner in many more subsea developments. Hydrocarbon production from these accounts for around 18% of the company’s daily output; by 2008 that figure is expected to approach 38% as subsea wells in new deepwater fields in Angola and the Gulf of Mexico come on stream, delivering the equivalent of some 1.5 million additional barrels of oil per day to BP’s portfolio. Going forward, further deepwater developments may follow in Egypt, Brazil and elsewhere, while existing fields in deep water, for example to the west of the UK’s Shetland Islands on the Atlantic margin, will continue to tap additional reserves. ‘Over the next five years, the number of subsea wells we operate will grow to exceed 300,’ Brookes adds. ‘During this time, the investment levels in subsea and deepwater facilities are likely to run in the range of $1.5-2.5 billion a year. It’s therefore imperative we get our technology right, and that it works first time. Intervening to remedy problems in these water depths is a very costly business.’ And it’s not only about going deeper. New fields are likely to present challenges in terms of extremely high reservoir pressures and temperatures – even beyond those currently being addressed in BP’s Thunder Horse deepwater project in the Gulf of Mexico, where pressures of 1200 bar and temperatures of 135ËšC have required dozens of ‘firsts’ to be developed to complete the field’s subsea wells (Frontiers, August 2004). And tieback distances – that is, the distance of subsea wells from host facilities – must be increased to perhaps 200km to capture more outlying reserves, demanding new solutions to ensure the flow of hydrocarbons can be reliably and economically transported over these long distances. To keep pace with the company’s aim of being ready for the challenges ahead, BP’s investment in deepwater R&D, measured in tens of millions of dollars annually, has significantly increased over the past few years. The commitment is already paying off in current developments in the Gulf of Mexico in the Mad Dog, Holstein, Thunder Horse and Atlantis fields – the latter will operate in over 2100m of water when it comes on stream in 2006 – and offshore Angola, where BP is leading the development of the Greater Plutonio area in up to 1400m of water, scheduled to start up in 2007. But in terms of depth, more is to come. The western edge of Block 31 in Angola, where BP is operator, reaches 2800m; some areas of the Gulf of Mexico where BP has licences to explore are located in 3000m of water; and the ‘super ultra deep’ areas of Angola, yet to be licensed, lie in the 4000m league. Brookes believes that BP currently has more opportunities to pursue in deep water than any other company, and is well positioned to be the industry leader due to a combination of three key factors. ‘We have a significant, well-managed and focused R&D programme; a team of deepwater experts with world class skills in many disciplines; and the ability to integrate into the management of our projects the learning from hands-on applications and feedback from real deepwater developments. We are confident that this is a platform for success.’ Tying backThe focused R&D programme he refers to is organised in five broad categories, namely: concepts for floating production installations and mooring systems; pipelines and risers – risers are the conduits which convey hydrocarbons from the seabed to the surface (Frontiers, September 2001); subsea and surface processing systems (Frontiers, August 2002); flow assurance – ensuring the complex mixture of well fluids will continue to flow to the surface under changing operating conditions; and cold flow technology, a relatively new area of investigation which could revolutionise the way the industry approaches its subsea developments – more on this later.‘Within these five areas, we have several dozen projects under way,’ says Mike Theobald, delivery manager for the deepwater technology programme. ‘These are led by a core BP team of some 40 experts based mainly in the UK and USA, working on both internal developments and collaborating externally, for example in joint industry projects and in others funded solely by BP. ‘The projects are very diverse in nature, ranging from monitoring ocean currents, developing innovative guidelines for very large steel catenary risers, evaluating 20 megawattt subsea gas compressors and 36,000 volt underwater electrical systems, right through to installing and maintaining large subsea structures and floating platforms of many different varieties. ‘Five years ago, people viewed operating in 2000m of water to be the limit, for example in riser and flow assurance technology. Nowadays this is not exceptional – BP is focused on developing new systems for projects already under appraisal nearing 3000m of water.’ Among the projects, several are directed at increasing the tieback distance between remote subsea wells and the host platforms, or ‘hubs’, where oil, gas and water are separated and processed. Transporting mixed well fluids through flowlines on the seabed has practical limits due to the drops in pressure and temperature that occur with the potential for the lines to become blocked by ice-like hydrate formation or wax deposition, and the complexity of controlling remote equipment on the seabed as it moves further away from the hub. ‘Unless prohibitively expensive flowline insulation or heating systems are employed, tieback distances for mixed wellfluids are typically limited to around 35km at present,’ explains Theobald. ‘If these step-out distances can be significantly increased so that a greater number of remote wells can be supported from a single hub, the number of costly hubs for new developments could be reduced and additional satellite wells could be tied economically to existing facilities to capture isolated hydrocarbon reserves.’ In controlOne such project, steered by Theobald himself, is focused on developing and proving an all-electric subsea production control system as an alternative to the industry standard electro-hydraulic control systems, promising many benefits in reliability, speed of response and significant cost savings.Subsea wellheads are fitted with an assembly of control valves, known as trees. Today, most subsea developments use a multiplexed electro-hydraulic control system, which routes hydraulic fluid stored in subsea accumulators under pressure to individual valve actuators on the trees, and also to the downhole safety valve deep inside the well. The high pressure hydraulic fluid and control signals are fed to the subsea system from the hub via an umbilical, typically 150-200mm in diameter, containing several individual hydraulic hoses, electric cables and channels for delivering chemicals to the well. ‘These systems have served the industry well and will continue to do so for some years to come,’ Theobald points out. ‘But they do have reliability weaknesses relating to hydraulic fluid cleanliness, materials compatibility and depth effects, reducing overall system availability in some systems to the region of 95%. Long step-out distances to the valves, and the fluid power required, can make the systems very complicated, and due to the way choke valves are opened and closed in small increments, operations are quite slow, measured in terms of tens of minutes from open to closed in some cases. Furthermore, with increasing water depths, especially for high pressure reservoirs, the size of actuators and accumulators plus associated fluid volumes are pushing current industry capabilities to the limit. These and other factors are making electro-hydraulic control systems increasingly expensive to install and operate for long tie-backs in deep waters where high reliability is a prerequisite.’ To tackle some of these issues, BP has been working in conjunction with leading subsea tree manufacturer Cooper Cameron in the development of an all-electric subsea production control system. Following extensive onshore testing and dock trials in 30m of water in Norway, a prototype system was deployed for a six-month qualification field trial concluding in September this year in BP’s Magnus field in the North Sea. An array of direct current (DC) motor-driven valves, including a fast-acting choke valve, was mounted on a dummy tree at the base of the platform in 185m of water, and connected to the topsides via a 10km-long reeled power and communications cable to simulate a subsea tieback. Contractors Stolt UK and Wood Group carried out the installation work. According to Theobald, the unit performed very well, showing high performance reliability and the ability to close large valves under very precise control – in the case of the subsea choke valve, closure times were well under a minute, comparing very favourably with a typical 200-step procedure for hydraulically operated chokes. Full analysis of the results should be completed by the end of this year. Cooper Cameron’s all-electric subsea production control system has been tested in BP’s Magnus field Looking ahead, such a system could dispense with large hydraulic power units on a platform topsides, large hydraulic umbilicals and subsea accumulators, replacing these with a high voltage DC supply on the platform connected to the trees through typically a 25mm diameter coaxial subsea cable – installation would be simpler and control over distances of 200km or more would be achievable. Although electrical control of the downhole safety valve remains to be addressed, and a small umbilical would still be needed for chemicals delivery, BP believes overall capital savings could be realised. More significantly, with system availability and reliability increased, maintenance and operating costs would be reduced, while wells could be brought back into production after shutdowns far faster than at present. Hydrate crystals, as this model held by BP’s Carl Argo demonstrates, have complex molecular structures The drawback to all of these solutions is that they are inherently very expensive, and in deep water, costs escalate rapidly. Pipe-in-pipe flowlines, for example, are heavy and in deep water the weight of the line hanging off the pipeline installation ship becomes so heavy that very few vessels are up to the task. Compounding the problem, subsea flowlines are commonly installed as dual flowlines to form a loop that enables operational flexibility for several activities – flowline depressurisation or ‘blowdown’; replacing the flowline contents with inert fluid, known as ‘dead-oiling’; warming up the flowline or ‘hot-oiling’; and round-trip pigging to clean off pipe-wall wax deposits. While the dual flowline provides flexibility, it does however come with the penalty of doubling the cost of the system. BP, working with the Norwegian research organisation SINTEF, believes it could be on track to cracking the problem and revolutionising the way tiebacks are designed by taking steps to ensure that the flow from a well is actually cooled down, rather than kept warm. While this might seem counter-intuitive, the approach is founded on a relatively new understanding of hydrate and wax formation, as BP’s production chemist Carl Argo, leading the cold flow technology project in the deepwater programme, explains. Hydrates can form plugs (above left) and block pipelines, but in ‘cold flow’ (above right) they move easily ‘Hydrates are ice-like lattice structures made of water molecules surrounding small gas molecules that are stable above zero degrees due to the ambient pressure in the pipeline. These crystals are hydrophilic and tend to grow as a thin layer or crust on the outside of free water droplets. This layer will crack open when it contacts other particles and the pipe wall, allowing free subcooled water to escape from inside to the outer hydrate surface, where it behaves like a sticky glue. In this condition, the crystals tend to agglomerate together into lumps like slushy snow, sticking to one another and building up into long plugs that block the line. This effect is normally controlled – at significant cost – by keeping the temperature up, or by continuous addition of anti-freeze chemicals such as methanol to the flowline. ‘However, if the pipeline conditions did not limit the hydrate formation process to the ‘plugging phase’, the crystals would ultimately become individual submillimetre particles that do not agglomerate, similar to a dry powder suspended in liquid that behaves like a slurry. This hydrate slurry would remain in this stable state and would be transported with the flow. It is this condition we want to attain, which is referred to as “cold flow”. Our research work to date shows that it is certainly possible to achieve this in a laboratory flowloop.’ The key, says Argo, is to mix the hot well fluids rapidly with a cooled wellstream containing hydrate and wax particles that act as seed crystals. This ‘crash cooling’ will cause free water droplets to quickly coat the hydrates as a thin film, and if temperature conditions are right, the film will convert to hydrates and continue to grow outwards, soaking up more and eventually all of the water in the stream. No free water will be inside the crystals and therefore it cannot escape to create a sticky surface and plug the line. Click link below to view a diagram of the cold flow concept In practice, the ‘crash cooling’ of the wellstream from temperatures typically around 80ËšC to near-ambient around 4ËšC, could be achieved by recycling a cold stream of stabilised dry hydrate slurry taken from a point on the pipeline several kilometres downstream of the subsea well, and injecting this into the warmer stream near the wellhead. This would act as a ‘seed’ to induce further dry hydrate growth. The slurry formed will be more viscous and require pumping on the seabed – subsea pumps to perform this duty are already in an advanced stage of development and are not seen as a potential showstopper. When the slurry reaches the host platform – and it could travel for long distances such as 100km due to its stability – it will be converted back to free water and gas, requiring heat to be tapped from the topsides process. It may even be possible to separate the hydrates – which have a commercial value – and export them as a slurry. BP and SINTEF have successfully carried out ‘proof of concept’ trials for cold flow on a test loop in Norway And what of the business benefits that cold flow promises to provide? ‘Cold flow will mean that tie-back flowlines can be installed as uninsulated bare steel pipe without the risk of them becoming blocked and losing production,’ emphasises Argo. ‘And only single lines, rather than loops, will be needed – laboratory tests have shown that you can stop a flowline for many days and restart the flow without problems as the hydrate slurry is stable and can be readily re-mobilised, a significant operational advantage. Continuous chemical injection can also be eliminated. Taken together, these factors mean that tiebacks could become much cheaper and much longer. It is an exciting technology and could cut of the order of $100 million off the cost of a subsea development in deep water. There are also potential applications in onshore Arctic areas such as Siberia, where preventing hydrate and wax problems in long multiphase flowlines can be a problem. There are not many single technology concepts around bearing this potential degree of impact.’ Free swimmersAs developments push out into deeper waters, the cost of inspection, repair and maintenance (IRM) of subsea equipment is also increasing – a deepwater field with 40 subsea wells could well be facing an IRM bill in excess of $2.5 million per year.The industry’s workhorse for carrying out IRM tasks in depths far too deep for divers to be involved has long been the remotely operated vehicle (ROV). These large, high powered, sophisticated underwater machines, controlled from the surface through an umbilical tether, have the ability not only to inspect and identify faults associated with subsea hardware and pipelines, they are also designed to employ a variety of specialist tools to a carry out repairs. But these capabilities also bring some operational and cost drawbacks – ROVs require a dedicated support vessel for deployment and they are often called in ‘reactively’ to respond to a problem, taking several days to mobilise before intervention can begin. ROVs also have operational limits due to being tethered – a 40mm diameter control umbilical attached to an ROV designed for 3000m of water weighs in at 18 tonnes, and typically constrains the vehicle to a radius of less than a kilometre from the support vessel. When ROVs are used proactively in a planned IRM programme, their full capabilities are often not required, although deployment costs remain fixed. For example, a study in BP’s Foinaven and Schiehallion fields to the west of Shetland, encompassing abut 70 subsea wells, showed that almost 90% of the workscope was focused on inspection tasks. Now, a new breed of underwater vehicle is starting to make its presence felt that could offer a cost effective and flexible alternative to ROVs for some operations, a particularly attractive prospect for deepwater developments. ‘Autonomous underwater vehicles, or AUVs, have been around for some time, having their roots in the defence industry,’ says BP’s Lee Billingham, a subsea engineer in the deepwater technology programme. ‘They appeared in the offshore industry about four years ago, when BP became the first company to use the Hugin 3000 AUV, marketed by C&C Technologies of Louisiana and developed by Kongsberg Simrad of Norway, to collect seabed survey data in the Gulf of Mexico. Since then, AUV development tailored to the needs of oil and gas operations has been gathering pace, with several competitive designs nearing commercialisation.’ The key difference between an ROV and an AUV is that the latter is a free swimmer – it is not tethered to the surface, is self-powered and does not need to rely on a dedicated support vessel. It can be programmed to carry out routine tasks at great distances from its launch point using its own ‘intelligence’, and then return. ‘AUVs are not a replacement technology for ROVs as they are not designed to carry out heavy duty tasks,’ adds Billingham. ‘But they can provide easy and regular access to a field’s subsea infrastructure at much lower cost, for example in surveying pipelines, tiebacks and risers, subsea wellheads and other structures, and floating vessel mooring lines – particularly useful in a large development where equipment is spread out over many kilometres. In future they may be able to carry out diagnostic checks and light intervention work, but in development terms, we need to walk before we try to run.’ Autonomous underwater vehicles are programmed to carry out routine inspection tasks using onboard ‘intelligence’ BP is working with a number of AUV developers, aimed at steering the work toward meeting a broad set of operational parameters. These include the ability to work in 3000m of water, reliable long-range battery power and navigation systems that can tackle 100km-long tiebacks, safe and reliable launch and recovery systems for variable sea states, and a set of robust fail-safe mechanisms. Typically, an AUV might be powered by lithium ion batteries – although fuel cells could be a longer-term option – and fitted with an inertial navigation system to keep track of the AUV’s position relative to a start location. Onboard computers can be programmed with a complete mission, or stages of a mission requiring recognition of features along the way where the AUV might wait for further instructions. A key feature is the use of sonar scanning or other sensors that seek out ‘anomalies’, for example, detecting objects dropped onto or near a pipeline, at which point the AUV would loop round and pass the point again more slowly for a more detailed inspection – onboard data processing endows the vehicle with the intelligence to do this. Other features are the ability to move vertically up and down and hover on location, not an easy task in strong ocean currents but a necessary performance characteristic for inspecting vertical lines, such as risers and moorings. ‘While autonomous operation is the goal, some communication with the surface is needed,’ points out Graham Openshaw, a subsea technology consultant working for BP in Houston. ‘Without an umbilical tether, communication has to be via acoustic signals, which severely limits bandwidth and rules out real-time video, although time-lagged still video images can be sent. This demands a smart operating strategy. AUV location can be communicated periodically to confirm the mission, and a supervisory control philosophy of carrying out a task segment, transmitting results and then requesting permission to continue the task, can be used. This is similar to the control strategy adopted by NASA for the very successful Mars Rovers.’ These and other operating characteristics are under evaluation by BP in its collaborations with a number of AUV developers. In September this year, BP funded a field trial of the Autotracker system, designed to track and survey exposed and buried seabed pipelines. The Autotracker module, the result of a joint industry project managed by Heriott-Watt University in Edinburgh, uses sonar to follow a pipeline on the seabed. If the line goes under the surface, this is recognised by the onboard processor and a magnetic tracker takes over to keep the AUV on course, although it then no longer recognises anomalies as does the sonar system. The tracker has inbuilt logic to go back and try again if it loses the line, keeping a stored video record of the operation. The Autotracker module was carried in a large GeoSub AUV assembled by underwater services company Subsea 7, capable of working in 2000m of water. BP is evaluating AUVs such as Subsea 7’s GeoSub (main picture) and ECA’s Alistar 3000 (inset picture) ‘Until now, AUVs have only carried out seabed surveys on a commercial basis, not pipeline tracking,’ explains Billingham. ‘We believe this pipeline survey, following an 8km length of 750mm diameter pipeline in the North Sea leading to the Flotta terminal on Orkney, may be the first of its kind. The AUV performed very successfully in detecting and tracking the pipeline.’ Another joint industry project in which BP is involved, funded by the UK government’s Industry Technology Facilitator initiative, is focused on the development of Spinav – subsea pilotless inspection with an autonomous vehicle. The project, run by Seebyte, a spin off from the Ocean Systems Laboratory at Heriott-Watt, has developed the Rauver AUV, which has among its capabilities the ability to hover and track in the vertical mode for risers. The Rauver is to act as a testbed for a range of sensing modules, for example, one using blue light which causes a fluorescent dye – present in a corrosion inhibitor chemical inside a riser – to glow. If there is a leak in the riser, the AUV will detect the glow from the leaking chemical as an abnormal condition. Next year BP plans to fund a deepwater trial in the Gulf of Mexico. The Alistar 3000 AUV, developed by ECA of France for operation in 3000m of water, is one candidate for the trial. Click the link below to view the panel: Seafloor under scrutiny ‘AUVs have proven they can operate as carriers in deep water,’ notes Billingham. ‘The next step is to demonstrate the onboard intelligence to carry out the variety of tasks needed by the oil and gas industry. Once AUV technology matures it will provide low cost and rapid access, particularly to remote subsea facilities. Bringing all this together is going to be the really clever part.’ And being clever is fundamental to the success of BP’s pioneering deepwater technology programme. Frontiers copyright and legal notice Copyright in all published material including photographs, drawings and images in this magazine remains vested in BP plc and third party contributors to this magazine as appropriate. Accordingly neither the whole nor any part of this magazine can be reproduced in any form without express prior permission, either of the entity within BP plc in which copyright resides or the third party contributor as appropriate. Articles, opinions and letters from solicited or unsolicited third party sources appearing in this magazine do not necessarily represent the views of BP plc. Further, while BP plc has taken all reasonable steps to ensure that everything published is accurate it does not accept any responsibility for any errors or resulting loss or damage whatsoever or howsoever caused and readers have the responsibility to thoroughly check these aspects for themselves. Any enquiries about reproduction of content from this magazine should be directed to the Managing Editor (email: This e-mail address is being protected from spam bots, you need JavaScript enabled to view it ).
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