Nwp rov and sonar briefing mar 2014
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Office of Dive Safety NWP Remotely Operated Vehicle (ROV) and sonar briefing By Rick Benoit and Todd Manny District Dive / ROV Coordinators / Dive Safety Officers
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Transcript of Nwp rov and sonar briefing mar 2014
Office of Dive Safety
NWP Remotely Operated Vehicle (ROV) and sonar
briefing
By Rick Benoit and Todd Manny District Dive / ROV Coordinators / Dive Safety Officers
Portland District’s Deep Ocean Engineering’s
Phantom XTL and VideoRay Pro 3 GTO LX Remotely Operated Vehicles (ROV)
Presenter
Presentation Notes
-The XTL is considered the top end of the “OBSERVATION” class of ROV’s. Used in the oil industry to inspect structures and platforms after significant environmental events such as hurricanes, etc. -In comparison, the VideoRay ROV are of the “micro” ROV class, weighing approx. 8-10 lbs and having a very high thrust-to-weight ratio.
Portland District’s Rapid Response
ROV Package
Presenter
Presentation Notes
ROV applications USACE Projects and Facilities
• Inspections of:
– Navigation Locks, Trash-Racks, & Pen-Stocks; – Fish-ways, Fish Ladders, Intakes & Outfalls Pipes; – Ships Hull, Bridge & Piers, Stilling Basin, Walls & Aprons; – Potable Water Tanks, Bulkheads, Stop-Log Sills & Guides.
– Marine Life Surveys; Hydrographic Surveys with SONAR; – Bottom Sampling (Subaqueous Sediment Testing); – Security Investigations; Archeological Investigations; – Light Maintenance & Salvage (Retrievals of ROV’s a Specialty!).
Presenter
Presentation Notes
EM 385-1-1, Section 30.A.03 directs us to utilize an ROV type system BEFORE using divers IF the work can be more safely and efficiently accomplished by another means (e.g., an ROV). Use of the NWP ROV program has added significant value to our district and division, and other USACE districts as well. This technology has helped improve a number of our District/Division Programs. A few examples: NWP’s Dam Safety Program has benefited by allowing them to “see” underwater portions of our projects that haven’t been inspected or viewed since construction some 30 or more years ago; The ROV has been used by Fisheries and Engineering Construction to help gather information during development of alternate means of passing juvenile fish or improving our projects fish related structures; It has also been used to assist the USCG, Channels and Harbors Project as well as the Office of Counsel in determining possible “hazards to navigation” on the Columbia River and approach channels to our navigation locks. -verification of inconsistencies, anomalies and items of interest found during marine multi-beam hydro-surveys (BON PH2 dredging contract) -Used to assist other USACE districts in underwater project inspections (SWT);
Specifications General: Weight: 110lbs Maximum depth:500 feet Test depth:1000 feet Camera: 12:1 optical zoom high-resolution color video camera Superb video quality, +/-90* camera and light tilt Instrumentation: Gimbaled fluxgate compass Electronic depth gauge Auto depth control Leak detector Lights: Tungsten-halogen, (2) 150 watt Standard Umbilical Tether: 400 feet, neutrally buoyant BlueView 2D multi-beam and Tritech scanning sonar; 17 in. daylight viewable video monitor; DVD and SD card recording capability; Adjustable Manipulator Arm with gripper/cutter; USBL Tracking system; GPS positioning capability; Vehicle mounted electric hoist with 100’ cable;
SYSTEM PACKAGE VALUE: ~ $150,000
Phantom XTL Specifications
Presenter
Presentation Notes
USBL- Ultra Short Baseline tracking system -utilizes Hypack Survey software, a GPS input, ROV pinger and vessel mounted hydrophone to give ROV position, bearing and depth information in relationship to the vessel or land base location. -picture above taken at Dorena Dam, WV Project.
Specifications General: Weight: 10lbs; Size: 14.5” x 9” x 8.5”; Maximum depth: 500 feet; Speed: GTO (Greater Thrust Option) 4.1 knots max; Control Panel: 15” Daylight viewable monitor with sensor overlay, joystick and switching for ROV control and operations. Video and recording outputs; Camera (s): Front: Wide angle, variable tilt, high-resolution color video camera. Superb video quality, 570 lines of resolution; Rear: High Resolution Black & White with high intensity LED array; Integrated Sensors: Compass heading; Electronic depth gauge; Auto depth control; Lights: (2) X 20 watt halogen lamps with variable intensity control; Standard Umbilical Tether: 580 feet, neutrally buoyant; BlueView 2D multi-beam and Tritech MICRON scanning sonar compatible; DVD recording capability; Adjustable Manipulator Arm with gripper;
SYSTEM PACKAGE VALUE: ~ $40,000
VideoRay PRO 3 GTO LX Specifications
Presenter
Presentation Notes
-VideoRay system is small, lightweight, very portable and quickly deployable. Perfectly suited for inspections in tightly confined or hard to access locations.
Sonar Image Interpretation
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Presentation Notes
Bright reflections indicate “hard” surfaces. This can be edges of concrete and steel structure or dense debris such as rocks and large pieces of wood. Dark “acoustic” shadows can indicate mounding of material, areas of lower elevation or material/substrate that are too soft to return a sonar “ping”. Mounding will be indicated by the material in front of the dark shadow showing a brighter return. A depression or area of lower elevation will just be a darker area compared to its surroundings. Sometime edges of the depressions will also give a return depending on material hardness. The acoustic shadow of an item can also be measured with the BlueView software to determine the height and width of the object being viewed.
Presenter
Presentation Notes
Various sonar images and color palates that can be used in differing situations to obtain the best possible image. Actual sonar imagery viewed with the BlueView software will have much better resolution than what’s shown above.
Phantom ROV Video Display
ROV depth
ROV heading
Date Time
Tether rotations
Presenter
Presentation Notes
Video confirmation of wood debris loading on Cottage Grove Dam intake structure. -Text can be added to video display to document items being viewed and will be recorded to DVD as well; Display can also have GPS data added as well; 0 in upper right, below time, is # of turns in ROV tether;
ROV Scanning Sonar •Tritech SeaPrince DST Sonar- Long Range ROV Navigation, Obstacle avoidance and Sector Scanning sonar. Used to navigate ROV into areas of low/zero visibility. Also allows ROV pilot to “see” further than the ROV’s camera permits due to light and water clarity. Scanning capability allows section and elevation views of structures as well.
Dam Face
Intake structure covered with wood debris
Bottom profile
Cottage Grove Dam, Fore bay Section View
Cottage Grove Dam, Fore bay Elevation View
Water surface
Dam Face
Corbels
Wood debris
Top of Intake structure
Bottom profile
Presenter
Presentation Notes
Sonar imagery above showed that Cottage Grove’s intake structure was heavily loaded with wood debris. The results of this inspection assisted the WV Project in developing a commercial contract to remove the debris and improve water passage through the project. This imagery was taken with the ROV approx. 35 feet above the intake structure and less than 3 feet from the face of the dam.
ROV 2D Multi-beam Sonar BlueView P900-45, 2D multi-beam sonar- High resolution imagery for underwater detection and identification, especially in low-visibility environments. Used for hull and structure inspections, IED detection, underwater navigation, and search and recovery operations. Items on the scanned image can be measured with installed software; video and jpegs created as well.
Dorena Dam Intake Structure, Upper Elevation View
Corbel
Dam Face
Bulkhead Guide
Top of Trash Rack structure
Regulating Outlet
Reservoir bottom
Dorena Dam Intake Structure, Lower Elevation View
Top of Trash Rack structure
Bulkhead Slot
Trash Rack vertical columns
Reservoir bottom
Presenter
Presentation Notes
BlueView sonar imagery above is of one of the Regulating Outlet structures at Dorena Dam. This imagery was taken in very low visibility water from 25 feet above the intake structure and approx. 50 feet from the face of the dam. Inspection results revealed that there was little to no debris loading on the intake structures or reservoir bottom. This was a significant finding as there were future plans to manufacture and install a bulkhead so the RO’s could be inspected. A large amount of debris in this area could cause bulkhead sealing issues. Trash Rack verticals are not shown in left or upper elevation view due to the sonar head being panned up. Trash Rack structure shown in right hand sonar image as sonar head is panned down.
ROV 2D Multi-beam Sonar, cont. Denison Dam Trash Rack Denison, TX (SWT)
Bottom profile
Trash rack horizontal members
Pier nose
ROV tether
Presenter
Presentation Notes
Trash Rack image from Denison Dam in Tulsa District. Image taken at a distance of approx 60 feet from the dam in limited visibility (~5’) water. Sonar Image shows no large debris on the trash rack or the reservoir bottom. Trash rack vertical bars are hard to see in this image at this distance.
Muliti-beam and Scanning sonar comparison
-Broken Bow Reservoir Low Level Outfall Structure. Structure located at the bottom of the reservoir in 165 ft. of water using the BlueView Multi-beam sonar. -BlueView also used to navigate ROV to structure for inspection of bulkhead guides and sill.
-Tritech scanning sonar utilized to pilot ROV within the Outfall Structure to conduct guide and sill inspections.
Outfall vertical walls
Bulkhead guides
Debris on reservoir bottom
Outfall vertical walls
Bulkhead guides
ROV location
ROV location
Presenter
Presentation Notes
Reservoir Outfall Structure at Broken Bow Dam, OK has not been inspected since impoundment in 1970. Tulsa District would like to place a permanent bulkhead in this structure as a secondary means of protection against an accidental release of reservoir water. SWT did not have an exact structure location so the BlueView sonar was used to scan the reservoir bottom, locate and navigate the ROV to the structure. This was completed within 20 minutes in 165 feet of water depth and zero camera visibility as well. Once at the structure, the Tritech scanning sonar was utilized to navigate into the structure and locate the bulkhead guides and bottom sill for inspection and debris loading.
Other ROV System Equipment & Capabilities
-Ultra Short Baseline Tracking System (USBL)- allows geo-referenced tracking of ROV underwater; provides relative bearing, depth, and location of ROV from vessel or deployment point; -HYPACK Survey- a hydrographic survey and processing software that provides the tools needed to collect survey data, track and plot ROV and target locations on a geo-referenced background or map; -Differential Global Positioning System (DGPS)- provides accurate differential location of ROV or vessel while conducting surveys and inspections; -KVH Digital Compass- provides accurate heading of ROV or vessel while conducting surveys and inspection;
Presenter
Presentation Notes
-Top picture: ROV control and tracking equipment, sonar/ survey laptop, DGPS and digital compass. All combined with inputs into HYPACK Survey allow ROV team to create geo-referenced plot fields of underwater items and their locations (bottom picture); -Bottom picture: HYPACK plot field of improperly disposed dredge debris in Elliott Bay, Seattle, WA. The NWP ROV team was requested by Seattle District to locate, video and plot the debris that was improperly dumped by a contractor;
ROV Missions in 2011:
1. BON PH1 Amburson Section Insp. (3); 2. Foster Dam Lifting Beam Guide Insp.(2); 3. John Day Dam Adult Fish-Way Insp. (2); 4. John Day Dam ROV Recovery; 5. John Day Dam Spill-bay #20 Insp.; 6. Foster Dam Fish Ladder Sill Insp.; 7. Green Peter Dam Trash Rack Insp.; 8. John Day Dam North Fish Ladder Insp.; 9. John Day Dam S. Fish Turbine Intake Insp.; 10. John Day Dam MU TR#1 Insp.;
Presenter
Presentation Notes
-ROV’s use in NWP commenced August 1, 2010. -It’s first operational use was at John Day’s Adult Fish Collection Channel during it’s mid season inspection. The very next day it was used in an emergency recovery of JDA’s own VideoRay ROV that was fouled on a cable at the end of the south Navlock guidewall. The rov was utilized to attach a line and carabineer to the VideoRay frame and then cut it’s tether and bring it to the surface. -It was used again in Jan. of 2012 to cut free JDA’s VideoRay when it was entangled in a lifting beam line at the NFL AWS Pump intakes. Pictures above: Left, ROV on the surface at Dorena Dam. Right, equipment stored in its trailer.
ROV Missions in 2012: 1. Columbia River Derelict Barge 202 Insp. (2);
2. DET Dam Fish Transducer Insp. (2); 3. USACE ESSAYONS Bow thruster Insp.; 4. Little Goose Dam NAV Lock/Fish Ladder Intake Insp.; 5. Little Goose Dam Boat Boom and Anchor Insp.; 6. BON Bradford Is B-branch Fish Ladder Repair Insp.; 7. BON and TDA Trolley Pipes Inspection; 8. Little Goose MU TR #1/NAV Lock Insp.; 9. JDA NFL AWS ROV and Lifting Beam Recovery (2); 10. JDA South Fish Turbine Bulkhead Insp.; 11. BON PH2 MU 11 Tail Log Insp.; 12. Willow Creek Water Quality Intake Insp.; 13. Dorena Dam Forebay and Stilling Basin Insp.; 14. Cottage Grove Forebay and Stilling Basin Insp.; 15. Cougar Dam RO Stilling Basin Insp,; 16. JDA Adult Fishway Collection Channel Insp.; 17. JDA NFL Entrance Insp. (2); 18. Lost Creek Dam Stilling Basin Insp.; 19. BON Spillway Apron Insp.;
Presenter
Presentation Notes
Estimated use for the ROV in 2012 was initially thought to be about 10 operations. We more than doubled that at 23 operations! Picture above taken during inspection of underwater rock placement at the emergency repair of BON Bradford Is. Fish Ladder.
ROV Missions in 2013 1. TDA Navlock Insp. (2); 2. Fern Ridge Dam Forebay Insp.; 3. Cougar Dam Diversion Tunnel Entrance (2); 4. BON PH2 dredging survey verification; 5. Foster MU Trash Rack/ Spillway insp.; 6. Green Peter Fish Well insp.; 7. JDA S. Fish Collection Channel/TR and MU Trash Rack debris insp.; 8. BON PH1 ROV retrieval; 9. Denison Dam (SWT) Intake tower/Stilling basin insp.; 10. Broken Bow Dam (SWT) Intake tower/Stilling basin insp.; 11. BON PH2 LFS insp. (external); 12. BON PH2 LFS insp. (internal); 13. JDA Fish Collection Channel Insp.; 14. TDA trash rack insp.; 15. BONN PH2 FU trash rack insp.; 16. Coos Bay USACE Field Office Pier insp.; 17. USACE Dredge Essayons hull insp.; 18. Oologah Dam Intake and Spillway Insp. (SWT); 19. Marion Dam Intake and Spillway Insp. (SWT); 20. BONN Hamilton Is. Boat Ramp Insp.; 21. JDA Adult Fishway Insp.; 22. TDA N/S Fish Ladder Entrance Insp; 23. McNary WA Shore Fish Ladder Exit Insp.(2); 24. TDA Navlock Intake Insp.;
Presenter
Presentation Notes
ROV preparing to leave the surface at Cottage Grove Dam, WV project.
ROV Missions in 2014 (to date): 1. JDA South Fish Turbine Intake/ MU 2 Trash Rack Insp.; 2. McNary Dam (NWW) ORSFL Bulkhead Sill Insp.; 3.Lower Granite Dam JFF Trash Rack Debris Insp.; 4. TDA AWS pre-installation inspection; 5.McNary Dam (NWW) Fish Unit #2 inspection; 6.JDA NFL VWW Panel Recovery; 7.Elliott Bay (NWS) Dredge Debris inspection;
Upcoming Missions: -Lower Granite Dam (NWW) RSW inspection; -Bonneville Dam Spillway Gate Inspection; -Ft. Gibson Dam/Tenkiller Dam (SWT) periodic insp.; -Ft. Peck Dam/ Garrison Dam/ Big Bend Dam (NWO) periodic insp.;
Presenter
Presentation Notes
ROV preparing to leave the surface at Foster Dam, WV project.
Costs Comparison USACE / NWP ROV Team
About
$2.5-3k per day
ROV Operator
ROV plant rental
ROV Tender
TDY Travel
Commercial ROV Team
About $8,000*
per day
ROV Operator
Demob
ROV Tender
Mob
Presenter
Presentation Notes
The ROV Plant Rental is a fee ($1000.00 based on a per day use) that is charged to the “customer” or project in order to maintain and repair the NWP ROVs as needed. This is the only funding that this program receives. The main benefit is the overall contractual cost savings to the Division/ District and it’s Projects.
APPROXIMATE NWP COST SAVINGS TO DATE
$474,500*
(ABOUT $6,500 PER MOBILIZATION)
USACE / NWP ROV IN SERVICE SINCE 01 AUG 2010 * BASED ON COMPARISON WITH A 2012 USACE/ COMMERCIAL DIVE CO. IDIQ
CONTRACT.
Presenter
Presentation Notes
This cost savings is the difference between what all of our completed operations would have cost USACE if a commercial ROV contractor had completed them. This approximate cost savings does not include the value of the entangled ROV equipment retrieved utilizing the Phantom XTL; Current as of 5 March 2014
Presenter
Presentation Notes
Phantom XTL retrieval of a Seabotix micro ROV entangled in a fish sensor trolley pipe. Trolley pipe was mounted on a fore bay pier nose. Recovery plan included attaching a line and carabineer to the Seabotix and cutting its tether to free it. Once line was attached, topside personnel were able to pull the ROV free to the surface, disconnect the tether and then the Phantom ROV was used to remove tangled tether from trolley pipe mounting bracket. Retrieval was completed without any damage to the Seabotix equipment.
Presenter
Presentation Notes
Recovery of a VideoRay entangled in 3/8ths in. nylon line. This ROV suffered a malfunction and became entangled during an inspection of a jammed lifting beam.
Presenter
Presentation Notes
NWP’s XTL ROV cutting line free that VideoRay from previous slide is entangled in. VideoRay ROV was pulled to the surface once line was cut.
QUESTIONS?
Presenter
Presentation Notes
VideoRay cut free and brought to the surface from a Navlock guidewall. This ROV was wrapped around the guidewall anchor cable and subject to navigation traffic propeller wash and condensation damage. Our ROV was utilized because a dive team would not have been able to retrieve it for almost 30 days due to spill operations for juvenile fish passage. A carabineer and line were attached to the VideoRay frame using the Phantom XTL’s manipulator. Once attached, manipulator was again used to cut the tether and ROV was pulled to the surface.
