GDR ROB GT2 du 22 novembre 2012 “Perception et localisation pour les robots marins et sous-marins”

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Geophysics finds new applications for swarms of Autonomous Underwater Vehicles

22/11/2012

GDR ROB GT2 du 22 novembre 2012

“Perception et localisation pour les robots marins et

sous-marins”

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CGGVeritas business position

 Worldwide local presence

 Singular focus on the full spectrum of Geophysics

 A unique history of innovation leadership

 A track record of successes

Delineation

Exploration Development Production

Sercel & Services

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Arctic, Desert, Shallow Water

expertise 15* crews High-channel count & Arctic

leaders Cableless crews

OBC & OBN Leading High-

End Global Fleet 19 Vessels Solid steered

streamers WAZ and 4D

expertise

Marine

30 open centers

& 12 dedicated centers The leaders in:

Advanced Imaging

WAZ &

Broadband

Land & Seabed Processing & Reservoir

Industry Leader Full spectrum of

technology Large installed base:

3.5 million channels 750 Nomad

vibrators 5,000 km streamer

Sercel

1,500 employees 2,000 employees 2,500 employees

2,200 employees

QHSE Excellence & Sustainable Development

CGGVeritas activities

High quality library in key

locations

Gulf of Mexico UK CS Brazil Caspian Onshore US

Shale

Multi-Client

225 employees

Hampson-Russell

Market-leading seismic reservoir

characterization services &

software Unconventional resources & 4D

expertise 150 employees

2011 Full Year ►Revenue: US$3.2b ►Backlog: US$1.5b

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Marine

 BroadSeis gains momentum:

30,000km

2

3D & 20,000km 2D

 Sirius and Vega X-Bow flagships

Land

 UltraSeis array-free seismic for Reservoir Development

 UNITE cableless success

 Arctic & shallow water experts

 Processing, Imaging & Reservoir

 Advanced Imaging leadership

 Reservoir Solutions for Unconventional Resources; HRS-9 release

 Multi-Client & New Ventures

 BroadSeis UK CNS Cornerstone and Santos Basin, Brazil

 10,000 sq miles of Shale play coverage

 Alaskan high-end survey first

CGGVeritas Service Divisions

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Seismic surveying delivers this …

Middle Jurassic BCU

Middle Kimmeridge

Clay Oil-bearing sands*

Conventional BroadSeis

*correlated to nearby well

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15 high-end 3D vessels

*Oceanic Sirius 16 x 8 – 20 x 8km SOLID SEAL SENTINEL

NAUTILUS

*Oceanic Vega 16 x 8 – 20 x 8km SOLID SEAL SENTINEL

NAUTILUS

*Alizé 12 x 8 – 16 x 6km SOLID SEAL SENTINEL

NAUTILUS

*Viking Vision 12 x 9 – 14 x 9km

SOLID SEAL SENTINEL DIGIFIN

*Oceanic Phoenix 12 x 8 – 14 x 8km SOLID SEAL SENTINEL

NAUTILUS

*Viking Vanquish 12 x 8km SOLID SEAL SENTINEL

NAUTILUS

*Symphony 12 x 7 – 14 x 6km SOLID SEAL SENTINEL

NAUTILUS

*Oceanic Challenger 10 x 8– 12 x 7km

SOLID SEAL SENTINEL DIGIFIN

*Viking 10 x 8km SOLID SEAL SENTINEL DIGIFIN

*Oceanic Endeavour 10 x 9 – 16 x 9km SOLID SEAL SENTINEL

NAUTILUS

*Geowave Champion 12 x 8 – 14 x 8km SOLID SEAL SENTINEL

NAUTILUS

*Geowave Voyager 10 x 9km SOLID SEAL SENTINEL DIGIFIN

*Veritas Vantage 10 x 6 – 8 x 8km

SOLID SEAL SENTINEL DIGIFIN

Amadeus 8 x 10km FLUID SEAL

*Viking II 8 x 6km SOLID SEAL SENTINEL

NAUTILUS

HIGH CAPACITY MID/LOW CAPACITY

4 2D/3D vessels

Pacific Finder 4 x 6km SOLID SEAL

SENTINEL

* Princess 3 x 4 - 2 x 6km

SOLID SEAL SENTINEL

* Bergen Surveyor 2 x 6 – 1 x 12km

SOLID SEAL SENTINEL

Leading High-End Fleet: 19 Vessels

$1 billion fleet renewal and upgrade program completed

Minimum 3D capacity of 12 steered solid streamers

Venturer 4 x 6km FLUID SEAL

* BroadSeis ready

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Towed streamer acquisition

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Seabed acquisition

 Integrated Offer

 From feasibility to interpretation

 Multidisciplinary teams

 Extensive processing & imaging experience

 Global Experience

 Node, OBC and trenched OBC

 Re-deployable Solutions

 1,000 4C Nodes & 3 SeaRay OBC crews

 Permanent Reservoir Monitoring

 Optowave fibre-optic OBC

 R&D commitment

 University of Bergen

 Christian Michelsen Research Centre

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Seabed acquisition: Ocean Bottom Cable

SeaRay

®

- Digital 4C OBC

 Safer: High-specification lightweight cable for easier handling

 Quieter: Novel casing design improves coupling

 Quieter: 428 MEMS 4C sensors

 Better: High-fidelity multicomponent data

 Better: High-resolution, wide-azimuth OBC surveys

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The SpiceRack Project

 The Vision

 Some things done so far

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Scientific and Technical Challenges

Launch

 Guidance and navigation

 AUV Design

 Sea bottom holding

 Seismic coupling

 Seismic data recording

Recovery

 Synthetic environment

 Command and Control

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Launch

 Start node

 Load mission

Launch

 No major scientific or technical issues

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Guidance and Navigation

 Acoustic guidance

 Transducers

Modem

 Algorithms

 Inertial guidance + attitude and heading

 Cheap 9 axis IMU assisted by acoustic guidance

 Dynamic modeling to determine optimum shape in terms of

Autonomy

Stability

 Speed and Agility

 Navigation Control Loop

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AUV Design

Low cost per unit mass production

 Pressure hull made with plastic injection molding

 Dynamic sealing

 Jet-pumps, thrusters

 Electromechanical

 Motors, servos and servo-valves

 Hydrodynamic

 Duct and propeller design

 Jet-pump induction manifold, turbine, motor speed and power, nozzle design

 Electronics and SW architecture

 Low cost COTS hardware

 Electronic Speed Controllers, ADC, ARM embedded computer, …

 Object Oriented Software

 Performance Monitoring Fault Location

 Open source projects

 IMU, Embedded Linux, …

 Standard Interfaces

 CAN Bus, USB, RS232, Ethernet, WiFi, …

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Sea bottom holding

 The node must not move when landed

 Study of sediment types and effects of friction, suction, build-up (berm), sinkage, scouring, breakout

 Study of hydrodynamics of different candidate node shapes

 Study of burial or burrowing methods

 Study of buoyancy control technologies

 How to demonstrate to the customer that the node has not moved during its recording mission, and ideally recover status info on movement on a daily basis

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Seismic coupling

 The node must record high quality seismic data

 Coupling for shear waves requires good contact with sea bottom

 Ideally the node must be buried and have density equivalent to surrounding media

 Compromise between weight (which helps seismic coupling) and mass (which does not)

 Vector fidelity – limit leakage between the 3 orthogonal components

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Seismic data recording

Autonomy

 Clock accuracy

 Less than 1 ms after 20 days (but after drift correction)

 Accuracy and dynamic range of A/D converter (>= 24 bit)

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Recovery

 Acoustic guidance accuracy and sampling

 Vehicle agility

 Effect of ship motion under heavy seas

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Synthetic Environment

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Currents

Tides SAFRAN high level control

Mission planning

Sound velocity

Bathymetry

Sea floor conditions Surface obstructions

Sea state Deployment vessel movement Simulate

Correct

Simulate

Execute Return on

experience Improve

3rd party vessels Initial conditions

Cost optimisation

Etc…

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Command and Control

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Tides Mission planning

Bathymetry

Simulate

Correct

Simulate

Execute

Return on experience Improve

Currents

SAFRAN high level control

Sound velocity

Sea floor conditions Surface obstructions

Sea state Deployment vessel movement

3rd party vessels

Cost optimisation

Etc…

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Thank you for your attention!

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