Trinity F90+ Pipeline Inspections - Product Review
Author: Dr. Michael Zimmer
___________________________________________________________________________________
Introduction
The task of pipeline inspection places unique requirements on UAVs. By carefully analyzing these requirements and matching them to the stated specifications & capabilities of existing UAV designs, an optimal system may be selected. Further planning of operational methods and payload may be needed in order to make good use of that airframe’s unique advantages while also minimizing the effects of its disadvantages.
1. Airframes and Powerplants
1.1 Mission
The mission chosen for this assignment is pipeline
inspection. Pipelines cover more than 2.6 million miles in the United States
(US DOT Pipeline and Hazardous Materials Safety Administration, 2018). While
many of these miles are buried underground, a significant amount is above
grade. Typically, this is done as a temporary measure or to minimize the impact
on the environment that would be necessary to install underground lines. To
ensure safe operations, these pipelines must be inspected periodically. In the
past this has been done by workers driving along the length of the pipeline to
conduct an inspection. Unmanned aircraft will allow for the creation of a, high
resolution, 3d model of the pipeline. This model allows engineers to conduct
many inspections from an office rather than in the field, saving both time and
money. To effectively conduct these inspections, a fixed wing aircraft with
long flight times, a high-resolution camera and a LIDAR sensor is preferred.
1.2 Specifications
The Trinity F90+ can be equipped with a 42-megapixel, high resolution, electro-optical, camera and a Qube 240 LIDAR system. It also supports post-processed kinematic (PPK) positioning that will allow for very accurate and precise data. This aircraft has a wingspan of 7.48 ft and is 4.85 ft long, when fully assembled. The aircraft breaks down into 6 pieces for transport and can easily fit in the trunk of a compact car. This system boasts a 90-minute flight time, a maximum take-off weight off 11 pounds and can cover nearly 62 miles with an optimal cruise speed of 38 miles per hour (Quantum Systems, 2021).
1.3 Capabilities
The Trinity F90+ is a Vertical Take-off and Landing
(VTOL) Unmanned Aerial System (UAS) that is powered by a 3.3 pound Li-Po
battery. With tiltrotors and positioning its battery compartment as a nose, the
Trinity F90+ can resist 9.3 m/s wind levels while sustaining flight for 90
minutes. In addition, the Trinity F90+ design is structured in a vertical
forward flight fashion; as this allows for the reduction of thrust and power
efficiency compared to conventional fixed-wing UASs. Lastly, the Trinity F90+
airframe and powerplant provides for multi airflow to yield limited turbulence.
1.4 Advantages
Flight time. Trinity F90+ can fly over 90 minutes for the unlocked model (Quantum Systems, 2020), Reduces men on survey and mapping jobs, essentially replacing a 3-4 members down to 1 max of 2, completing 2-3 projects in one day. This is huge for return on investments (ROI). This keeps companies cost low while providing an accurate method of measurement while cutting out inaccuracies that would normally be human error (Dartdroens, 2021).
Landing and take-off. Trinity F90+, is an airplane design with capabilities to take-off and land like a helicopter, now making it an electric vertical take-off & landing (eVTOL). Three tiltrotors elevate to a desired altitude the electric motors will turn from a vertical take-off position to a horizontal flight position. Since it never requires a runway, the Trinity F90+ takes off from and lands upon shock absorbing gear legs, this feature extends the service life of the UAS (Quantum Systems, 2020)
Payloads. Trinity F90+ has over 7 plug and play payloads, which have already been used around the world in different climates from cold to warm tropical weathers. Engineers are continually making new payloads to make it more versatile.
1.5 Disadvantages
Flight time. Trinity F90+ has a maximum flight time of 60
minutes or 90 minutes (export version) (Quantum Systems, 2020) might not be
able to cover the entire mission because the oil and gas pipeline is normally
connected between drilling platforms and processing facility.
Weather tolerance. The Trinity F90+ is limited to operate
under normal weather conditions. It could not operate below -12 OC
(10.4 OF), which might not be suitable for pipelines located in more
severe weather conditions such as the arctic circle.
Payloads. Trinity F90+ is still not yet capable of carrying chemical detector such as methane detector, which will increase the performance of the mission.
2. Sensor Package
2.1 Sensor Requirements
Pipeline inspection places several competing requirements on a sensor package. As even a small leak in a pipeline can be a major environmental problem, the sensor must have good resolution to detect even slight abnormalities. Visual-range-only passive sensors are the minimum functional package for such a task, but further fields of energy observation would increase the utility of the sensor package.
Pipelines are also very long, meaning that any UAV used to inspect them must fly for long periods of time and at a decent speed in order to cover the pipeline in a useful amount of time. This requires that the sensor package be able to function at speeds well above a hover and distances likely further than a few feet. Furthermore, the sensor package must not place too high of a requirement on the UAV's on-board power source or data-storage ability, lest the UAV be forced to return to land and recharge its power storage (chemical or electrical) too frequently.
2.2. Specifications
The Sony RX1R II is a compact sized, 35-millimeter full frame, camera that can shoot still photographs at 42 mega-pixels. Weighing in at one pound, nine ounces and needing only 3.6 volts at 2.5 watts to operate, this camera is a great choice for UAS integration. Further features include a high dynamic range, selectable focus areas, image stabilization an ISO range of 100-25600 and the ability to shoot as many as 5 frames per second. This allows for a ground sampling distance (GSD) of 1.29cm per pixel at 100 meters.
2.3 Capabilities
The Sony RX1R II capabilities is extensive through Trinity F90+ payload swapping compartment. The Sony RX1R II serves as a primary choice within Trinity F90+ nine payload configurations due to its general and all around purposes. In addition, because of Sony RX1R II capabilities images are extractable at the highest quality within Trinity F90+ payload portfolio. Lastly, the image quality from the Sony RX1R II can generate point clouds, DEM, orthophotos, and 3D modeling that can be used in a variety of applications.
2.4 Advantages
Camera Equipment. Sony RX1R II is a compact high-resolution camera, it has a flight time of 90 plus minuets. In that time, it can take over 1,300 high quality pictures (Quantum Systems, 2020). This Camera has groundbreaking new variable low-pass filtering function. Sony modified low-pass filter and enable the full strength of the low-pass filter to combat moiré aggressively, this reduced-strength filter and helps gather more detail, or disable the effect of the low-pass filter altogether (Sony RX1RII Review, 2021).
Control and Handling. The Sony Camera has a fixed lens at 35mm, shooting at 42.4 megapixel for extremely high quality pictures this is enhanced by the upgraded autofocus of the Camera (Sony RX1RII Review, 2021). The Sony Camera is also a quick plug and play payload that is easily mounted on the center belly of the Trinity F90+ UAV.
Prime Application/Benefits. Orthophoto and DEM benefits are reproducing a vertical aerial photograph into a comparable traditional map. This helps in visually displaying the actual surface of the land and even built environments, it will identify objects as lines and symbols on a computer (Advantages of Second Generation Orthophoto Information Technology Essay, 2015). Benefits of Point Cloud and 3D Modeling are quick survey methodology, precise 3D Model creation, Reliable modeling quality, Reduced site revisions and cheaper project turn-around (BIM Engineering, 2018). Very important on a company’s return on investments (ROI). Keeping costs low while producing high quality/accurate work.
2.5 Disadvantages
The Sony RX1R II is a Full Frame Digital camera with a 35 mm lens with a special cover to integrate into the UAS bay (Quantum System, n.d.). But with this cover, it is limited to just a 35 mm lens and unchangeable. Small leakage areas might not be spotted because the camera is capable of a wide-angle image, and optical zoom might not be able to identify small leakage if colored vegetarian does not surround it. Lastly, the Sony RX1R II lack real-time capability. The images must be stored on an SD card, retrieved after completed the flight, and analyzed by an expert.
3. Launch and Recovery
3.1 Launch and Recovery Procedures
Trinity F90+ is a commercial grade UAS. Operators will typically undergo some form of a Operational Risk Management (ORM). There are many ways to conduct an ORM as UAS capabilities will dictate staging, launch, flight, and recovery risk levels. Once risk levels are assigned, flight approval granted, and equipment tested then the Trinity F90+ is ready for launch.
Trinity F90+ flight has a simple push-to-fly setup that allows for a user-friendly launch sequence. Once it is told to begin a mission, the Trinity F90+ will take off roughly within its own footprint. Once up to altitude, it will begin its preprogrammed mission. After mission completion, the Trinity will return to its home point, while transitioning to a configuration that allows for hover. At this point the aircraft will slowly descend until touchdown and shut off its motors. The Trinity F90+ also comes equipped with landing gear that incorporates shock absorbing technology in order to avoid impact on the payloads and to guarantee a smooth landing. The landing gear is not a traditional wheel, as we have seen in other aircraft, but more like a fin used to absorb the impact during landing.
3.2 Equipment and Personnel Support
Although two people are recommended for flight operations, only one person is needed, as it is a single button push to begin an uploaded mission. Ground support equipment includes the mission planning computer and associated antennas for communication with the aircraft and for post processed kinematic data. A generator will also be useful in keeping batteries charged for the aircraft and laptop. It will also be used to power the antennas. In addition, the Qbase and the RC transmitter in conjunction with the iBase ground reference station are used for take off and landing. Trinity F90+ Qbase system and remote must be linked together for proper take-off and and landing.
4. Normal and Emergency Procedures
The Trinity F90+ will fly its programed flight chosen by the pilot. In perfect conditions there will be no emergency procedures required. The Trinity F90+ uses an iBase ground reference station. This ensures proper takeoff and landing procedures.
In the case of an emergency the Trinity F90+ allows the pilot to override the programmed flight and manually control the UAS, to avoid an in air collision. Another possible hazards is losing link with base control in this scenario the UAS may return to its origination starting point or land immediately while still having power to control a safe landing.
Battery. The LiPo (Lithium Polymer) Batteries is generated electricity by chemical reaction. Therefore, the cold temperature affects this chemical reaction, which caused decreasing the power capacity and caused power loss. Power loss is considered unacceptable (De Manifestis Level) and required controlling measures to mitigate this issue irrespective of the cost/benefit.
Icing. When the UAV fly through high moisture areas such as cloud or foggy, it could cause icing on the UAV’s control surface and propeller. This would result in uncontrollable flight. Uncontrollable flight is considered unacceptable (De Manifestis Level) and required controlling measures to mitigate this issue irrespective of the cost/benefit.
4.4 Mitigation Strategy for the Risk
Pipeline inspections are planned well in advance, and so can be scheduled to avoid predicted dangerous(-ly cold) weather conditions. If such weather persists for a long enough period of time to make it unavoidable (or immediate inspection is needed regardless of the weather), the operating company can decide which of 3 options to take:
- Accept the risk of damage to the UAS
- Use another method of inspection (ex: manual human-performed inspection)
- Delay pipeline inspection even further
4.5 Level of Residual Risk
Once we put in place our plan for mitigating the risk that comes along with thunder storms such as wind, cold, precipitation, icing conditions and lightning, the residual risk level is quite low. Proper mission planning will always require checking the weather for the expected duration of the mission and avoiding flight in any questionable conditions.
5. Budget for your Project
The Trinity F90 is a somewhat modular design, meaning that its subsystems (ex: payload and battery) can be exchanged with minimal effort. This means that calculating the expected lifetime of the system as a whole is difficult, as individual vehicles can enter into a ‘Ship of Theseus’ situation where each component is replaced as it ages past the point of efficient usability.
The physical, hardware components are also more affected by wear & tear as a result of standard operation than the software. This makes their lifetime also a function of the use patterns, environment, etc.
However, an approximation of the lifetime hardware cost can be made from the following (All numbers approximated from prime and secondary vendors):
- Airframe & propulsion: ~$20,000
- Battery Pack: ~$800
- Battery charging station: ~$520
Subtotal: ~$21,000
Of these, the motors and motor-rotation servos involve the most moving parts, and so can be assumed to need replacing more frequently than the others regardless of usage patterns.
Since photogrammetry software is necessary to build orthomosaics and 3 dimensional models we would need to acquire a compatible software such as Pix4D Mapper. Pix4D Mapper is available for a perpetual license at $4,990 (Pix4D, n.d.). This license is a “floating license” which means it is not tied to a specific computer, allowing some freedom in the choice of what computer to use for processing of imagery.
5.4 Associated Equipment Acquisition/Life Cycle Cost
A basic initial cost excluding labor for Trinity F90+ will vary between $26,000-$32,000, while Trinity F90+ base model represents the primary initial cost ($20,000).
___________________________________________________________________________________
References
Advantages of Second Generation Orthophoto Information Technology Essay. https://www.ukessays.com/essays/information-technology/advantages-of-second-generation-orthophoto-information-technology-essay.php#:~:text=The%20digital%20orthophoto%20method%20reproduces,features%20using%20lines%20and%20symbols
https://www.quantum-systems.com/replacement-repair/
