TMR4225 Marine Operations, 2006'02'02

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TMR4225 Marine Operations, 2006.02.02

• Lecture content (see Course info sheet)
• Examples of submarines, ROVs and AUVs
• Work tasks for ROV and AUV in offshore operations
• Submarine motion equations
• What are you expecting to learn from todays
  lecture?
• Responses are collected in a separate word
  document

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TMR4225 Marine Operation

• My objectives for this lecture
• Establish a commen knowledge on operational
  parameters for different types of underwater
  vehicles
• Obtain a commen understanding of critical phases
  in a mission for an underwater vehicle
• Documented basic understanding of dominant flow
  regimes during different phases of a mission for
  underwater vehicles

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From outer to inner space
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TMR4225 Marine Operations, 2006.02.02

• Examples of
• Submarines
• AUVs
• ROVs
• Work tasks for AUVs and ROVs

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Lecture notes Submarines, AUV UUV and ROV

• Notes includes web links, some may be rotten,
  some may be static and a few good ones are
  dynamic
• If you know of other web sites that have relevant
  content on subsea vehicles, send me an e-mail
• One vehicle will be used as a reference case for
  AUVs (HUGIN 3000)
• Reference case for ROVs will be based on MIRANDA
  7500 (NTNUs own ROV)

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Hugin UUV
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Minerva ROV
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A future Arctic oil and gas scenario
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Underwater Drilling System
Submarine Drilling Vessel
Bottom Template
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Consumable Replenishment System
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SHEFEX recovery mission

• During a sounding rocket campaign at Andøya
  Rocket Range in October 2005 the 300 kg payload
  SHEFEX was lost
• Estimated impact zone was 70,3443 North and
  12,1508 East
• Water depth at impact zone is approximately 2700
  m
• Prepare a plan for the recovery mission

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Lecture form

• Presentations
• Buzz groups
• Short questions
• 2-3 minutes discussions
• Oral presentation of buzz group results (keyword
  form)

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Nomenclature

• SNAME H-10 Panel
• ITTC standard notation for manoeuvring
• Forces and moments X,Y,Z K, M, N
• Yv force coefficient for sway speed
• Yvv is sway force due to sway speed, a linear
  damping force due to angle of attack of the
  vehicle
• A more compact notation can be obtained by using
  a vector/matrix formulation of the equations of
  motion

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Axis systems

• Earth fixed system
• Vehicle fixed system
• Right handed system
• X-axis forward
• Z-axis downwards
• Positive deflection of control flaps/rudders are
  clockwise

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Buzz groups Question 1

• In what layers of the ocean space are each of the
  vehicle types used?
• Manned submarine
• AUV
• ROV

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Buzz groups Q1 answer

• Manned submarines
• 300 m waterdepth ( large military ones operates
  at larger depths)
• 11000 m extreme pressure vessel design (Trieste),
  sea space exploration
• 3000 m exploration of sea bed

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Buzz groups Q1 answer

• AUVs
• 500 meters
• Military use, mine search 150-200 m
• Offshore, mapping 3000 4000 m

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Buzz groups Q1 answer

• ROVs
• Use close to structures
• Not used in the wave zone
• Depth limited by umbilical, down to 1000m?
• Near the bottom, 1000 5000m

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Flow characteristics for standard operations

• Submarine in transit
• Streamlined body
• Mostly turbulent flow
• Constant transit speed
• Small perturbations, i.e. Sway/yaw/heave/pitch/rol
  l speeds and angles of control planes
• Close to surface (periscope depth), in the wave
  zone
• Close to the seabed (interaction effect?)b

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Flow characteristics for standard operations

• AUV
• Streamlined body
• Constant transit speed
• Small perturbations, i.e. Sway/yaw/heave/pitch/rol
  l speeds and small angles of control planes
• Or
• Zero/very low speed
• Large angles of attack from current
• Thrusters for hovering/position keeping

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Flow characteristics for standard operations

• ROV
• Non-streamlined body
• Mostly turbulent flow due to separation on edges
• Low speed
• Large angles of attack have to be able to
  operate in cross current
• Different characteristics for up and down motion
• Complex flow due to interacting thrusters
• Umbilical drag can be high for operations at
  large depths
• Tether management system can be used to remove
  umbilical
• induced motion of ROV

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Types of submarines

• Military submarines
• Norway Ula class (dimensions?)
• Typhoon type
• Viking project Nordic submarine
• Cargo carrying submarines
• Bulk carriers (coal, LNG, oil)
• Intervention vehicles for subsea oil and gas
  production
• Russian Lazurit project
• Tourist submarines
• Tropical waters
• Amusement parks

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Buzz groups Question 2

• Discuss why no submarine bulk carriers have been
  realized?
• Groups 1, 3, 5,
• Discuss why non of the concepts for subsea oil
  and gas production submarines have been realized?
• Groups 2, 4, 6, .

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Buzz group Q2 answer

• Bulk carriers
• Great risks, consequences if something happens
  (rescue)
• Environmental problems, especially if nuclear
  powered
• More power then for surface vessels due to larger
  wet surface (for large slow speed bulk carriers
  80-90 of resistance is viscous)
• Load carrying capacity restricted due to
  increased steel weight
• Too expensive to build and operate (high quality
  steel, redesign of shipyards, scraping costs, .)
• Separate terminals, high investment costs
• Complex loading/unloading systems
• Maintenance process must be modified
• No need for this solution for ice free waters

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Buzz group Q2 answer

• Submarines for oil and gas subsea structure
  installation and maintenance
• No advantages compared to ROVs
• Not useful as diver platform for large depths
• High costs, both for vessel design/production and
  initial structure design to fit capacities of
  submarine
• No oil company is willing to be first user of a
  system based on submarine intervention

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Submarine summary

• Submarines are hydrodynamically well designed
• Commercial use of submarines is at present no
  alternative for subsea oil and gas production
• Development of military submarines will continue,
  but not at the same level as before
• Submarines for tourism will expand
• Manned vehicles will be used for exploration of
  the ocean space

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Submarine motion equations

• 6 degrees of freedom equations
• Time domain formulation
• Simplified sets of linear equations

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EUCLID Submarine project
MARINTEK takes part in a four years multinational
RD programme on testing and simulation of
submarines, Euclid NATO project Submarine
Motions in Confined Waters. Study
topic Non-linear hydrodynamic effects due to
steep waves in shallow water and interaction with
nearby boundaries.
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TMR4225 Marine Operations, 2006.02.02

• Sum up the 3 most important learning outcomes of
  todays lecture
• Have your expectations been fulfilled?
• If not, why not?
• Feedback is written up in a separate Word document