TMR4225 Marine Operations, 2004.02.14 What are you expecting to learn from todays lecture? Write down 1-3 statements on the yellow sticker Responses will be collected in a separate word document

TMR4225 Marine Operations, 2004.02.14 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 Document basic understanding of dominant flow regimes during different phases of a mission for underwater vehicles

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 and ROVs respectively Collection of AUV site is found at http://www.cacs.louisiana.edu/~kimon/AUV

Lecture form Presentations Buzz groups Work groups Short questions 2-3 minutes discussions Oral presentation of buzz group results (keyword form) Work groups Work task related questions 5 minutes discussions Written presentation of work group results (keyword form/basic drawing)

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 usinga vector/matrix formulation of the equations of motion

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

Flow characteristics for standard operations Submarine in transit Streamlined body Mostly turbulent flow Constant transit speed Small perturbations, i.e. Sway/yaw/heave/pitch/roll speeds and angles of control planes

Flow characteristics for standard operations AUV Streamlined body Constant transit speed Small perturbations, i.e. Sway/yaw/heave/pitch/roll speeds and angles of control planes Laminar or separated flow? Or: Zero/very low speed Large angles of attack from current Large angles of attack on control planes or heavy loads on thrusters

Flow characteristics for standard operations ROV Non-streamlined body Mostly turbulent flow due to separation on edges Low speed Large angles of attack Complex flow due to interacting thrusters Umbilical drag and induced motion on the ROV

Types of submarines Military submarines Cargo carrying submarines Norway Ula class (dimensions?) Cargo carrying submarines Bulk carriers Intervention vehicles for subsea oil and gas production Tourist submarines Tropical waters Norwegian coastline

ULA Class DIMENSIONS Displacement: 1040.0 (Tons) (Surfaced) 1150.0 (Tons) (Dived) Length: 59.0 (Metres) Beam: 5.4 Draught: 4.6 Speed: 11 (Knots) (Surfaced) 23 (Knots) (Dived) Range: 5000 at 8 kts (Miles)

Viking class Info: http://www.kockums.se/Submarines/viking.html

The Viking Class Submarine – Technical data Hull Single pressure hull Length over all 52 - 60 m Beam 6.7 m Displacement 1100 - 1700 tonnes Propulsion Stirling Air Independent Propulsion Weapons Multi-purpose homing torpedoes, cruise missiles, ASW torpedoes, mines and countermeasures Submerged endurance Up to 100% of mission time Crew 22 - 28

Buzz group questions 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, ….

Buzz group answers (2004): 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

Buzz group answers (2004): 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

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 deeper parts of the ocean space

AUV overview AUV definition: UUV definition: A total autonomous vehicle which carries its own power and does not receive control signals from an operator during a mission UUV definition: A untethered power autonomous underwater vehicle which receives control signals from an operator HUGIN is an example of an UUV with an hydroacoustic link

AUV/UUV operational goals Military missions Reconnecaince Mine hunting Mine destruction Offshore oil and gas related missions Sea bed inspection Pipe line inspection Sea space and sea bed exploration and mapping Mineral deposits on sea floor Observation and sampling