© 2006 EU-MOP Consortium Integrated EU-MOP Design System Athens, Greece 09 June 2006 Nikos Kakalis & Yiannis Ventikos University of Oxford

© 2006 EU-MOP Consortium Definition of the EU-MOP System Adequately large number of autonomous vessels Operate in a coordinated manner Combat a variety of oil-spills in a multitude of marine environments

© 2006 EU-MOP Consortium System Unit EU-MOP design levels Strategic

© 2006 EU-MOP Consortium System vs. Unit Design The EU-MOP design process is an unusual engineering task: We are putting together a system aimed at fulfilling a pre-specified task; The units comprising the system are complex devices with specifications that are part of the design effort. System Level (strategic/operational) Unit Level (technical)

© 2006 EU-MOP Consortium Conceptual design approach Input information Oil spill characteristics –Oil types –Age –Spill dimensions quantity/volume surface area, shape –Spill distribution Environmental conditions Determine Preliminary design –Unit volume, weight –Main characteristics –Manufacture materials Power consumption Decide Most probable operating policy Action Time Number of Drones Nantes Meeting, June 2005

© 2006 EU-MOP Consortium Integrated design

© 2006 EU-MOP Consortium System/swarm level EU-MOP Artificial Intelligence needs to perform systems operations:  search-and-follow the slick  decide on optimal collection strategy  loading and unloading sequences, etc…

© 2006 EU-MOP Consortium EU-MOP ITERATIVE DESIGN EU-MOP ITERATIVE DESIGN Storage Oil recovery/ processing Energy source Propulsion Electronics Unit design

© 2006 EU-MOP Consortium Preliminary Unit Design Power autonomy: 24hrs Storage tank: 2m 3 Transition speed: 5 kn Collection speed: 1-2 kn Sea state 4 3 different sizes: large, medium, small Power: 10-50kW, Length: 3m, Brush, Propulsion: electric motors with propellers or water jets

© 2006 EU-MOP Consortium Iterative Design: The Unit Propulsion Brush Hulls Energy Tanks Electronics & Sensors Pumps

© 2006 EU-MOP Consortium Catamaran integrated design

© 2006 EU-MOP Consortium Design of catamaran EU-MOP Main features: Autonomy24h Energy productionDiesel Generator Oil recoveryFolding belt skimmer + oil storage tank Propulsion2 x Azimuthing thrusters Trim adjustmentNo ballasts Large EU-MOP model Length 3.20 m Breadth2.30 m Fore hullclearance 0.94 m Draught0.93 m Displacement (full-load) 3563 kg Medium EU-MOP model Length 3.00 m Breadth1.88 m Fore hullclearance 0.68 m Draught0.80 m Displacement (full-load) 2582 kg

© 2006 EU-MOP Consortium Unit design: energy source EU-MOPPower (kW) Selection CatamaranMonocat Large Propulsion251xKOHLER 28EOZD 2xKOHLER 14EOZ Total kW Medium Propulsion5.51xKOHLER 8EOZD 2xKOHLER 4EFOZ Total7.88 kW Small Propulsion1?? Total1.87??

© 2006 EU-MOP Consortium Unit design: propulsion & steering Connection to Propulsion Motor Teflon Face Sealed Thrust Race Grub Screw Bearing Retention Ring Locking Screw Steering Drive Shaft Needle Bearing

© 2006 EU-MOP Consortium Unit design: large catamaran manoeuvring Effect of Speed Effect of Loading Condition NDA: Nozzle Deflection Angle (°) Effect of Nozzle Deflection Angle

© 2006 EU-MOP Consortium Multi-monocat integrated design

© 2006 EU-MOP Consortium MONOCAT - Large Principle characteristics LOA 3.5 m LWL3.5 m BOA2.3 m Depth1.3 m Fore hullclearance1 m Air draft3.45 m Other features: Autonomy24h Energy productionDiesel Generator Oil recoveryFolding belt skimmer + 2m3 oil tank Propulsion2 x Azimuthing thrusters Trim adjustment2x 125l water ballasts Anti capzising volume (mast) Design of monocat EU-MOP

© 2006 EU-MOP Consortium MONOCAT - Large Hydrostatics & stability (preliminary) Displ (kg)Wetted Draft (m) surf (m²) Lightship % Load % Load Hull Design features: - Allows for skimmer fitting and good oil canalization. - Provides enough volume for oil storage and equipment fitting. - Minimize drag. - Minimised change in draft with increasing loading. - Centre of volume located slightly aft for minimizing trim with increasing loading. Design of monocat EU-MOP

© 2006 EU-MOP Consortium MONOCAT - Medium Principle characteristics LOA 2.4 m LWL2.4 m BOA1.9 m Depth1.10 m Fore hull clearance0.7 m Air draft2.13 m Other features: Autonomy24h Energy productionDiesel Generator Oil recoveryFolding belt skimmer m3 oil tank Propulsion2 x Azimuthing thrusters Trim adjustment2x 90l water ballasts Anti capzising volume (mast) Design of monocat EU-MOP

© 2006 EU-MOP Consortium MONOCAT - Medium Hydrostatics & stability Displ (kg) Wetted Draft (m) surf (m²) Lightship % Load % Load Hull Design features: Parametric scaling from Large unit’s Hull with specific targets: -Length constrained by 40’ container size -Increased freeboard / Length ratio -Increased Breadth / Length ratio Design of monocat EU-MOP

© 2006 EU-MOP Consortium Suppose that we have: I stockpiling facilities J spill sites E types of units Strategic level

© 2006 EU-MOP Consortium Upper bounds of units’ allocations; storage of equipment at facility i only if it is opened Total capacity sent to each spill not more than its volume multiplied by the desired coverage coefficient The objective function: Subject to the following constraints: Strategic level

© 2006 EU-MOP Consortium Statfjord crude oil (API 37.7) V o = 120 m 3, T = 13 o C, Wind speed = 20 Kn Simulations: Natural Weathering

© 2006 EU-MOP Consortium Simulations: EUMOP in Action 10 L EU-MOPs; 14hrs response time 11 hrs EU-MOP operation

© 2006 EU-MOP Consortium Future Challenges *Individual Workpackages will be addressing specific design and optimisation issues *The AI and unit coordination aspect of the Project is of paramount importance *Scheduling/queueing issues, along with the technical specifics of the docking and unloading modules are emerging as major challenges