1. TMR4225 Marine Operations,
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

2. 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

3. 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
One vehicle will be used as a reference case for AUVs and ROVs respectively
Collection of AUV site is found at

4. 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)

5. 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

6. 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

7. 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

8. 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

9. 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

10. 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

11. 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)

12. Viking class
Info:

13. The Viking Class Submarine – Technical data
Hull
Single pressure hull
Length over all m
Beam
6.7 m
Displacement
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

14. 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, ….

15. 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

16. 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

17. 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

18. 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

19. 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