1. TMR4225 Marine Operations,
What are you expecting to learn from todays lecture?
Responses are collected in a separate word document

2. TMR4225 Marine Operations, 2004.01.16 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

3. Examples of: Submarines AUVs ROVs Work tasks for AUVs and ROVs
TMR4225 Marine Operations,
Examples of:
Submarines
AUVs
ROVs
Work tasks for AUVs and ROVs

4. Lecture notes: Submarines, AUV – UUV and ROV
Present version contains Submarines and AUVs
Ch. 4 on ROVs will be available
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 repectively

5. 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)

6. 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

7. 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

8. Buzz groups Question 1
In what layers of the ocean space are each of the vehicle types used?
Manned submarine
AUV
ROV

9. Buzz groups Q1 answer: Manned submarines:
300 m waterdepth ( large military ones)
m extreme Trieste, sea space exploration
3000 m exploration of sea bed/

10. Buzz groups Q1 answer: AUVs 500 meters
Military use, mine finding m
Offshore, mapping 3000 – 4000 m

11. 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

12. 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

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

14. 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

15. 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

16. 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, ….

17. 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

18. 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

19. 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

20. 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

21. 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

22. Offshore oil and gas UUV scenario
Ormen Lange sea bed mapping for best piperoute trace
Norsk Hydro selected to use the Hugin vehicle
Waterdepth up to 800 meters
Rough sea floor, peaks are 30 – 40 meter high
Height control of Hugin to ensure quality of acoustic data

23. Group work spring 2003 SIN TMR4240 Marine Control Systems
Future scenario for operation of a subsea oil and gas production system
No surface operation
Subsea Operational Centre
Central landbased Operation Centre
Short presentation of some of the group deliverables
WG1 Path control and docking of AUV
WG3 Intervention between subsea installation and AUV/ROV
WG6 Multiple AUV operations for pipeline tracking

24. Phases of an AUV/UUV mission
Pre launch
Launching
Penetration of wave surface (splash zone)
Transit to work space
Entering work space, homing in on work task
Completing work task
Leaving work space
Transit to surface/Moving to next work space
Penetration of surface
Hook-up, lifting, securing on deck

25. Group work no. 1
Describe physical factors to be aware of in the different phases of an AUV/UUV mission

26. Group work no. 1 – Student feedback
Pre launch
No group looked at this activity

27. Group work no. 1 – Student feedback
Launching
Launching arrangement; A-Frame, crane etc
Readiness for operation, eg. various equipment on board
All openings on the hull surface must be closed (watertightness)

28. Group work no. 1 – Student feedback
Penetration of splash zone
Impact loads
Hydro-elasticity
Relative motion; phase, amplitude, frequency
Change of parametres from air to water (buoyancy, eigenfrequency, etc.)
Wire tensions

29. Group work no. 1 – Student feedback
Transit to work space
Navigation/control system (current/flow/(diving)), DP
Buoyancy during transit ( different layers of salinity in the sea)
Resistance/propulsion/endurance/power supply
Material/hullform ( the vehicle has to withstand high external pressure)

30. Group work no. 1 – Student feedback
Entering work space, homing in on work task
No group looked at this activity

31. Group work no. 1 – Student feedback
Completing work task
Battery capacity
Check if mission is completed
Check the current conditions
Safe manoeuvring to avoid collisions, damage of propellers
Interaction between thrusters

32. Group work no. 1 – Student feedback
Leaving work space
No group looked at this activity

33. Group work no. 1 – Student feedback
Transit to surface/Moving to next work place
Changing buoyancy (pressure/gravity)
Resistance forces (transit between workfields)
Current forces
Wave influence near surface

34. Group work no. 1 – Student feedback
Penetration of surface
Movements induced by:
Waves
Current (viscous forces)
Buoyancy/gravity
Reaching the surface -> change of:
Wetted surface (viscous)
Buoyancy (volume)
According to the sea state, we can have very unstable system

35. Group work no. 1 – Student feedback
Hook-up, lifting, securing on deck
Sea state; ship motion, AUV motion
Effect of wind in the crane
Centre of gravity of AUV
Lifting
Splash zone, wind, safety distance
Securing on deck
Safe lie bed

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Autonomous Undersea Systems Institute © 2000

37. Web sites: http://www.ausi.org/research/research.html

38. Section of FREESUB AUV database4
SEAGLIDER
Applied Physics Lab - Univ of Wash. JP
1000 24
Li Ion
4000
0.3 9
EAVE III
AUSI
USA 10
SAUV (Solar Powered AUV)
AUSI & IMTP
USA & RU
Ni-Cd
2/hr 2

39. R&D program on Underwater navigation
Develop navigation systems to be used for missions with long period of submerged vehicle
Error robust systems, optimal use of working sensors
Develop mathematical models and algoritms for new sensors with extreme precision
In water testing of new sensors and mathematical models
Project is based on experience and solutions used for the HUGIN family of vechicles

40. ROV overview
ROV: Remotely Operated Vehicle with umbilical connection to a mother vessel. Umbilical are used for power transfer to ROV and for communication between ROV and pilot

41. ROV types/classes Observation ROVs Work ROVs Tether management system
Advanced intervention tasks
High work construction capacity
Optimisation of power efficiency
Tether management system

42. ROV operational phases
Pre launch
Launching
Penetration of wave surface (splash zone)
Transit to work space
Entering work space, homing in on work task
Completing work task
Leaving work space
Transit to surface/Moving to next work space
Penetration of surface
Hook-up, lifting, securing on deck

43. ROV operational goals Visual observation
Inspection of underwater structures
Observation of ongoing work tasks on subsea structures
Different types of mechanical inspection
Non destructive testing
Mechanical work

44. Example of ROV operation
See Oceaneering presentation

45. Challanges for future ROV operations
Better vizualisation
Better planning
Better reporting systems
More training
Simulation to verify access to work sites
Central control of operations

46. Necessary improvements for advanced ROV operations
3D navigational tools
3D based planning tool
Digital, visual ”online” reporting
Realistic simulator training
Access verification using simulator during the engineering planning of the operation
Central placed special control room

47. Phases of ROV operation
Pre launch
Launching
Penetration of wave surface (splash zone)
Transit to work space
Entering work space, homing in on work task
Completing work task
Leaving work space
Transit to surface/Moving to next work space
Penetration of surface
Hook-up, lifting, securing on deck

48. Oceaneering – Ongoing work
MIMIC
Modular Integrated Man-machine Interaction and Control
VSIS
Virtual Subsea Intervention Solution
(Switch to Oceaneering presentation, slides 16 ->)

49. Buzz groups question 3
What are the critical activities for each of the phases in an ROV operation?
One phase per buzz group

50. Buzz group Q3 answer

51. TMR4225 Marine Operations,
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