1. Chia Po Lin EWTEC Lisbon 1995. PhD Thesis Edinburgh University

2. Chia Po Lin EWTEC Lisbon 1995. PhD Thesis Edinburgh University

3. Chia Po Lin EWTEC Lisbon 1995. PhD Thesis Edinburgh University

4. Thanks to
Wikipedia

5. http://commons. wikimedia

6. Surface tension force = 4 x Side x 73 milliNewton / metre at 15C
Buoyancy force = Side3 x 1000 kilogram /metre3 x g

7. Buoyancy = surface tension at 5.5 mm side cube

8. 1% error for a 55 mm cube. One part in 340 for a 100 mm cube

9. Combined
Gravity
Capillary

10. 1% error at 121 mm in 1700 at 500 mm

11. Drag coefficients as a functions of Reynolds number
Drag coefficients as a functions of Reynolds number Hermann Schlichting

12. Nearly 1000 :1 OK. Then a drop by a factor of 4 at ReN = 500,000
300
300,000
Nearly 1000 :1 OK. Then a drop by a factor of 4 at ReN = 500,000

13. Full scale cylinder diameter 10 metres
Full scale wave trough to crest metres
Full scale wave period seconds
What scale gives Reynolds number of 500,000?

14. 10 :1 Full scale cylinder diameter 10 metres
Full scale wave trough to crest metres
Full scale wave period seconds
What scale gives Reynolds number of 500,000?
10 :1

15. 10 :1 Full scale cylinder diameter 10 metres
Full scale wave trough to crest metres
Full scale wave period seconds
What scale gives Reynolds number of 500,000?
10 :1
But drag forces are ~ 1/30 less than inertial forces and 90°out of phase so who cares?

20. NASA

21. √ X Model / device cost Model weight Launch time Repeatability
1/100
1/10
1/1
Model / device cost
£5 - £1k
£10K- £200k
£3m-£20m
Model weight
1kg
1 tonne
1000 tonne
Launch time
minutes
1-5 days
~>year
Repeatability
1:1000
Tank 1:1000
Open sea 0
Test duration
128 sec
10 min
months
Control √ X
Fault repair time
hours
days
Months-
>1 year
Drag coefficient error
400%

22. Not understanding ‘off-the-shelf’ components and materials.
Because investors give launch date priority over reliability.

29. Trying to survive loads above those at the economic limit.

30. What the sea is
doing to your part
every ~10 seconds
What fraction
of your parts
will fail

31. Need mean stress 6.3 times std. deviation to get MTBF = 150 years
MTBF2 = 67.2 days
Need mean stress 6.3 times std. deviation to get MTBF = 150 years

33. Using the wrong installation equipment.

34. . . . . standing up in a hammock

39. SUGGESTED CRAWLER SPECIFICATION
Frame dimensions
12.19m x 2.43m x 2.59m
Weight
30 tonne
Power
100kW
Smooth seabed, side-on, no slide current
5 m/sec
Side-on no roll 1 m clearance
11 m/sec
Vertical lift all 8 legs
300 kN
Horizontal thrust
400 kN
Walking speed
280 mm/sec = 0.55 knot
360 degree azimuth rotation
11 min
Step size with digital hydraulics
1 mm
Mud pressure with maximum size feet
12 kPa
Maximum obstacle clearance
2.1 m
Slope climbing on rock
45 degrees
Payload tools and materials
20 tonne

40. Conventional work vessel
Pull only. Very slow direction change.

41. Conventional work vessel
Pull only. Very slow direction change.
Needs intelligent heavy lift capability at both ends.

42. Conventional work vessel
Pull only. Very slow direction change.
Needs intelligent heavy lift capability at both ends.
Hard fragile skin punctured in tens of millimeters.

43. Conventional work vessel
Pull only. Very slow direction change.
Needs intelligent heavy lift capability at both ends.
Hard fragile skin punctured in tens of millimeters.
Fixed wave response not matched to client.

44. Conventional work vessel
Pull only. Very slow direction change.
Needs intelligent heavy lift capability at both ends.
Hard fragile skin punctured in tens of millimeters.
Fixed wave response not matched to client.
Independent operation.

45. Conventional work vessel
Pull only. Very slow direction change.
Needs intelligent heavy lift capability at both ends.
Hard fragile skin punctured in tens of millimeters.
Fixed wave response not matched to client.
Independent operation.
Potentially fatal heel induced by work forces.

46. Conventional work vessel
Pull only. Very slow direction change.
Needs intelligent heavy lift capability at both ends.
Hard fragile skin punctured in tens of millimeters.
Fixed wave response not matched to client.
Independent operation.
Potentially fatal heel induced by work forces.
Winches, cranes and own electrical generation .

47. Conventional work vessel
Pull only. Very slow direction change.
Needs intelligent heavy lift capability at both ends.
Hard fragile skin punctured in tens of millimeters.
Fixed wave response not matched to client.
Independent operation.
Potentially fatal heel induced by work forces.
Winches, cranes and own electrical generation .
Too heavy to be lifted by container crane.

48. Conventional work vessel
Pull only. Very slow direction change.
Needs intelligent heavy lift capability at both ends.
Hard fragile skin punctured in tens of millimeters.
Fixed wave response not matched to client.
Independent operation.
Potentially fatal heel induced by work forces.
Winches, cranes and own electrical generation .
Too heavy to be lifted by container crane.
Conventional GPS with precision of tens of metres.

49. Ideal Installation vessel
Push, pull, twist and shear 280 kN in any direction in seconds.

50. Ideal Installation vessel
Push, pull, twist and shear 280 kN in any direction in seconds.
Fast connection and disconnection.

51. Ideal Installation vessel
Push, pull, twist and shear 280 kN in any direction in seconds.
Fast connection and disconnection.
Soft skin deflecting > 2 metres.

52. Ideal Installation vessel
Push, pull, twist and shear 280 kN in any direction in seconds.
Fast connection and disconnection.
Soft skin deflecting > 2 metres.
Wave response adjusted to match client object.

53. Ideal Installation vessel
Push, pull, twist and shear 280 kN in any direction in seconds.
Fast connection and disconnection.
Soft skin deflecting > 2 metres.
Wave response adjusted to match client object.
Co-operation between multiple units from a single point.

54. Ideal Installation vessel
Push, pull, twist and shear 280 kN in any direction in seconds.
Fast connection and disconnection.
Soft skin deflecting > 2 metres.
Wave response adjusted to match client object.
Co-operation between multiple units from a single point.
No heel induced by work forces.

55. Ideal Installation vessel
Push, pull, twist and shear 280 kN in any direction in seconds.
Fast connection and disconnection.
Soft skin deflecting > 2 metres.
Wave response adjusted to match client object.
Co-operation between multiple units from a single point.
No heel induced by work forces.
Source of electrical, hydraulic and pneumatic power.

56. Ideal Installation vessel
Push, pull, twist and shear 280 kN in any direction in seconds.
Fast connection and disconnection.
Soft skin deflecting > 2 metres.
Wave response adjusted to match client object.
Co-operation between multiple units from a single point.
No heel induced by work forces.
Source of electrical, hydraulic and pneumatic power.
Sea container handling points.

57. Ideal Installation vessel
Push, pull, twist and shear 280 kN in any direction in seconds.
Fast connection and disconnection.
Soft skin deflecting > 2 metres.
Wave response adjusted to match client object.
Co-operation between multiple units from a single point.
No heel induced by work forces.
Source of electrical, hydraulic and pneumatic power.
Sea container handling points.
Local differential, carrier-phase navigation.

70. Has lovely animation of rotor blade angles.
Has lovely animation of rotor blade angles.

71. What we did wrong the first time
Had a leadership which wanted us to fail.
Now every developer wants every other developer to fail.
Will this majority succeed?

72. What went wrong the first time ?

73. What went wrong the first time ?
Having a leadership that secretly wanted the project to fail.

74. What went wrong the first time ?
Having a leadership that secretly wanted the project to fail.
Choosing a single very big target 2 GW.

75. What went wrong the first time ?
Having a leadership that secretly wanted the project to fail.
Choosing a single very big target 2 GW.
Relying on second rate consultants.

76. What went wrong the first time ?
Having a leadership that secretly wanted the project to fail.
Choosing a single very big target 2 GW.
Relying on second rate consultants.
Not thinking enough about phase.

77. What we are doing wrong now
Moving in the wrong direction.
Going to full scale with inadequate small scale measurements.
Not understanding ‘off-the-shelf’ components and materials because investors give launch date priority over reliability.
Trying to survive loads above those at the economic limit.
Using the wrong installation equipment.
Having sharp corners.
Not reporting failures to one another.
Not thinking enough about phase.

78. Moving in the wrong direction.

79. Going to full scale with inadequate small-scale measurements.