1. TMR4225 Marine Operations, 2006.02.16 Lecture content:
AUV hydrodynamics
Mathematical model – 6 DOF
HUGIN navigation and control system

2. HUGIN history AUV demo (1992-3) HUGIN I & II (1995-6)
Diameter: m Length: 3.62/4.29 m
Displacement: m**3
HUGIN I & II (1995-6)
Diameter: m Length: 4.8 m
Displacement: m**3
HUGIN 3000C&C and 3000CG ( )
Diameter: m Length: 5.3 m
Displacement: m**3

3. Hugin UUV

4. Actual HUGIN problems Roll stabilization of HUGIN 1000
Low metacentric height
4 independent rudders
PI type regulator with low gain, decoupled from other regulators (heave – pitch – depth, sway – yaw, surge)
Task: Keep roll angle small ( -> 0) by active control of the four independent rudders
Reduce the need for thrusters and power consumption for these types of tasks
Docking on a subsea installation
Guideposts
Active docking devices on subsea structure (robotic arm as on space shuttle for capture of satelittes)

5. Principal Investigator
AUV-LAB MIT
Odyssey IV
Principal Investigator
C. Chryssostomidis
F. Hover
Design Team
R. Damus
S. Desset
J. Morash
V. Polidoro

6. Russian proposal for Arctic oil and gas production
No existing infrastructure
Harsh environment (ice and low temperatures)
Using subsea vehicles for drilling and prosuction

7. A future Arctic oil and gas scenario

8. Underwater Drilling System
Submarine Drilling Vessel
Bottom Template

9. Possible Shtokman solution?
SDV
TRUV
SSV
ROV BT
TLP
Container
TMS
2…3 km

10. % probability of sea ice (April) in Barents Sea (Orheim, Houston, 2005)
Shtokman

11. Example: 3 days track for iceberg (marking per 3 hours) (Orheim, Houston, March 2005)

12. 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

13. 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)

14. 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

15. 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)

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

17. 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

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

19. 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
Subsea navigation, track control, specification of way points

20. 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 a very unstable system

21. Group work no. 1 – Student feedback
Hook-up
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 bed
Transport on deck to storage container

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

23. 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

24. TMR4225 Marine Operations,
Sum up the 3 most important learning outcomes of todays lecture
Have your expectations been fulfilled?
If not, why not?