1. 1 TMR4225 Marine Operations, 2009.03.03 Lecture content: –Hugin operational experience –Other AUVs Urashima Munin –ROV classes and mission objectives –Minerva –Other ROVs

2. 2 HUGIN field experience Mine countermeasures research (1998-9) Ormen Lange pipeline route survey (2000) Gulf of Mexico, deepwater pipeline route survey (2001 ->)

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6. 6 HUGIN field experience Raven, West Nile Delta, Egypt, area of 1000 km**2 was surveyed late 2005 by Fugro Survey –Sites for subsea facilities –Route selection for flowlines, pipelines & umbilicals –Detect and delineate all geo-hazards that may have an impact on facilities installation or well drilling –Survey area water depth: 16 – 1089 m (AUV used for H > 75 m) –Line spacing of 150 m and orthogonal tie-lines at 1000 m intervals –Line kilometers surveyed by AUV: 6750 km –Distance to seabed (Flying height): 30-35 m –Operational speed: 3.6 knots

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9. 9 Fugro survey pictures http://www.fugrosurvey.co.uk/

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12. 12 i – Nord An Integrated System for Surveillance of the Arctic Oceans Bilde: Olav Rune Godø (Havforskningsinstituttet)

13. 13 Applications of AUVs for surveillance of High North waters How can AUVs be used in a High North surveillance system? 3 min buzz-group activities Outcomes to be presented on the blackboard by students –Lecturer to make note

14. 14 Applications of AUVs for surveillance of High North waters – student feedback Track vessels Control fishing activities Control pollution Mapping seafloor under ice Information/communication hub Measuring sea physics Observation of iceberg movements Measuring of ice layer thickness Pipeline routing Seismic survey Corrosion inspection for pipeline Monitor movements of sea animals Rescue operation in connection with an oil spill Underwater patrol vehicle Detect oil spills Fish stock measurements Future need will be for AUVs where recharging may be done in submerged condition – specific power stations on the seafloor, connected to subsea installations etc

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16. 16 Actual HUGIN problems Inspection and intervention tasks –Adding thrusters to increase low speed manoeuvrability for inspection and intervention tasks Types, positions, control algorithms –Stabilizing the vehicle orientation by use of spinning wheels (gyros) 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 satellites)

17. 17 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

18. 18 Future system design requirements Launching/ pick-up operations up to Hs = 5 m when ship is advancing at 3-4 knots in head seas Increasing water depth capability Increased power capability –Operational speed 3- 4.5 knots –Mission length 3- 4 days

19. 19 Japanese R&D - JAMSTEC

20. 20 JAMSTEC AUV

21. 21 Example of JAMSTEC AUV task

22. 22 Vehicle characteristics

23. 23 Munin – the subsea janitor (Gemini presentation)

24. 24 Munin vehicle Read the Gemini article (handout) Discuss hydrodynamic challenges for the design of this vessel Feedback from 2009 students: –??

25. 25 Munin vehicle Feedback from 2008 students –Thrusters for keeping – heading the vessel into the current to be able to use main thrusters – using fins for creating vertical control forces in a current –Use arm to connect to the pipeline –No requirement for minimum resistance –Real challenge is manoeuvring at low speed – on board control system – thruster forces – position of thrusters – effect of control fins –Dynamic stability?

26. 26 Remotely Operated Vehicles - ROV Vessels are linked to a mother vessel through an umbilical that transfers power, communication and data Different sizes and applications – from a swimming camera to a pipeline dredger Many are one-offs, some are produced in small series Norwegian industry has developed different types for the offshore industry Operational limits can be defined from launching and retrival, from landing on subsea structures or position keeping close to structures

27. 27 Hydro Products RCV 225 on sea trials for Taylor Diving, 1976

28. 28 This 1980 photo of a Diver handing a wrench to an RCV 150 while an RCV 225 observes is a perfect illustration of the "passing of the baton" from man to machine

29. 29 Deep Ocean Engineering Phantom 300 Under-ice Dive

30. 30 Canyon's Quest ROV being recovered off Hawaii in 2003

31. 31 Oceaneering Magnum, often used for drilling support

32. 32 Minerva ROV – installed on M/V Gunnerius http://www.ntnu.no/marine/minerva

33. 33 Minerva ROV - characteristics L x W x H = 1.44 x 0.82 x 0,80 m Weight in air: 405 kg (without additional equipment) Payload: Approximately 20 kg Max depth: 700 m Thrusters: 5 with 2 HP Speed: Horisontal 2.0 knots Vertical 1.2 knots Lateral 1.3 knots Turning 60 deg/s

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35. 35 Perry Trenching system

36. 36 Stealth 3000

37. 37 Some JAMSTEC vehicles

38. 38 Examples of ROVs Check organisational web sites –http://www.rov.orghttp://www.rov.org –http://www.rov.nethttp://www.rov.net –http://www.rovworld.comhttp://www.rovworld.com –http://www.diveweb.com/rovs/features/uv-wi99.01.htmhttp://www.diveweb.com/rovs/features/uv-wi99.01.htm Check suppliers and operators websites: –http://www.kystdesign.nohttp://www.kystdesign.no –http://www.sperre-as.comhttp://www.sperre-as.com –http://www.oceaneering.comhttp://www.oceaneering.com –http://www.stoltoffshore.comhttp://www.stoltoffshore.com

39. 39 ROV overview ROV: –Remotely Operated Vehicle with umbilical connection to mother vessel –Umbilical is used for power transfer to the vehicle and for communication between it and its pilot –Important working tool for subsea installations and maintenance –Increasing depth rating – systems designed for operation down to 2500 – 3000 m –Umbilical handling is critical for most ROV operations

40. 40 ROV classes – a US classification