1 TMR4225 Marine Operations, 2009.03.03 Lecture content: –Hugin operational experience –Other...

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TMR4225 Marine Operations, 2009.03.03

• Lecture content:– Hugin operational experience

– Other AUVs• Urashima

• Munin

– ROV classes and mission objectives

– Minerva

– Other ROVs

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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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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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Fugro survey pictures

http://www.fugrosurvey.co.uk/

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i – NordAn Integrated System for Surveillance of the Arctic Oceans

Bilde: Olav Rune Godø (Havforskningsinstituttet)

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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

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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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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)

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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

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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

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Japanese R&D - JAMSTEC

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JAMSTEC AUV

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Example of JAMSTEC AUV task

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Vehicle characteristics

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Munin – the subsea janitor (Gemini presentation)

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Munin vehicle

• Read the Gemini article (handout)

• Discuss hydrodynamic challenges for the design of this vessel

• Feedback from 2009 students:– ??

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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?

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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

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

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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

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Deep Ocean Engineering Phantom 300 Under-ice Dive

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Canyon's Quest ROV being recovered off Hawaii in 2003

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Oceaneering Magnum, often used for drilling support

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Minerva ROV – installed on M/V Gunnerius

http://www.ntnu.no/marine/minerva

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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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Perry Trenching system

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Stealth 3000

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Some JAMSTEC vehicles

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Examples of ROVs

• Check organisational web sites– http://www.rov.org– http://www.rov.net– http://www.rovworld.com– http://www.diveweb.com/rovs/features/uv-wi99.01.htm

• Check suppliers and operators websites:– http://www.kystdesign.no– http://www.sperre-as.com– http://www.oceaneering.com– http://www.stoltoffshore.com

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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

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ROV classes – a US classification