Slide 1

Transcript Slide 1

Integrated EU-MOP Design System

Definition of the EU-MOP System

• Adequately large number of autonomous vessels • Operate in a coordinated manner • Combat a variety of oil-spills in a multitude of marine environments

EU-MOP design levels

Strategic System Unit

System vs. Unit Design The EU-MOP design process is an unusual engineering task: We are putting together a system aimed at fulfilling a pre-specified task; The units comprising the system are complex devices with specifications that are part of the design effort.

Conceptual design approach Nantes Meeting, June 2005 Input information • Oil spill characteristics – Oil types – Age – Spill dimensions • quantity/volume • surface area, shape – Spill distribution • Environmental conditions Action Time Decide Most probable operating policy © 2006 EU-MOP Consortium Determine • Preliminary design – Unit volume, weight – Main characteristics – Manufacture materials • Power consumption Number of Drones

Integrated design

Detection of accident / oil spill Launch of oil spill response with EU MOPs Preparation of MS for transport to operation ares Transit of MS to operation area Arrival of MS at operation area / Unloading Initial phase before actual oil recovery operation Transit of the swarm to the oil slick Oil recovery operation return of single unit: empty oil storage return of single unit: get additional power End of EU-MOP spill response End of EU-MOP spill response Transit of MS to port

System/swarm level

EU-MOP Artificial Intelligence needs to perform systems operations:  search-and-follow the slick   decide on optimal collection strategy loading and unloading sequences, etc… ?

Unit design

Propulsion Energy source Electronics

EU-MOP ITERATIVE DESIGN

Storage Oil recovery/ processing

Preliminary Unit Design • Power autonomy: 24hrs • Storage tank: 2m 3 • Transition speed: 5 kn • Collection speed: 1-2 kn • Sea state 4 • 3 different sizes: large, medium, small Power: 10-50kW, Length: 3m, Brush, Propulsion: electric motors with propellers or water jets © 2006 EU-MOP Consortium

Design of catamaran EU-MOP Main features:

Autonomy Energy production Oil recovery tank Propulsion Trim adjustment

Large EU-MOP model

Length Breadth Fore hullclearance Draught 3.20 m 2.30 m 0.94 m 0.93 m Displacement (full-load) 3563 kg 24h Diesel Generator Folding belt skimmer + oil storage 2 x Azimuthing thrusters No ballasts

Medium EU-MOP model

Length Breadth Fore hullclearance Draught 3.00 m 1.88 m 0.68 m 0.80 m Displacement (full-load) 2582 kg

Unit design: energy source EU-MOP Power (kW) Large

Propulsion Total

Medium

Propulsion Total

Small

Propulsion Total 25 27.5

5.5

7.8

1 1.87

Selection Catamaran Monocat

1xKOHLER 28EOZD 28 kW 1xKOHLER 8EOZD 8 kW ?

2xKOHLER 14EOZ 28 kW 2xKOHLER 4EFOZ 8 kW ?

Unit design: propulsion & steering

Connection to Propulsion Motor

Steering Drive Shaft Locking Screw Sealed Thrust Race Teflon Face Grub Screw Bearing Retention Ring

Needle Bearing

Unit design: large catamaran manoeuvring

Effect of Speed

-1.5

Loading Condition: Fully Loaded

4 -1 -0.5

1 0.5

0 0 -0.5

3.5

3 2.5

2 1.5

0.5

X/L

1.5

2 0.25 knots 60 NDA 0.50 knots 60 NDA 1.00 knots 60 NDA 2.00 knots 60 NDA 5.00 knots 60 NDA 2.5

3 3.5

Loading Condition: Unloaded + %10 Fuel

4.5

-1 -0.5

4 3.5

3 2.5

2 1.5

1 0.5

0 0 -0.5

0.5

1 1.5

X/L

0.50 knots 60 NDA 2.00 knots 60 NDA 5.00 knots 60 NDA 2 2.5

3 3.5

4 -1

Effect of Loading Condition

60 NDA

-0.5

4 3.5

3 2.5

2 1.5

1 0.5

0 0 -0.5

0.5

1 1.5

Effect of Nozzle Deflection Angle

2.5

0.50 knots Full 2.00 knots Full 0.50 knots Light 2.00 knots Light 3 3.5

-3

Loading Condition: Fully Loaded

7 -2 -1 2 1 0 0 4 3 6 5 1

X/L

2 3 2 knots 35 NDA 2 knots 60 NDA 5 knots 35 NDA 5 knots 60 NDA 4

X/L

5 NDA: Nozzle Deflection Angle

(

Design of monocat EU-MOP

MONOCAT - Large

Principle characteristics

LOA LWL BOA Depth Fore hullclearance Air draft 3.5 m 3.5 m 2.3 m 1.3 m 1 m 3.45 m

Other features:

Autonomy Energy production Oil recovery Propulsion Trim adjustment 24h Diesel Generator Folding belt skimmer + 2m3 oil tank 2 x Azimuthing thrusters 2x 125l water ballasts Anti capzising volume (mast)

Design of monocat EU-MOP

MONOCAT - Large

Hull Design features:

- Allows for skimmer fitting and good oil canalization.

- Provides enough volume for oil storage and equipment fitting.

- Minimize drag.

- Minimised change in draft with increasing loading. - Centre of volume located slightly aft for minimizing trim with increasing loading.

Lightship 50% Load 100% Load Displ (kg) 1735 2730 3335 Wetted surf (m²) 13.2

15.6

17.5

Draft (m) 0.45

0.60

0.72

Design of monocat EU-MOP

MONOCAT - Medium

Principle characteristics

LOA LWL BOA Depth Fore hull clearance Air draft 2.4 m 2.4 m 1.9 m 1.10 m 0.7 m 2.13 m

Autonomy Energy production Oil recovery Propulsion Trim adjustment 24h Diesel Generator Folding belt skimmer + 1.4 m3 oil tank 2 x Azimuthing thrusters 2x 90l water ballasts Anti capzising volume (mast)

Design of monocat EU-MOP

MONOCAT - Medium

Hull Design features:

Parametric scaling from Large unit’s Hull with specific targets: -Length constrained by 40’ container size -Increased freeboard / Length ratio -Increased Breadth / Length ratio

Lightship 50% Load Displ (kg) Wetted surf (m²) 1180 1750 100% Load 2280 8.4

9.8

12.4

Draft (m) 0.48

0.65

0.80

Strategic level

Suppose that we have: • I stockpiling facilities • J spill sites .

• E types of units

i i

x iEj x i2j x i1j .

j j .



Strategic level The objective function:

Minimize total cost

 

i y i FCi





j v j DP j

 

i e j x iej

(

a ie



TC iej



b e



wu e DP j

)

Subject to the following constraints:



j x iej



X ie y i





Upper bounds of units’ allocations; storage of equipment at facility i only if it is opened 

i e x iej u e



k j v j





Total capacity sent to each spill not more than its volume multiplied by the desired coverage coefficient

x iej

y i  0 integers,  {0, 1} 







Simulations: EUMOP in Action 10 L EU-MOPs; 14hrs response time

280 260 240 220 100 80 60 40 20 0 0 200 180 160 140 120 10000 20000 30000 40000 50000 Time (sec) 60000 70000 80000 90000

Weathered EU-MOP Left

11 hrs EU-MOP operation

Future Challenges *Individual Workpackages will be addressing specific design and optimisation issues *The AI and unit coordination aspect of the Project is of paramount importance *Scheduling/queueing issues, along with the technical specifics of the docking and unloading modules are emerging as major challenges © 2006 EU-MOP Consortium