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TMR4225 Marine Operations,
2006.02.02
• Lecture content (see Course info sheet):
– Examples of submarines, ROVs and AUVs
– Work tasks for ROV and AUV in offshore operations
– Submarine motion equations
• What are you expecting to learn from todays
lecture?
– Responses are collected in a separate word document
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TMR4225 Marine Operation
• My objectives for this lecture:
– Establish a commen knowledge on operational
parameters for different types of underwater
vehicles
– Obtain a commen understanding of critical
phases in a mission for an underwater vehicle
– Documented basic understanding of dominant
flow regimes during different phases of a
mission for underwater vehicles
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From outer to inner space
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TMR4225 Marine Operations,
2006.02.02
Examples of:
•Submarines
•AUVs
•ROVs
Work tasks for AUVs and ROVs
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Lecture notes: Submarines, AUV –
UUV and ROV
• Notes includes web links, some may be rotten, some may
be static and a few good ones are dynamic
• If you know of other web sites that have relevant content
on subsea vehicles, send me an e-mail
• One vehicle will be used as a reference case for AUVs
(HUGIN 3000)
• Reference case for ROVs will be based on MIRANDA
7500 (NTNU’s own ROV)
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Hugin UUV
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Minerva ROV
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A future Arctic oil and gas scenario
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Underwater Drilling System
Submarine Drilling Vessel
Bottom Template
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Consumable Replenishment System
Submarine
Drilling Vessel
Submarine
Support Vessel
Transport
Container
Transport
Container
Triton
class ROV
Cargo deck
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SHEFEX recovery mission
• During a sounding rocket campaign at Andøya Rocket
Range in October 2005 the 300 kg payload SHEFEX was
lost
• Estimated impact zone was 70,3443 North and 12,1508
East
• Water depth at impact zone is approximately 2700 m
• Prepare a plan for the recovery mission
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Lecture form
• Presentations
• Buzz groups
– Short questions
– 2-3 minutes discussions
– Oral presentation of buzz group results (keyword form)
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Nomenclature
• SNAME H-10 Panel
• ITTC standard notation for manoeuvring
• Forces and moments: X,Y,Z K, M, N
• Yv force coefficient for sway speed
• Yvv is sway force due to sway speed, a linear damping
force due to angle of attack of the vehicle
• A more compact notation can be obtained by using a
vector/matrix formulation of the equations of motion
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Axis systems
• Earth fixed system
• Vehicle fixed system
– Right handed system
– X-axis forward
– Z-axis downwards
• Positive deflection of control flaps/rudders are clockwise
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Buzz groups Question 1
• In what layers of the ocean space are each of the vehicle
types used?
– Manned submarine
– AUV
– ROV
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Buzz groups Q1 answer:
• Manned submarines:
– 300 m waterdepth ( large military ones operates at larger depths)
– 11000 m extreme pressure vessel design (Trieste), sea space
exploration
– 3000 m exploration of sea bed
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Buzz groups Q1 answer:
• AUVs
– 500 meters
– Military use, mine search 150-200 m
– Offshore, mapping 3000 – 4000 m
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Buzz groups Q1 answer:
• ROVs
–
–
–
–
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Use close to structures
Not used in the wave zone
Depth limited by umbilical, down to 1000m?
Near the bottom, 1000 – 5000m
Flow characteristics for standard
operations
• Submarine in transit
–
–
–
–
Streamlined body
Mostly turbulent flow
Constant transit speed
Small perturbations, i.e. Sway/yaw/heave/pitch/roll speeds and
angles of control planes
– Close to surface (periscope depth), in the wave zone
– Close to the seabed (interaction effect?)b
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Flow characteristics for standard
operations
• AUV
– Streamlined body
– Constant transit speed
– Small perturbations, i.e. Sway/yaw/heave/pitch/roll speeds and
small angles of control planes
Or:
– Zero/very low speed
– Large angles of attack from current
– Thrusters for hovering/position keeping
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Flow characteristics for standard
operations
• ROV
–
–
–
–
–
–
–
–
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Non-streamlined body
Mostly turbulent flow due to separation on edges
Low speed
Large angles of attack; have to be able to operate in cross current
Different characteristics for up and down motion
Complex flow due to interacting thrusters
Umbilical drag can be high for operations at large depths
Tether management system can be used to remove umbilical
induced motion of ROV
Types of submarines
• Military submarines
– Norway Ula class (dimensions?)
– Typhoon type
– Viking project – Nordic submarine
• Cargo carrying submarines
– Bulk carriers (coal, LNG, oil)
– Intervention vehicles for subsea oil and gas production
– Russian Lazurit project
• Tourist submarines
– Tropical waters
– Amusement parks
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Buzz groups Question 2
• Discuss why no submarine bulk carriers have been
realized?
– Groups 1, 3, 5, …
• Discuss why non of the concepts for subsea oil and gas
production submarines have been realized?
– Groups 2, 4, 6, ….
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Buzz group Q2 answer:
• Bulk carriers
– Great risks, consequences if something happens (rescue)
– Environmental problems, especially if nuclear powered
– More power then for surface vessels due to larger wet surface (for
large slow speed bulk carriers 80-90% of resistance is viscous)
– Load carrying capacity restricted due to increased steel weight
– Too expensive to build and operate (high quality steel, redesign of
shipyards, scraping costs, ….)
– Separate terminals, high investment costs
– Complex loading/unloading systems
– Maintenance process must be modified
– No need for this solution for ice free waters
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Buzz group Q2 answer:
• Submarines for oil and gas subsea structure installation and
maintenance
– No advantages compared to ROVs
– Not useful as diver platform for large depths
– High costs, both for vessel design/production and initial structure
design to fit capacities of submarine
– No oil company is willing to be first user of a system based on
submarine intervention
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Submarine summary
• Submarines are hydrodynamically well designed
• Commercial use of submarines is at present no alternative
for subsea oil and gas production
• Development of military submarines will continue, but not
at the same level as before
• Submarines for tourism will expand
• Manned vehicles will be used for exploration of the ocean
space
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Submarine motion equations
• 6 degrees of freedom equations
• Time domain formulation
• Simplified sets of linear equations
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EUCLID Submarine project
MARINTEK takes part in a four years multinational R&D
programme on testing and simulation of submarines, Euclid
NATO project “Submarine Motions in Confined Waters”.
Study topic:
Non-linear hydrodynamic effects due to steep waves in
shallow water and interaction with nearby boundaries.
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TMR4225 Marine Operations,
2006.02.02
• Sum up the 3 most important learning
outcomes of todays lecture
• Have your expectations been fulfilled?
– If not, why not?
• Feedback is written up in a separate Word
document
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