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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