TMR4225 Marine Operations Motion of underwater vehicles Spring 2005

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TMR4225 Marine OperationsMotion of underwater
vehiclesSpring 2005

• Lecturer Tor Einar Berg
• Contact info Phone 95670
• email Toreinar.berg_at_marin
  tek.sintef.no

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Topics of this course

• Standard motion equations for submarines
• Hydrodynamic design aspects for autonomous
  underwater vehicles (AUV)
• Case study HUGIN
• Hydrodynamic aspects of remotely operated vessels
  (ROV)
• Simulators for ROV operation
• Design studies
• Pilot training

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Why are hydrodynamic aspects important?

• Power requirement for autonomous vessels
• Motion stability
• Design and efficiency of control units (rudders
  and thrusters)
• Manoeuvrability of the vessels
• Deployment of vehicles through splash zone

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Use of underwater vehicles

• Tourism
• Offshore oil gas activities
• Deep ocean studies
• Seafloor studies, ocean mining
• Military operations
• (Bulk transport)

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Military application of UUVs

• The Navy Unnmanned Undersea Vehicle Master Plan
  defines 4 types of vehicles
• Man-Portable class, 12-50 kg, operational
  endurance 10-20 hours
• Light Weight Vehicle, up to 250 kg, endurance
  20-40 hours
• Heavy Weight Vehicle, approx. 1500 kg, 21 inch
  diameter
• Large Vechicle, approx 10 tonnes displacement
• Tasks may include
• Intelligence, Surveillance and Reconnaissance
• Mine Countermeasures
• Oceanography
• Payload Delivery
• Barrier Control

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Naval applications

• Mine countermeasure vehicle HUGIN 1000
• Installed on KNM Karmøy

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Flow characteristics for selected missions

• Seabed mapping (Buzz group activity no 1)
• Mine countermeasures (Buzz group activity no 2)

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Oil gas example (1)

• Hugin
• Used for Ormen Lange pipeline survey
• 2 more units delivered in 2004

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Seabed mapping for pipeline routing

• Critical parameters for high quality mapping
  using the Hugin vehicle (Buzz group activity no.
  3)

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Remotely Operated Vehicles (ROV)

• Operational observation
• Installation
• Inspection
• Maintenance

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Choke valve replacement using an ROV

• Describe critical parameters for replacement of a
  choke valve on a subsea production system (Buzz
  group activity no. 4)

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Ocean and seafloor studies (1)

• NTNU Minerva studies
• Investigate marine biology, primarily cold water
  reefs

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Ocean and seafloor studies

• How can ROV systems be used to fill knowledge
  gaps with respect to lack of environmental and
  biodiversity data prior to large scale petroleum
  production in the Barents Sea?