Integrated EU-MOP Design System

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Integrated EU-MOP Design System
Nikos Kakalis Yiannis Ventikos University of
Oxford
Athens, Greece 09 June 2006
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Definition of the EU-MOP System

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

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EU-MOP design levels
Strategic
System
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System vs. Unit Design
The EU-MOP design process is an
unusualengineering task We are putting
together a system aimed at fulfillinga
pre-specified task The units comprising the
system are complex devices with
specificationsthat are part of the design effort.
System Level (strategic/operational)
Unit Level (technical)
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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

• Determine
• Preliminary design
• Unit volume, weight
• Main characteristics
• Manufacture materials
• Power consumption

Action Time
Decide Most probable operating policy
Number of Drones
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Integrated design
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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

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Unit design
Propulsion
Energy source
Electronics
Oil recovery/ processing
Storage
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Preliminary Unit Design

• Power autonomy 24hrs
• Storage tank 2m3
• 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

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Iterative Design The Unit
Propulsion
Energy
Hulls
Tanks
Hulls
Brush
Electronics Sensors
Pumps
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Catamaran integrated design
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Design of catamaran EU-MOP
Large EU-MOP model Length 3.20
m Breadth 2.30 m Fore hullclearance 0.94
m Draught 0.93 m Displacement (full-load) 3563
kg
Medium EU-MOP model Length 3.00
m Breadth 1.88 m Fore hullclearance 0.68
m Draught 0.80 m Displacement (full-load) 2582
kg
Main features Autonomy 24h Energy
production Diesel Generator Oil recovery Folding
belt skimmer oil storage tank Propulsion 2 x
Azimuthing thrusters Trim adjustment No ballasts
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Unit design energy source
EU-MOP Power (kW) Selection Selection
EU-MOP Power (kW) Catamaran Monocat
Large Large Large Large
Propulsion 25 1xKOHLER 28EOZD 2xKOHLER 14EOZ
Total 27.5 28 kW 28 kW
Medium Medium Medium Medium
Propulsion 5.5 1xKOHLER 8EOZD 2xKOHLER 4EFOZ
Total 7.8 8 kW 8 kW
Small Small Small Small
Propulsion 1 ? ?
Total 1.87 ? ?
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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
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Unit design large catamaran manoeuvring
Effect of Speed
Effect of Loading Condition
Effect of Nozzle Deflection Angle
NDA Nozzle Deflection Angle ()
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Multi-monocat integrated design
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Design of monocat EU-MOP
MONOCAT - Large
Principle characteristics LOA 3.5 m LWL 3.5
m BOA 2.3 m Depth 1.3 m Fore hullclearance 1
m Air draft 3.45 m
Other features Autonomy 24h Energy
production Diesel Generator Oil recovery Folding
belt skimmer 2m3 oil tank Propulsion 2 x
Azimuthing thrusters Trim adjustment 2x 125l
water ballasts Anti capzising volume (mast)
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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.
Hydrostatics stability (preliminary) Displ
(kg) Wetted Draft (m) surf (m²)
Lightship 1735 13.2 0.45 50
Load 2730 15.6 0.60 100 Load 3335 17.5 0.72
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Design of monocat EU-MOP
MONOCAT - Medium
Principle characteristics LOA 2.4 m LWL 2.4
m BOA 1.9 m Depth 1.10 m Fore hull
clearance 0.7 m Air draft 2.13 m
Other features Autonomy 24h Energy
production Diesel Generator Oil recovery Folding
belt skimmer 1.4 m3 oil tank Propulsion 2 x
Azimuthing thrusters Trim adjustment 2x 90l water
ballasts Anti capzising volume (mast)
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Design of monocat EU-MOP
MONOCAT - Medium
Hull Design features Parametric scaling from
Large units Hull with specific targets -Length
constrained by 40 container size -Increased
freeboard / Length ratio -Increased Breadth /
Length ratio
Hydrostatics stability Displ (kg) Wetted
Draft (m) surf (m²) Lightship 1180 8.4 0
.48 50 Load 1750 9.8 0.65 100
Load 2280 12.4 0.80
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Strategic level

• Suppose that we have
• I stockpiling facilities
• J spill sites
• E types of units

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Strategic level
The objective function
Subject to the following constraints
Upper bounds of units allocations storage of
equipment at facility i only if it is opened
Total capacity sent to each spill not more than
its volume multiplied by the desired coverage
coefficient
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Simulations Natural Weathering
Statfjord crude oil (API 37.7) Vo 120 m3, T
13oC, Wind speed 20 Kn
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Simulations EUMOP in Action
10 L EU-MOPs 14hrs response time
11 hrs EU-MOP operation
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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 Schedulin
g/queueing issues, along with the technical
specifics of the docking and unloading modules
are emerging as major challenges