1 TMR 4225 Marine Operations Submarines, AUV and ROV Spring 2009 Lecturer: Tor Einar Berg Contact info: Phone Office: Ormen Lange, MARINTEK 2 Vision statement By end of the course all students will be able to: Prepare simplified models for motion of Submarines Autonomous Underwater Vehicles (AUV) Remotely Operated Vehicles (ROV) Check dynamic stability for AUV and manned submarines Describe how design parameters influence motion characteristics of AUV 3 Underwater vehicles in oil & gas industry Manned submarines for: Installation and maintenance of subsea structures Transportation of bulk cargos Autonomous underwater vehicles Seabed mapping Oceanographic observation/mapping Work on subsea structures Remotely operated vehicles Work observation Inspection of subsea structures Intervention work 4 A Conceptual Arctic Field Construction Scheme 5 Consumable Replenishment System Submarine Support Vessel Submarine Drilling Vessel TransportContainer Cargo deck Triton class ROV TransportContainer 6 Ormen Lange AUV and ROV operations Seabed mapping for pipeline track (Hugin 3000) 7 Ormen Lange AUV and ROV operations ROV operations related to: installations inspection/maintenance 8 Snhvit an Arctic subsea field ROV operations Installation Operation Decommissioning 9 The Navy Unmanned Undersea Vehicle (UUV) Master Plan November 2004 Classifies UUVs according to weight Man-portable < 50 kg Light weight vehicle approximately 250 kg Heavy weight vehicle up to 1500 kg Large vehicle up to 10 tonnes 10 NTNUs Minerva ROV NTNU has bought an ROV for biological research 2 Dr. ing studies have been allocated to develop tools and procedures for scientific use of the ROV For more info see the web site: 11 12 13 Submarine ore carrier 14 Submarine for ore transport 15 Ore transport route 16 LNG transport route 17 Non-nuclear powered submarine 18 Submarine for LNG transport 19 Navigation system 20 Multipurpose Autonomous Intervention Submarine 21 Statoils MASU concept 22 23 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. 24 Testing the EUCLID submarine in waves Model fixed to 6 DOF force transducer Constant speed Regular waves, varying headings Submarine close to the surface 25 Numerical study of bow plane vortex Streamlines released at bow plane for 10 deg bow plane angle (Illustration: CFDnorway) Streamlines released at bow plane for -10 deg bow plane angle (Illustration CFDnorway) 26 Axis system definition for submarines