Numerical study on splash zone crossing with subsea template and ROV

External loads on a free-floating vessel affect the vessel responses in waves. DNV’s recommended practice for modeling and analysis of marine operations [1] categorizes lifting of an object above 1-2% of the vessel displacement as a heavy lift operation. Such operations have a non-negligible impact on the vessel responses. This type of operation is primarily lifting using the vessel crane. This study focuses on two different cases of lifting operations. The first case is a purpose-made vessel for transportation and deployment/recovery of a Remotely Operated Vehicle (ROV) at the stern of the vessel. The second case is installation of a subsea template (ITS) with an offshore construction vessel. Such operations are often done at a certain heeling or trimming angle induced by the weight of the lifted object. Realistic operational weather limitations for these types of operation are important both for safety reasons and economic reasons. It is therefore interesting to investigate the consequence of changing the vessels heeling and trimming angle when performing the lifting operations. Installation of a subsea template typically involves overboarding, lowering through the splash zone, lowering down to seabed, and landing on the seabed. Deployment of an ROV is similar, but the overboarding phase is slightly different. The ROV will be brought overboard by the launch and recovery system, lowered through the splash zone and lowered further down to working depth. The common phase for these cases is lowering through the splash zone. This study focuses on crossing of the splash zone, which is considered one of the critical phases of a deployment operation due to the potentially large hydrodynamic forces. Comparative response analyses of the vessels with and without an initial trimming or heeling angle are conducted. The hydrodynamic properties for both vessels have been acquired through frequency domain analysis in upright/even keel condition and with a certain angle of trimming or heeling. Time domain simulations of the cases, with the acquired hydrodynamic properties, are used to study the dynamic responses of the system. In addition to addressing the differences between simulating the deployment operations with response amplitude operators for upright/even keel position and a certain angle of trimming or heeling, the thesis discusses the differences between running the template deployment simulations as a coupled and uncoupled model. The results indicate that waves arriving parallel to the axis that the vessel is rotated around generates larger responses for both vessels after being trimmed/heeled. Since the ROV deployment case has a criterion related to horizontal motion the larger responses cause lower allowable sea states for the trimmed case. The allowable sea states for the ITS deployment increases for the case with an initial heeling angle. The uncoupled case highlights the importance of the vessels ability to adjust to the motions of the lifted object, as the allowable sea state decreases

Improving Energy Efficiency and Motion Control in Load-Carrying Applications using Self-Contained Cylinders

Because of an increasing focus on environmental impact, including CO2 emissions and fluid spill pollution, inefficient hydraulic systems are being replaced by more environmentally friendly alternatives in several industries. For instance, in some offshore applications that have multiple diesel generators continuously running to produce electricity, all hydraulic rotating actuators supplied from a central hydraulic power unit have been replaced with AC induction motors containing a variable frequency drive and gearbox. However, hydraulic linear actuators are still needed in most load-carrying applications mainly because of their high reliability associated with external impact shocks. Moreover, their force capacity is higher than that of their linear electromechanical counterparts. Valve-controlled linear actuators (cylinders) supplied from a centralized hydraulic power unit are standard in offshore load-carrying applications. In addition to the advantages mentioned above of hydraulic linear actuators, they have, nevertheless, a number of important drawbacks, which include: 1) a high level of energy consumption due to significant power losses caused by flow throttling in both the pipelines and valves, 2) reduced motion performance due to the influence of load-holding valves, 3) high CO2 emissions and fuel costs related to the diesel generator that supplies electricity to the hydraulic power unit, 4) significant potential for hydraulic fluid leakage because of many leakage points, 5) demanding efforts with respect to installation and maintenance, as well as 6) costly piping due to the centralized hydraulic power supply. The work presented in this dissertation and the appended papers are devoted to replacing inefficient hydraulic linear actuation systems traditionally used in offshore load-carrying applications with more environmentally friendly solutions. Two alternative technologies are identified, namely electro-mechanical and electro-hydraulic self-contained cylinders. The feasibility of replacing conventional valve-controlled cylinders with self-contained cylinder concepts is investigated in two relevant case studies.publishedVersio

Study of Civil Markets for Heavy-Lift Airships

The civil markets for heavy lift airships (HLAs) were defined by first identifying areas of most likely application. The operational suitability of HLAs for the applications identified were then assessed. The operating economics of HLAs were established and the market size for HLA services estimated by comparing HLA operating and economic characteristics with those of competing modes. The sensitivities of the market size to HLA characteristics were evaluated and the number and sizes of the vehicles required to service the more promising markets were defined. Important characteristics for future HLAs are discussed that were derived from the study of each application, including operational requirements, features enhancing profitability, military compatibility, improved design requirements, approach to entry into service, and institutional implications for design and operation

Evaluation of a task performance resource constraint model to assess the impact of offshore emergency management on risk reduction

In this age of safety awareness, technological emergencies still happen, occasionally with catastrophic results. Often human intervention is the only way of averting disaster. Ensuring that the chosen emergency managers are competent requires a combination of training and assessmentH. owever, assessmenct urrently relies on expert judgement of behaviour as opposed to its impact on outcome, therefore it would be difficult to incorporate such data into formal Quantitative Risk Assessments (QRA). Although there is, as yet, no suitable alternative to expert judgement, there is a need for methods of quantifying the impact of emergency management on risk reduction in accident and incidents. The Task Performance Resource Constraint (TPRC) model is capable of representing the critical factors. It calculates probability of task success with respect to time based on uncertainties associated with the task and resource variables. The results can then be used to assess the management performance based on the physical outcome in the emergency, thereby providing a measure of the impact of emergency management on risk with a high degree of objectivity. Data obtained from training exercises for offshore and onshore emergency management were measured and successfully used with the TPRC model. The resulting probability of success functions also demonstrated a high level of external validity when used with improvements in emergency management or design changes or real data from the Piper Alpha disaster. It also appeared to have more external validity than other HRQ/QRA techniques as it uses physical data that are a greater influence on outcome than psychological changes - though this could be because the current HRA/QRA techniques view human unreliability as probability of error rather than probability of failure. The simulation data were also used to build up distributions of timings for simple emergency management tasks. Using additional theoretical data, this demonstrated the model's potential for assessing the probability of successf or novel situations and future designs

Analysis of a method for precisely relating a seafloor point to a distant point on land

A study of the environmental constraints and engineering aspects of the acoustic portion of a system for making geodetic ties between undersea reference points and others on land is described. Important areas in which to make such observations initially would be from the California mainland out to oceanic points seaward of the San Andreas fault, and across the Aleutian Trench. The overall approach would be to operate a GPS receiver in a relative positioning (interferometric) mode to provide the long range element of the baseline determination (10 to 1,000 km) and an array of precision sea floor acoustic transponders to link the locally moving sea surface GPS antenna location to a fixed sea floor point. Analyses of various environmental constrants (tides, waves, currents, sound velocity variations) lead to the conclusion that, if one uses a properly designed transponder having a remotely controllable precise retransmission time delay, and is careful with regard to methods for installing these on the sea floor, one should, in many ocean locations, be able to achieve sub-decimeter overall system accuracy. Achievements of cm accuracy or better will require additional understanding of time and space scales of variation of sound velocity structure in the ocean at relevant locations

Engineering Dynamics and Life Sciences

From Preface: This is the fourteenth time when the conference “Dynamical Systems: Theory and Applications” gathers a numerous group of outstanding scientists and engineers, who deal with widely understood problems of theoretical and applied dynamics. Organization of the conference would not have been possible without a great effort of the staff of the Department of Automation, Biomechanics and Mechatronics. The patronage over the conference has been taken by the Committee of Mechanics of the Polish Academy of Sciences and Ministry of Science and Higher Education of Poland. It is a great pleasure that our invitation has been accepted by recording in the history of our conference number of people, including good colleagues and friends as well as a large group of researchers and scientists, who decided to participate in the conference for the first time. With proud and satisfaction we welcomed over 180 persons from 31 countries all over the world. They decided to share the results of their research and many years experiences in a discipline of dynamical systems by submitting many very interesting papers. This year, the DSTA Conference Proceedings were split into three volumes entitled “Dynamical Systems” with respective subtitles: Vibration, Control and Stability of Dynamical Systems; Mathematical and Numerical Aspects of Dynamical System Analysis and Engineering Dynamics and Life Sciences. Additionally, there will be also published two volumes of Springer Proceedings in Mathematics and Statistics entitled “Dynamical Systems in Theoretical Perspective” and “Dynamical Systems in Applications”

Computing wrench-feasible paths for cable-driven hexapods

Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack -to keep the control of the robot- nor excessively tight -to prevent cable breakage- even in the presence of bounded perturbations of the wrench. This paper proposes a path planning method that accommodates such constraints simultaneously. Given two configurations of the robot, the method attempts to connect them through a path that, at any point, allows the cables to counteract any wrench lying in a predefined uncertainty region. The feasible C-space is placed in correspondence with a smooth manifold, which facilitates the definition of a continuation strategy to search this space systematically from one configuration, until the second configuration is found, or path non-existence is proved at the resolution of the search. The force Jacobian is full rank everywhere on the C-space, which implies that the computed paths will naturally avoid crossing the forward singularity locus of the robot. The adjustment of tension limits, moreover, allows to maintain a meaningful clearance relative to such locus. The approach is applicable to compute paths subject to geometric constraints on the platform pose, or to synthesize free-flying motions in the full six-dimensional C-space. Experiments are included that illustrate the performance of the method in a real prototype.Postprint (published version

The transfer of oil and gas technology skills to the conceptual design and development of a novel low cost modular Tidal Energy Conversion deployment system.

This thesis outlines the use of a new design of Tidal Energy Conversion device which has application in near shore shallow water. The design is applicable for use by coastal communities, either to generate revenue through power sales or just a stand alone system to generate off grid electricity. Previous work conducted on large scale tidal installations have shown that they suffer from excessive costs and time lines, due to their up front design philosophy. This thesis discusses the reasons behind such cost/time overruns and concludes that several technologies and techniques can be incorporated from the subsea oil and gas industry. The early ethos in the offshore oil industry in the 1970s and 1980s was to build large offshore structures such as steel and concrete platforms. This has now been replaced by a field development philosophy that looks at simple lower cost subsea well infrastructure as the most cost effective route to exploit a reservoir. The emerging tidal industry has not learned this lesson, yet. A set of new Tidal Energy exploitation designs are proposed and Patented. The chief advantages of this new design are their modular nature, fabrication simplicity, lower build and installation cost. Prototype work is described and further work also highlighted

Technical-economic analysis, modeling and optimization of floating offshore wind farms

The offshore wind sector has grown significantly during the last decades driven by the increasing demand for clean energy and to reach defined energy targets based on renewable energies. As the wind speeds tend to be faster and steadier offshore, wind farms at sea can reach higher capacity factors compared to their onshore counterparts. Furthermore, fewer restrictions regarding land use, visual impact, and noise favors the application of this technology. However, most of today's offshore wind farms use bottom-fixed foundations that limit their feasible application to shallow water depths. Floating substructures for offshore wind turbines are a suitable solution to harness the full potential of offshore wind as they have less constraints to water depths and soil conditions and can be applied from shallow to deep waters. As several floating offshore wind turbine (FOWT) concepts have been successfully tested in wave tanks and prototypes have been proven in open seas, floating offshore wind is now moving towards the commercial phase with the first floating offshore wind farm (FOWF) commissioned in 2017 and several more are projected to be constructed in 2020. This transition increases the need for comprehensive tools that allow to model the complete system and to predict its behavior as well as to assess the performance for different locations. The aim of this thesis is to analyze from a technical and economic perspective commercial scale FOWFs. This includes the modeling of FOWTs and the study of their dynamic behavior as well as the economic assessment of different FOWT concepts. The optimization of the electrical layout is also addressed in this thesis. The first model developed is applied to analyze the performance of a Spar type FOWT. The model is tested with different load cases and compared to a reference model. The results of both models show an overall good agreement. Afterwards, the developed model is applied to study the behavior of the FOWT with respect to three different offshore sites. Even at the site with the harshest conditions and largest motions, no significant loss in energy generation is measured, which demonstrates the good performance of this concept. The second model is used to perform a technical-economic assessment of commercial scale FOWFs. It includes a comprehensive LCOE methodology based on a life cycle cost estimation as well as the computation of the energy yield. The model is applied to three FOWT concepts located at three different sites and considering a 500MW wind farm configuration. The findings indicate that FOWTs are a high competitive solution and energy can be produced at an equal or lower LCOE compared to bottom-fixed offshore wind or ocean energy technologies. Furthermore, a sensitivity analysis is performed to identify the key parameters that have a significant influence on the LCOE and which can be essential for further cost reductions. The last model is aimed to optimize the electrical layout of FOWFs based on the particle swarm optimization theory. The model is validated against a reference model at first and is then used to optimize the inter-array cable routing of a 500MW FOWF. The obtained electrical layout results in a reduction of the power cable costs and a decrease of the energy losses. Finally, the use of different power cable configurations is studied and it is shown that the use of solely dynamic power cables in comparison to combined dynamic and static cables results in decreased acquisition and installation costs due to the avoidance of cost-intensive submarine joints and additional installation activities.El sector eólico marino ha crecido significativamente durante las últimas décadas impulsado por la creciente demanda de energía limpia. Los parques eólicos en el mar pueden alcanzar factores de capacidad más altos en comparación a los parques eólicos en la tierra debido a que las velocidades del viento tienden a ser más altas y constantes en el mar. Ademas, existen menos restricciones con respecto al uso de la tierra, el impacto visual y el ruido. Sin embargo, la mayoría de los parques eólicos actuales utilizan subestructuras fijas que limitan su aplicación factible a aguas poco profundas. Las subestructuras flotantes para turbinas eólicas marinas (FOWTs en inglés) son una solución adecuada para aprovechar todo el potencial de la energía eólica, ya que tienen menos restricciones para las profundidades del agua y el fondo marino. Dado que varios prototipos de FOWTs se han probado con éxito en el mar, la industria ahora esta entrando a la fase comercial con el primer parque eólico flotante (FOWF en inglés) operativo y se proyecta que se pondrán en marcha más en los próximos anos. Esta transición aumenta la necesidad de herramientas integrales que permitan modelar el sistema completo y predecir su comportamiento, así como evaluar el rendimiento para diferentes lugares. El objetivo de esta tesis es analizar desde una perspectiva técnica y económica los FOWFs a escala comercial. Esto incluye el modelado de FOWTs, el estudio de su comportamiento dinámico, y la evaluación económica de diferentes conceptos. La optimización del diseño eléctrico también se aborda en esta tesis. El primer modelo desarrollado se aplica para analizar el rendimiento de un FOWT tipo Spar. El modelo se prueba con diferentes tipos de carga y se compara con un modelo de referencia. Los resultados de ambos modelos muestran una buena concordancia. Posteriormente, el modelo se aplica para estudiar el comportamiento con respecto a tres lugares diferentes. Los resultados muestran que incluso en el sitio con las condiciones más severas, no se mide ninguna pérdida significativa en la generación de energía, lo que demuestra el buen rendimiento de este concepto. El segundo modelo se utiliza para realizar una evaluación técnico-económica de los FOWF a escala comercial. Esto incluye una metodología integral del costo nivelado de energía (LCOE en ingles). El modelo se aplica a tres conceptos de FOWTs ubicados en tres lugares diferentes y considerando un parque eólico de 500MW. Los resultados indican que los FOWTs son una solución altamente competitiva y que la energía se puede producir con un LCOE igual o inferior en comparación con los parques eólicos con subestructuras fijas o las tecnologías de energía oceánica. Asimismo, se realiza un análisis de sensibilidad para identificar los parámetros claves que tienen una influencia significativa en el LCOE y que pueden ser esenciales para reducciones de costos. El último modelo se aplica para optimizar el diseño eléctrico en función de la teoría de optimización por enjambre de partículas. Inicialmente el modelo se valida contra un modelo de referencia y luego se utiliza para optimizar la conexión de los cables entre los FOWTs. El diseño eléctrico obtenido da como resultado una reducción de los costos de cables y una disminución de las pérdidas de energía. Finalmente, se estudia el uso de diferentes configuraciones de cables y se demuestra que el uso de cables únicamente dinámicos en comparación con los cables dinámicos y estáticos combinados da como resultado una disminución de los costos de adquisición e instalación debido a que evitan la necesidad de juntas submarinas costosas y costos adicionales de instalación.Postprint (published version

Local Seismicity and Sediment Deformation in the West Svalbard Margin: Implications of Neotectonics for Seafloor Seepage

In the Fram Strait, mid-ocean ridge spreading is represented by the ultra-slow system of the Molloy Ridge, the Molloy Transform Fault and the Knipovich Ridge. Sediments on oceanic and continental crust are gas charged and there are several locations with documented seafloor seepage. Sedimentary faulting shows recent stress release in the sub-surface, but the drivers of stress change and its influence on fluid flow are not entirely understood. We present here the results of an 11-month-long ocean bottom seismometer survey conducted over the highly faulted sediment drift northwards from the Knipovich Ridge to monitor seismicity and infer the regional state of stress. We obtain a detailed earthquake catalog that improves the spatial resolution of mid-ocean ridge seismicity compared with published data. Seismicity at the Molloy Transform Fault is occurring southwards from the bathymetric imprint of the fault, as supported by a seismic profile. Earthquakes in the northern termination of the Knipovich Ridge extend eastwards from the ridge valley, which together with syn-rift faulting identified in seismic reflection data, suggests that a portion of the currently active spreading center is buried under sediments away from the bathymetric expression of the rift valley. This hints at the direct link between crustal rifting processes and faulting in shallow sediments. Two earthquakes occur close to the seepage system of the Vestnesa Ridge further north from the network. We suggest that deeper rift structures, reactivated by gravity and/or post-glacial subsidence, may lead to accommodation of stress through shallow extensional faults, therefore impacting seepage dynamics