Monopile Placement - Laser scan position Teledyne PDS Version 2.3.1 March 2017 Teledyne RESON B.V. Stuttgartstraat 42-44 3047 AS Rotterdam The Netherlands Tel.: +31 (0)10 245 15 00 www.teledyne-reson.com
Teledyne RESON has made every effort to ensure the accuracy and completeness of this document; however, because ongoing development efforts are made to continually improve the capabilities of our products, we cannot guarantee the accuracy of the contents of this document. We disclaim liability for errors, omissions, or future changes herein. The accompanying software and documentation are proprietary products owned by Teledyne RESON and protected under international copyright law. Copyright All rights reserved. No part of this publication may be copied, reproduced, or translated, without the prior written consent of Teledyne RESON. No part of this publication may be stored or transmitted in any electronic form without the prior consent of Teledyne RESON. Any unauthorized use is a violation of copyright laws. Teledyne PDS is a trademark of Teledyne RESON. Amendment Record Sheet Rev. Date Reason for Modifications 2.3.1 17/03/2017 General: Minor textual (typo) change. 2.3 03/03/2017 Minor textual changes. 2.2 06/01/2017 Introduction: Recovered link to PDS User Manual. 2.1 27/08/2015 New front page. Text modified. PDS2000 changed into Teledyne PDS or PDS. 2.0 06/07/2015 All chapters: text modified and figures modified. 1.0.1 13/05/2014 Text changed in section Views after review. 1.0.0 12/05/2014 First version of the Monopile Placement Manual.
Contents 1 Introduction 1 1.1 Monopile placement... 1 2 General 3 2.1 Introduction... 3 2.2 Method... 3 3 Getting Started 5 3.1 Introduction... 5 3.2 Application Type... 5 3.3 Equipment... 5 3.3.1 Main System... 5 3.3.2 Sub System... 7 4 Acquisition 11 4.1 Introduction... 11 4.2 Monopile Inclination Control View... 12 4.3 Monopile Profile Monopile Detection View... 15 4.3.1 General... 15 4.3.2 Layers... 16 4.4 3D View Online Dredge Construction... 17 4.4.1 General... 17 4.4.2 Monopile in the 3D View... 18 4.4.3 Wayline... 19 4.5 Monopile Inclination Raw Data... 20 4.6 Up / Down Indicators Dredge/Construction Bars... 22 4.7 Attitude Bubble View... 25 5 Operate 27 5.1 Introduction... 27 5.2 Calibration... 27 5.3 Report... 33 5.4 Workflow... 34 5.4.1 General... 34 5.4.2 Step 1 Create a Monopile File... 34 5.4.3 Step 2 Select the Monopile.... 35 5.4.4 Step 3 Vessel Maneuvers and Placement Preparations.... 35 5.4.5 Step 4 Monopile Positioning/Inclination... 36 5.4.6 Step 5 Logging and Hammering... 37 5.4.7 Step 6 Stop Logging and Create a Report... 37 Teledyne PDS - Monopile Placement - Laser scan position Contents i
Figures Figure 2-1 Gripper frame with gripper and laser locations....3 Figure 3-1 Main and sub System...5 Figure 3-2 Main system devices...6 Figure 3-3 Vessel configuration geometry...6 Figure 3-4 Sub System devices...7 Figure 4-1 Acquisition... 11 Figure 4-2 Monopile Inclination Control View... 12 Figure 4-3 Yellow background color... 12 Figure 4-4 Monopile Detection view... 15 Figure 4-5 Toolbar... 15 Figure 4-6 Layers monopile detection view... 16 Figure 4-7 3D View Online Dredge construction... 17 Figure 4-8 Monopiles... 18 Figure 4-9 Color Setpoint Monopile... 18 Figure 4-10 Wayline indication... 19 Figure 4-11 Tracking point... 19 Figure 4-12 Raw data Laser Monopile Inclination... 20 Figure 4-13 Bars vertical and bars horizontal view... 22 Figure 4-14 Bubble View... 25 Figure 4-15 Bubble Attitude Layer Properties... 25 Figure 5-1 Monopile placement report... 33 Figure 5-2 Screen layout... 34 Figure 5-3 Monopile file... 34 Figure 5-4 Monopile Inclination view... 35 Figure 5-5 Vessel maneuvers... 35 Figure 5-6 Filter Settings... 36 Figure 5-7 Bubble and Bars views... 36 ii Figures Teledyne PDS - Monopile Placement - Laser scan position
1 Introduction 1.1 Monopile placement This manual describes this windmill monopile placement Teledyne PDS application. The monopiles are positioned by a monopile gripper. This manual consists of four chapters: General; describes the method how the monopiles are placed on position with the correct inclination. Getting started; describes the used devices with the properties to set in the Teledyne PDS Monopile application. Acquisition; describes the used views. Operate; describes how to calibrate the laser scanners heading and the general procedure for monopile placement in Teledyne PDS. This manual will only explain parts related to the Monopile Placement application. For other information about Teledyne PDS see the Teledyne PDS User Manual (the file Teledyne PDS User Manual.pdf in the folder manuals ) for detailed information about Teledyne PDS. All Teledyne PDS related manuals are also available from the PDS website. Download manuals. This manual is also available as a HTML Help file and can be opened with F1 or with Help > Help Topics from the menu bar. Teledyne PDS instruction movies are available at the PDS YouTube channel. Watch Teledyne PDS instruction movies. Teledyne PDS - Monopile Placement - Laser scan position Introduction 1
2 General 2.1 Introduction 2.2 Method Monopiles are used in wind farms to place a wind turbine generator on top. This chapter describes briefly the general idea of the used monopile placement method, as currently covered by the Teledyne PDS monopile placement application. A special construction frame on a vessel is used to position the monopile on its location. This construction consists of a monopile gripper frame with a gripper installed. When the vessel is on location the monopile is placed into the gripper by a crane. The monopile is positioned by means of the crane and moving the gripper. The gripper initial position is determined from the vessel position and defined offsets. The gripper position is with respect to a defined gripper frame reference point, and this gripper frame offset is with respect to the vessel reference point. The position of the gripper frame and the gripper is therefore relative to the vessel positioning system. By means of six lasers: three as main system and three as a backup system mounted on the monopile gripper frame, the absolute position of the monopile is determined when placed in the gripper by the crane. Figure 2-1 Gripper frame with gripper and laser locations. The frame is defined in PDS as a sub system as it is loosely coupled to the vessel reference system. This means the position is obtained from the vessel position system but the frame use its own attitude sensors when available. Teledyne PDS - Monopile Placement - Laser scan position General 3
The height of the monopile is measured relatively from a robotic total station. By this way, while lowering and position the monopile by the gripper and the crane, both position and angle are monitored and visualized. 4 General Teledyne PDS - Monopile Placement - Laser scan position
3 Getting Started 3.1 Introduction A PDS application type, project configuration, configuration including vessel configuration(s) must be defined. Refer to the PDS User manual to setup a PDS project. 3.2 Application Type 3.3 Equipment For a monopile project the PDS application type is Multi-purpose survey. The vessel configuration consists of a: Main system Sub system Figure 3-1 Main and sub System 3.3.1 Main System The Main System contains: A positioning system device, for the vessel position; A Compass device, for the vessel heading; A VRU device; for the vessel attitude; A Geodimeter device; for the monopile height. Teledyne PDS - Monopile Placement - Laser scan position Getting Started 5
Figure 3-2 Main system devices The appropriate properties of the devices must be set. The main system device offsets are defined in the vessel configuration geometry page or alternatively as a local offset. The device offset is with reference to the vessel zero offset point. Figure 3-3 Vessel configuration geometry The timestamp mode is; Time in message; when the computer clock and the device is time synchronized by an external time message. Computer clock; when the data stream of the device is synchronized by the computer clock External clock when the device is time synchronized by an external time message. Heading, pitch and roll correction values are determined by a pre-survey of the equipment. The next table lists the general defined properties and the PDS device group for the main devices if applicable. It is possible other or different devices are used or to set more device properties. Device Properties to set Positioning system Device offset (E.g. NMEA GGA) Time stamp mode Height Source Compass Heading correction (E.g. NMEA HDT) VRU Device offset (E.g. TSS) Time delay Heading correction Roll correction Pitch correction Geodimeter Device offset Time stamp mode 6 Getting Started Teledyne PDS - Monopile Placement - Laser scan position
3.3.2 Sub System The Sub System for the monopile application is the gripper frame it contains the following devices: Six lasers, to determine the monopile position; A Monopile inclination device (special), for the monopile position computation; A VRU, for monopile gripper frame attitude. Figure 3-4 Sub System devices The next table lists the device groups for the sub system devices. Device TSS1, Octans or others Sick LMS5xx Pipe fit Monopile inclination Device Group VRU Laser Scan Special The appropriate properties of the devices must be set. The next table lists the general properties of the devices if applicable. (It is possible other or different devices are used or to set more device properties.) Device Properties VRU Device offset This device offset is entered manually and is relative to the chosen sub system zero reference point. For this application the sub system zero reference point is selected on the gripper frame. This means when the offset is set to 0,0,0 the VRU is installed on the sub system zero reference point. Teledyne PDS - Monopile Placement - Laser scan position Getting Started 7
Device Properties Time delay Heading correction (Only applicable when the VRU also output heading information) The correction is with respect to the sub system frame. Roll correction Correct is with respect to the sub system frame. Pitch correction Correction is with respect to the sub system frame. Laser Scan Device offset This device offset is entered manually and is relative to the chosen sub system zero reference point. For this application the sub system zero reference point is selected on the gripper frame. Laser Orientation base Heading, roll and Pitch correction Heading, pitch and roll correction are the mounting angles of the laser scan based on the vessel grid. When pointed forward the heading correction is 0. Roll. Time stamp mode o o Time in message; if computer clock and device is synchronized by a time message. Computer clock if data stream is synchronized by the computer clock. Calibration Object Offset For mounting angle calibration a pipe segment is placed in a bracket made for this purpose. The offset of the pipe center is measured from the sub 8 Getting Started Teledyne PDS - Monopile Placement - Laser scan position
Device Monopile Inclination Properties system reference point and entered here. Calibration Object Radius The diameter (m) of the used pipe for the mounting angle calibration is entered here. Device properties: (See the next figure) 1. Gripper shape This is the shape of the gripper. 2. Monopole shape setpoint This is the shape of the monopole how it should be placed. 3. Setpoint Monopole position This is the shape of the monopole to be placed. 4. Select Custom shape to select a custom made shape. (The shape must be copied in the PDS project.) The shape may be a: o o o Sketchup drawing (.skp) DXF drawing (.dxf) 3DS model (.3DS) 5. Click this button to select the custom made shape. Refer to the PDS User manual for a description of vessel shapes. Laser monopile inclination properties: See the next figure. Set the gripper offset. The gripper offset is relative to the gripper frame reference point. Teledyne PDS - Monopile Placement - Laser scan position Getting Started 9
Device Properties 10 Getting Started Teledyne PDS - Monopile Placement - Laser scan position
4 Acquisition 4.1 Introduction The views used in a PDS monopile application are: Monopile inclination control view Monopile Profile Monopile detection view 3D view online dredge/construction Monopile inclination raw data Figure 4-1 Acquisition Teledyne PDS - Monopile Placement - Laser scan position Acquisition 11
4.2 Monopile Inclination Control View Figure 4-2 Monopile Inclination Control View The control view is added to the Acquisition from the acquisition menu Tools>Equipment Control. Select Monopile Inclination and close the dialog. The view is now added to the screen layout and act as any other view in the acquisition. The monopile inclination control view is used to: Define filter settings for the monopile position detection by the laser scanners. Select the monopile to be placed with its position, inclination, heading and section parameters. Enable monopile placement logging and creation of a placement report. The next table describes the functions of the monopile inclination control view. When a parameter value is changed, the related box background color will turn yellow. Press the Enter key or press the Apply button to validate the setting. Figure 4-3 Yellow background color 12 Acquisition Teledyne PDS - Monopile Placement - Laser scan position
Function Pole diameter Filter settings Description The diameter of a monopile is entered here. The value is overwritten when a monopile file is selected in which the pile diameter is specified. Filter settings for the monopile laser detections. Minimum and maximum range Between these range values the monopile is detected only. Previous pos. margin Maximum allowed margin in the monopile position between two updates. Gate polygons It is possible to draw a polygon in the monopile profile monopile detection views (see page 15). Detections falling outside the polygon are removed. On this way false reflections are removed. There are 3 polygon gates: o Polygon 1: applies for the top (high) mounted laser scanner(s). o Polygon 2: applies for the middle mounted laser scanner(s). o Polygon 3: applies for the low mounted laser scanner(s). Filter level The amount of filtering (averaging) done on the detection. (0 is none and 10 is maximum filtering.) Teledyne PDS - Monopile Placement - Laser scan position Acquisition 13
Function Pole location file Description The monopile locations and parameters are imported from an ASCII file. This ASCII file is generated by the user. Press the Select button and browse to this file. 1. Open the file 2. The PDS ASCII import wizard will start to import the file. Pole Name Report Logging 3. Run the ASCII wizard. Refer to the Teledyne PDS User manual for a description of the PDS ASCII import wizard. When the monopile ASCII file was imported successfully it is possible to select a monopile from the file. Open the drop down list and select the monopile to be placed. The parameters of the selected monopile are shown. Press the button to display the monopile s top coordinates in a grid or geographic format. The monopile position, pile inclination and pile heading describes the pile line. Press the Enable Logging button to enable the logging. Press the button again to generate a pdf report with information of the final pole position, pole parameters, time series of pitch, roll and depth during hammering. 14 Acquisition Teledyne PDS - Monopile Placement - Laser scan position
4.3 Monopile Profile Monopile Detection View 4.3.1 General This view is added to the screen layout from the Acquisition menu Views>Add Displays. Select from the Pipe/Cable Profile views the Pipe/Cable Detection view. The Monopile Detection view is a QC (quality control) view for the laser scan monopile detection. The view displays how good the laser scanner detects the monopile in the gripper. For each used laser section (high, middle and low) a Monopile Detection view is added to the screen layout. Figure 4-4 Monopile Detection view The Monopile Detection view has the following toolbar. Figure 4-5 Toolbar The next table lists the functions of the toolbar. Function Description Zoom Zoom in, zoom out, zoom window and zoom extents. Alternatively use the mouse wheel to zoom in or out. Layer control Press this button to open the layer control dialog box Layer properties Press this button to open the layer properties dialog box. Teledyne PDS - Monopile Placement - Laser scan position Acquisition 15
4.3.2 Layers By means of the layer control edited in the view. quality control and beam layers are added and Figure 4-6 Layers monopile detection view See Figure 4-6. a. Pipe layer. This indicates the Monopile. b. Beam layer. This indicates the forward laser with its beams to the pipe. c. Beam layer. This indicates the aft laser with its beams to the pipe. d. Mask layer. This is the selected mask shape used by the cable detection beamfilter computation. The mask shape is a polygon which is drawn in the view. Right click in the view for a context menu and select Draw Polygon Draw a polygon in the area to detect the monopile by clicking the left mouse button and drawing lines. Right click to save the polygon. In the filter settings from the Monopile Inclination control view, this polygon is selected as a gate for the beamfilter computation. Only detections falling in the polygon are used. 16 Acquisition Teledyne PDS - Monopile Placement - Laser scan position
e. Pipe Detection QC layer. The bar shows the valid pipe detections as a green area. f. Polygon layer. Displays drawn polygon(s) (See d). Polygons are used as a mask as explained at d. g. Beams to calibration object. Refer to section Calibration on page 27. h. Button to calibrate the laser bearing. See section Calibration on page 27. i. Button to enable/disable the use of the laser scan for the monopile detection. 4.4 3D View Online Dredge Construction 4.4.1 General The 3D View Online Dredge/construction is a standard PDS View and added from the Acquisition Views>Add displays menu. Select from the 3D views the 3D Online Construction to add this view to the screen layout. For the monopile placement application the Laser Monopile inclination 3D Dredge/construction layer is added to the 3D Online Dredge construction view. Figure 4-7 3D View Online Dredge construction The view visualizes the monopile placement in 3D. It shows: The vessel, The monopile gripper frame, The monopile gripper, The monopile setpoint The monopile to be placed. Teledyne PDS - Monopile Placement - Laser scan position Acquisition 17
4.4.2 Monopile in the 3D View Two monopiles are indicated in the view: The monopile designed position (setpoint). The monopile how it is currently positioned. Figure 4-8 Monopiles The monopile shapes are selected in the properties of the monopile inclination. Refer to the monopile inclination properties on page 15. The color of the monopiles is set from the layer properties -3D object. Figure 4-9 Color Setpoint Monopile 18 Acquisition Teledyne PDS - Monopile Placement - Laser scan position
4.4.3 Wayline When a monopile location is selected by the Monopile Inclination Control view, a wayline is drawn to this location from the selected tracking point and is indicated in the view. Waypoint or wayline information is used for guidance purposes. It is possible to add a Helmsman view to the screen layout using the wayline. Refer to the PDS User manual for a description of the Helmsman view. Figure 4-10 Wayline indication The gripper mean position is used to determine the vessel s monopile setup position. It is possible to select this position as tracking point. Because there are no sensors on the gripper the average position is used retrieved from the vessel positioning. Press the Tracking point button from the Acquisition toolbar to select the gripper mean position as tracking point. Figure 4-11 Tracking point After placement of the monopile in the gripper the lasers are used for absolute positioning of the monopile. As standard in PDS it is possible to display all information in a numerical layer or a numerical view. Teledyne PDS - Monopile Placement - Laser scan position Acquisition 19
4.5 Monopile Inclination Raw Data By the raw data view besides all the sensors and computations, also the monopile inclination data is showed. The raw data view is a standard Teledyne PDS view which is added to the acquisition screen layout by the Acquisition s View>Add display menu. This section only highlights the useful Monopile Inclination data. The data could be used for numerical layers or up/down indicators for the positioning of the monopile views. Figure 4-12 Raw data Laser Monopile Inclination The next table describes briefly the available data. The pile line is the fictional line through the monopile used for reference/positioning the monopile. Value Description Monopile position measured with the lowest available laser position. Measured pile line heading and inclination. Roll and Pitch of the pile. As three lasers are used to determine the position of the pile a heading, roll and pitch error could be determined between this three measured positions, by a fictional line (pile line) through these positions. Absolute pipe position with the lowest available laser position. Position setpoint for the placed monopole. 20 Acquisition Teledyne PDS - Monopile Placement - Laser scan position
Value Description Upper side and lower side positions of the monopile. These positions are measured by the laser scanners and the robotic total station. A fictional line (pile line) through the three monopile positions measured by the laser scanners will cross the bottom. Bottom X,Y and Z is the position this line intersects the bottom. Gripper arm heading derived from the monopile position assuming the monopile in the center of the gripper. The monopile bearing relative to gripper. Segment positions and attitudes. (used for graphical presentation of shapes) The difference between the pile line and measured monopile top position. The difference between the setpoint position and the measured absolute gripper position. The difference between the pile line and the measured lower monopile position. This is the difference between the specified bottom Z and the measured monopile s lower end Z. The difference between the pipe line inclination of the selected monopile and the measured inclination of the monopile. The difference between the pile line heading of the selected monopile and the measured pile line heading of the monopile. The required extension and shift for the gripper to fix on position. The difference between the defined bottom position from the selected monopile and the measured pile line. Teledyne PDS - Monopile Placement - Laser scan position Acquisition 21
4.6 Up / Down Indicators Dredge/Construction Bars It is possible to indicate any relevant information used for the correct positioning of the monopile by a bar indicator. Besides adding bar indicators in profile views it is possible to add bar indicators in a: Dredge construction Bars horizontal view Dredge construction Bars vertical view Dredge construction bar views are added to the screen layout from the Acquisition menu View>Add display Select from the Dredge/construction views the Bars horizontal and / or Bars vertical view. Figure 4-13 Bars vertical and bars horizontal view The next table describes the steps to add an up / down indicator to a Bars Horizontal or Bars Vertical view. Step Description 1 Right click in the view. 22 Acquisition Teledyne PDS - Monopile Placement - Laser scan position
Step Description 2 Click Layer control. 3 See the next figure. 1. Press Add to Add a new up /down indicator to the view. 2. Occasionally an existing indicator is edited by selecting it 3. And press Edit to edit this up /down indicator 4 Select Up-down Indicator Layer and press OK. 5 1. Select the source item. Monopile placement related items are listed in the special Monopile Inclination device Laser Monopile inclination computation. Teledyne PDS - Monopile Placement - Laser scan position Acquisition 23
Step Description 2. It is possible to change the annotation of the source item. - Sect as Date Name format: Free name string - Enter a name in the Free Name String field. 24 Acquisition Teledyne PDS - Monopile Placement - Laser scan position
4.7 Attitude Bubble View This view is added from the acquisition View>Add Display menu. Select from the Pipe/Cable profile views the Attitude Bubble View. Figure 4-14 Bubble View The bubble view acts as a bull s eye bubble (spirit) level to monitor the level of the monopile across the coordinate system plane, if as VRU source the Laser monopile inclination is selected. VRU source is selected in the attitude bubble view layer control. See Figure 4-15. Figure 4-15 Bubble Attitude Layer Properties Teledyne PDS - Monopile Placement - Laser scan position Acquisition 25
5 Operate 5.1 Introduction 5.2 Calibration Prior to start the monopile placement, the laser scanner(s) are calibrated. The roll and pitch are calibrated by the surveyor, the heading is calibrated by PDS. When the monopile has been placed a report is generated. The laser scanner roll, pitch and heading mounting angle(s) and orientation are calibrated. First the roll and pitch mounting error(s) of the laser scanner(s) must be measured by the surveyor as accurate as possible. These values and the laser scanner(s) orientation and entered in the device properties. See chapter Getting Started Sub System on page 7. The next table lists the steps to enter the orientation mode and enter the roll and pitch values. Step Action 1 Double click in the Raw data view the laser scan Device Data of the laser scanner to calibrate. Teledyne PDS - Monopile Placement - Laser scan position Operate 27
Step Action 2 The properties dialog box opens. Click at the Laser Orientation Base field and select the correct orientation. 3 Enter the measured roll and pitch correction in the associated fields. It is possible to calibrate the heading mounting angle PDS. For the calibration, mounting brackets are placed on the gripper frame on which a pipe segment is placed. The calibration must be performed against a pipe and not for example a block. 28 Operate Teledyne PDS - Monopile Placement - Laser scan position
The next table lists the steps for the laser s heading calibration. 1 Step Action See the next picture. a. Enter in the laser s device data properties the calibration object offset. (This is the bracket s center used for mounting the pipe which is used for the calibration). b. Enter the radius of the pipe used for the calibration. c. Enter a calibration object filter tolerance. This value is added to the object (pipe) radius to allow only the beams near the calibration object in the calculation. A value of 5cm seems a good value. Teledyne PDS - Monopile Placement - Laser scan position Operate 29
2 Step Action In the Pipe/Cable Detection View: a. The calibration object, indicated as a black circle with the detected beams is showed. b. Double click the Calibration button on the left side of the QC bar to calibrate the heading mounting angle of the associated laser. If the calibration button is pressed (step b), it is seen the beams are adjusted in the view. For example: Before calibration: (Beams are not centered to the calibration object) After calibration: (Beams are centered to the calibration object) 30 Operate Teledyne PDS - Monopile Placement - Laser scan position
Step 2a Action Alternatively it is also possible the heading calibration is done from the attributes Monopole detection calculation. Double click in the Raw data view the associated Monopile Detection computation to open the attributes dialog box. Enable for the associated laser the Apply Laser Calibration Bearing Error field. It will calibrate ones and disable itself automatically. Teledyne PDS - Monopile Placement - Laser scan position Operate 31
Step Action 3 In the raw data page, for the associated laser scan, the distance error and the bearing error are indicated. In this example the errors of the laser scanners mounted in the top of the gripper frame are indicated. The first value in the array is from the aft laser scanner and the second value of the forward laser scanner. Distance errors as shown in the above picture are possibly caused by a wrong laser device offset. 4 It is also possible to create an up down indicator for the calibration. For example by means of a dredge construction bars view. 32 Operate Teledyne PDS - Monopile Placement - Laser scan position
5.3 Report When in the Monopile Inclination Control view the Enable Logging button is selected the monopile placement is logged. The button becomes highlighted. When at the end of the placement again the Enable Logging button is selected a report is created. This report is available at the PDS Control Center s Report folder. This report contains information about: Pole top design position; Pole dimensions; Final pole position with errors; A time series view with Penetration depth, roll and pitch graphically displayed. Figure 5-1 Monopile placement report Teledyne PDS - Monopile Placement - Laser scan position Operate 33
5.4 Workflow 5.4.1 General A screen layout is created with the desired views. Figure 5-2 Screen layout 5.4.2 Step 1 Create a Monopile File The user must create a monopile file. The monopile file is an ASCII file containing the parameters of the monopile(s) to be placed. The next figure is an example of such a file. Figure 5-3 Monopile file PDS uses the ASCII importer to import a monopile file. It is not important which separators are used to divide the columns and the sequence of the columns. 34 Operate Teledyne PDS - Monopile Placement - Laser scan position
5.4.3 Step 2 Select the Monopile. See the next figure. a. Select the monopile file from the monopile inclination view. The PDS ASCII importer starts to open and define the monopile file information. Refer to the PDS User manual for an explanation of the PDS ASCII importer. b. Select the monopile to be placed. c. The setpoint parameters are indicated. Figure 5-4 Monopile Inclination view 5.4.4 Step 3 Vessel Maneuvers and Placement Preparations. The vessel sails to the setpoint of monopile to be placed. A wayline is drawn to the selected monopile. The vessel positioning system is used. Figure 5-5 Vessel maneuvers When on position the vessel fixed it selves on position. Teledyne PDS - Monopile Placement - Laser scan position Operate 35
The robotic station and the laser scanners are aligned (calibrated) and in operation. The monopile is placed in the gripper by the vessel cranes. 5.4.5 Step 4 Monopile Positioning/Inclination The filter settings from the monopile inclination view are used for an optimal detection of the monopile by the laser scanners. Refer to chapter Acquisition - Monopile Inclination Control View on page 12. Figure 5-6 Filter Settings Bar indicators and bubble view are used to monitor optimal positioning/inclination of the monopile. Information is also available from the raw data view. Refer to Acquisition on page 11. Figure 5-7 Bubble and Bars views 36 Operate Teledyne PDS - Monopile Placement - Laser scan position
5.4.6 Step 5 Logging and Hammering The Report button is pressed to start the logging.. (See page 33) The Hammering of the monopile is started. 5.4.7 Step 6 Stop Logging and Create a Report The Report button is pressed again to stop the logging and to create a report. (See page 33) The next monopile is selected from the monopile file (see step 1). Teledyne PDS - Monopile Placement - Laser scan position Operate 37
Q QC - 15 Index R raw data - 20 Report - 33 T timestamp - 6 Tracking point - 19 3 3D View Online Dredge Construction - 17 W Wayline - 19 A Acquisition - 11 ASCII file - 14 Attitude Bubble View - 25 B bar indicator - 22 C Calibration - 27 D Dredge construction Bars horizontal view - 22 Dredge construction Bars vertical view - 22 F Filter settings - 13 L laser scanner - 15 laser section - 15 logging - 14, 37 M Main System - 5 Monopile Detection view - 15 monopile file - 34, 35 Monopile Inclination Control View - 12 monopile setpoint - 17 P pile line - 20 Teledyne PDS - Monopile Placement - Laser scan position Index 39