TMR4225 MARINE OPERATIONS SPRING 2005 Introduction
Introductory issues Aim Schedule for lectures Time and topics Monologue versus dialogue Written material Language Exercises Plan and assistance Exam
General course information Lecturers: Professor II Finn Gunnar Nielsen, Norsk Hydro Research Centre, Bergen E-mail : finn.gunnar.nielsen@hydro.com Professor II Tor Einar Berg, Marintek E-mail: tor.e.berg@marintek.sintef.no Assistant: ken-robert gjelstad jakobsen E-mail: ken-robert.g.jakobsen@ntnu.no Office: G2.123 Phone 50443 Exercises: Approx. 6 Min. 4 required for exam. One exercise / project will be graded and count 30% in the final grading. Web site: http://www.ivt.ntnu.no/imt/courses/tmr4225/ EXAM: 31 May
Web site http://www.ivt.ntnu.no/imt/courses/tmr4225/
AIM Give overview and physical insight into typical marine operations related to offshore activities. Learn how to make order of magnitude estimates of loads and responses. Understand background for more advanced numerical methods.
Literature Nielsen, F.G.: "Marine Operations. Lecture Notes" (Jan. 2003) Berg, T. E.:."Marine Operations - Subsea Vehicles. Lecture Notes Faltinsen, O.M. "Sealoads on Ships and Offshore Structures Handouts.
Schedule (1:2) Week Lect. No. No. 2 1 3 4 5 6 7 8 2 3 4 5 6 7 Date Topic Mon. Introduction, 10.01 Rules Mon. Planning. 17.01 Towing Tue. Towing. 18.01 Crane operations Mon. Crane 31.01 operations Tue. Crane 01.02 operations Content Introduction to the course. Examples of marine operations and UV manoeuvring. Overview of rules and regulations. Criteria for operation. Weather windows. Simulation of operations. Towing. Propeller forces. Towlines, restoring forces, dynamic loads. Examples of heavy lift vessels and operations. Multi-body dynamics. Static and dynamic response of simple systems. Lifting in deep water. Wire dynamics. Advanced simulation tools. Mon. Underwater Examples of submarines, ROVs and AUVs. Work tasks for 14.02 vehicles ROVs and AUVs in offshore operations. Mon 21.02 AUV /ROV AUV hydrodynamics and Hugin operational experience. 9 Tiltaksuke 10 Tiltaksuke
Schedule (2:2) Week Lect. No. No. Date Topic Content 11 Mon. 8 14.03 Water entry. Hydrodynamic forces on a body crossing the wave zone and close to bottom. Hydrodynamic coefficients. 9 Tue. Water entry. 15.03 Hydrodynamic coefficients continued. Effect of perforation. 12 Easter 13 Easter 14 Mon. Project Short presentations of project exercises. 10 04.04 presentations 11 Tue. Crane Dynamics of a body hanging above and in water. Mathieu 05.04 dynamics instability. Heave compensation. 15 16 17 18 12 13 14 22 Tue 31.05 Mon. Dynamic 18.04 stability Hydrodynamics of ROV. Directional stability Mon ROV 25.04 Simulation of ROV operations and ROV pilot training Mon. Statistics. The probability of snap loads / impact during lift off 02.05 Pipelaying. Pipelaying in deep water. Summary Summary of course, feedback. EXAM
Time and place for lectures Lecture no. Date Time Place Lecturer 1 Mon.10.01 1115 1400 T1 FGN / TEB 2 Mon. 17.01 1115 1400 T1 FGN 3 Tue.18.01 1015-1200 T3/T4 FGN 4 Mon. 31.01 1115-1400 T1 FGN 5 Tue. 01.02 1015-1200 T3/T4 FGN 6 Mon. 14.02 1115 1400 T1 TEB 7 Mon. 21.02 1115 1400 T1 TEB 8 Mon. 14.03 1115 1400 T1 FGN 9 Tue. 15.03 1015-1200 T3/T4 FGN 10 Mon. 04.04 1115 1400 T1 FGN/TEB/All 11 Tue. 05.04 1015-1200 T1 FGN 12 Mon. 18.04 1115 1400 T1 TEB 13 Mon 25.04 1115 1400 T1 TEB 14 Mon. 02.05 1115 1400 T1 FGN/TEB
PRELIMINARY LIST OF EXERCISES: Exercise Week Topic Given Due No. No. 1 3 Towing 2 5 Crane dynamics 3 8 AUV hydrodynamics 4 11 Water entry 5 14 Crane dynamics 6 17 ROV hydrodynamics Project Exercise, Mandatory group work: Starts week 8 ends week 14.
Team work. Groups of 2-3 students EXERCISE NO 1, spring 2004 (Counts 30% in final grading) EXAMPLES OF MARINE OPERATIONS. Physical phenomena and relevant analysis. Given: 09.01 Due: 20.02 In the list below you will find examples of marine operations and some related problems. Each group choose one example. For the operation chosen, you should: Give specific, practical examples (from literature) on the operation. Discuss which physical phenomena that must be accounted for in design equipment used and in planning the operation. Highlight critical issues Discuss how the system can be analysed to quantify the critical issues (e.g. how to asses stability, force, clearances etc.) The work shall be summarized in a report. Put emphasis on making a well written report including proper documentation and references. A 10 min. oral presentation of the main findings shall be prepared. The presentation is to be held 20.02.03
Exercise No. 1 Topics A. Installation of jackets by towing on barge and crane assisted installation. B. Deepwater installation of subsea modules from floating crane. C. Deep water pipelaying. A comparison between s-lay and j-lay. D. Hydrodynamic loads on subsea modules during installation by crane. E. How to establish hydrodynamic coefficients to estimate proper water entry loads. F. Towing. Forces in towing lines. G. Heave compensation. Capacities and characteristics of compensators. Dynamic response. H. Oil recovery. State of art equipment, limitations of equipment. Modes of operations. I. Ormen Lange; Examples on use of an AUV (Hugin) J. ROV operations at large depths. K. Review of concepts for use of large manned submarines in offshore operations.
Limited duration Transient condition. May be interrupted Marine operations Key features Do not need to design for extreme conditions Weather dependence
Practical experience versus physical insight. Engineering approach Understand physics of system Quantification by simple methods Detailed analysis Advanced numerical tools Experimental approach
Examples on marine operations (DNV) Load Out: Transfer a structure from land onto a vessel Float Out: Transfer a structure from a dry construction site to a self floating condition. Float on / Float off: Transfer a floating structure onto a vessel and vice versa. Towing: Pushing / pulling by tugs. Self propelled carrier transports: Transport on deck of a self-propelled vessel Launching: Cutting seafastening of a structure and slide down launch rails to a free floating condition. Upending: Upend a floating structure. Positioning: Position a structure a predetermined location Setting: Set down a structure, levelling and soil penetration. Pipelaying: Laying pipe on the seafloor.
Examples on marine operations (DNV) Piling: Secure a structure to sea bottom by driving piles into the soil. Offshore loading: Loading e.g. oil from one vessel to an other. Grouting: Cementing piles after pile driving or injection of cement to level foundation. Lifting: Lift or support a structure by crane. Lift off: Transfer a structure from a temporary construction site onto a transportation vessel. Mating: Join two floating structures. ROV /AUV operations: Work on subsea equipment, surveilance, bottom mapping. Etc...
Classical offshore structure. Challenges w.r.t Installation Operation Repair / maintenance Removal
History of jackets
Jacket installation, self-floater
Jacket installation, launching & crane assistance
Gravity base structure, Condeep
Jackup & jacket
Semisubmersible
Floating production
Semisubmersible craneship
Offshore loading buoy
Offshore loading
Offshore wind turbines