1. TMR4225 Marine Operations Motion of underwater vehicles Spring 2005
Lecturer: Tor Einar Berg
Contact info: Phone 95670

2. Topics of this course Standard motion equations for submarines
Hydrodynamic design aspects for autonomous underwater vehicles (AUV)
Case study – HUGIN
Hydrodynamic aspects of remotely operated vessels (ROV)
Simulators for ROV operation
Design studies
Pilot training

3. Why are hydrodynamic aspects important?
Power requirement for autonomous vessels
Motion stability
Design and efficiency of control units (rudders and thrusters)
Manoeuvrability of the vessels
Deployment of vehicles through splash zone

4. Use of underwater vehicles
Tourism
Offshore oil & gas activities
Deep ocean studies
Seafloor studies, ocean mining
Military operations
(Bulk transport)

5. Military application of UUVs
The Navy Unnmanned Undersea Vehicle Master Plan defines 4 types of vehicles
Man-Portable class, kg, operational endurance hours
Light Weight Vehicle, up to 250 kg, endurance hours
Heavy Weight Vehicle, approx kg, 21 inch diameter
Large Vechicle, approx 10 tonnes displacement
Tasks may include:
Intelligence, Surveillance and Reconnaissance
Mine Countermeasures
Oceanography
Payload Delivery
Barrier Control

6. Naval applications Mine countermeasure vehicle HUGIN 1000
Installed on KNM Karmøy

7. Flow characteristics for selected missions
Seabed mapping (Buzz group activity no 1)
Mine countermeasures (Buzz group activity no 2)

8. Oil & gas example (1) Hugin Used for Ormen Lange pipeline survey
2 more units delivered in 2004

9. Seabed mapping for pipeline routing
Critical parameters for high quality mapping using the Hugin vehicle (Buzz group activity no. 3)

10. Remotely Operated Vehicles (ROV)
Operational observation
Installation
Inspection
Maintenance

11. Choke valve replacement using an ROV
Describe critical parameters for replacement of a choke valve on a subsea production system (Buzz group activity no. 4)

12. Ocean and seafloor studies (1)
NTNU Minerva studies
Investigate marine biology, primarily cold water reefs

13. Ocean and seafloor studies
How can ROV systems be used to fill knowledge gaps with respect to lack of environmental and biodiversity data prior to large scale petroleum production in the Barents Sea?