1. Chia Po Lin EWTEC Lisbon 1995. PhD Thesis Edinburgh University

4. Thanks to Wikipedia

6. Surface tension force = 4 x Side x 73 milliNewton / metre at 15C Buoyancy force = Side 3 x 1000 kilogram /metre 3 x g

7. Buoyancy = surface tension at 5.5 mm side cube

8. 1% error for a 55 mm cube. One part in 340 for a 100 mm cube

9. Combined Capillary Gravity

10. 1% error at 121 mm. 1 in 1700 at 500 mm

11. Drag coefficients as a functions of Reynolds number. Hermann Schlichting

12. 300 300,000 Nearly 1000 :1 OK. Then a drop by a factor of 4 at ReN = 500,000

13. Full scale cylinder diameter 10 metres Full scale wave trough to crest 4 metres Full scale wave period 9 seconds What scale gives Reynolds number of 500,000?

14. Full scale cylinder diameter 10 metres Full scale wave trough to crest 4 metres Full scale wave period 9 seconds What scale gives Reynolds number of 500,000? 10 :1

15. Full scale cylinder diameter 10 metres Full scale wave trough to crest 4 metres Full scale wave period 9 seconds What scale gives Reynolds number of 500,000? 10 :1 But drag forces are ~ 1/30 less than inertial forces and 90°out of phase so who cares?

20. NASA

21. 1/1001/101/1 Model / device cost £5 - £1k£10K- £200k£3m-£20m Model weight 1kg1 tonne 1000 tonne Launch time minutes1-5 days~>year Repeatability 1:1000 Tank 1:1000 Open sea 0 0 Test duration 128 sec10 minmonths Control √√X Fault repair time hoursdaysMonths- >1 year Drag coefficient error 400%

22. Not understanding ‘off-the-shelf’ components and materials. Because investors give launch date priority over reliability.

29. Trying to survive loads above those at the economic limit.

30. What the sea is doing to your part every ~10 seconds What fraction of your parts will fail

31. MTBF2 = 67.2 days Need mean stress 6.3 times std. deviation to get MTBF = 150 years

33. Using the wrong installation equipment.

34. .... standing up in a hammock

35. http://www.scanmudring.no/?page=301&menu=4&id=6

39. SUGGESTED CRAWLER SPECIFICATION Frame dimensions12.19m x 2.43m x 2.59m Weight30 tonne Power100kW Smooth seabed, side-on, no slide current5 m/sec Side-on no roll 1 m clearance11 m/sec Vertical lift all 8 legs300 kN Horizontal thrust400 kN Walking speed280 mm/sec = 0.55 knot 360 degree azimuth rotation11 min Step size with digital hydraulics1 mm Mud pressure with maximum size feet12 kPa Maximum obstacle clearance2.1 m Slope climbing on rock45 degrees Payload tools and materials20 tonne

40. Conventional work vessel Pull only. Very slow direction change.

41. Conventional work vessel Pull only. Very slow direction change. Needs intelligent heavy lift capability at both ends.

42. Conventional work vessel Pull only. Very slow direction change. Needs intelligent heavy lift capability at both ends. Hard fragile skin punctured in tens of millimeters.

43. Conventional work vessel Pull only. Very slow direction change. Needs intelligent heavy lift capability at both ends. Hard fragile skin punctured in tens of millimeters. Fixed wave response not matched to client.

44. Conventional work vessel Pull only. Very slow direction change. Needs intelligent heavy lift capability at both ends. Hard fragile skin punctured in tens of millimeters. Fixed wave response not matched to client. Independent operation.

45. Conventional work vessel Pull only. Very slow direction change. Needs intelligent heavy lift capability at both ends. Hard fragile skin punctured in tens of millimeters. Fixed wave response not matched to client. Independent operation. Potentially fatal heel induced by work forces.

46. Conventional work vessel Pull only. Very slow direction change. Needs intelligent heavy lift capability at both ends. Hard fragile skin punctured in tens of millimeters. Fixed wave response not matched to client. Independent operation. Potentially fatal heel induced by work forces. Winches, cranes and own electrical generation.

47. Conventional work vessel Pull only. Very slow direction change. Needs intelligent heavy lift capability at both ends. Hard fragile skin punctured in tens of millimeters. Fixed wave response not matched to client. Independent operation. Potentially fatal heel induced by work forces. Winches, cranes and own electrical generation. Too heavy to be lifted by container crane.

48. Conventional work vessel Pull only. Very slow direction change. Needs intelligent heavy lift capability at both ends. Hard fragile skin punctured in tens of millimeters. Fixed wave response not matched to client. Independent operation. Potentially fatal heel induced by work forces. Winches, cranes and own electrical generation. Too heavy to be lifted by container crane. Conventional GPS with precision of tens of metres.

49. Ideal Installation vessel Push, pull, twist and shear 280 kN in any direction in seconds.

50. Ideal Installation vessel Push, pull, twist and shear 280 kN in any direction in seconds. Fast connection and disconnection.

51. Ideal Installation vessel Push, pull, twist and shear 280 kN in any direction in seconds. Fast connection and disconnection. Soft skin deflecting > 2 metres.

52. Ideal Installation vessel Push, pull, twist and shear 280 kN in any direction in seconds. Fast connection and disconnection. Soft skin deflecting > 2 metres. Wave response adjusted to match client object.

53. Ideal Installation vessel Push, pull, twist and shear 280 kN in any direction in seconds. Fast connection and disconnection. Soft skin deflecting > 2 metres. Wave response adjusted to match client object. Co-operation between multiple units from a single point.

54. Ideal Installation vessel Push, pull, twist and shear 280 kN in any direction in seconds. Fast connection and disconnection. Soft skin deflecting > 2 metres. Wave response adjusted to match client object. Co-operation between multiple units from a single point. No heel induced by work forces.

55. Ideal Installation vessel Push, pull, twist and shear 280 kN in any direction in seconds. Fast connection and disconnection. Soft skin deflecting > 2 metres. Wave response adjusted to match client object. Co-operation between multiple units from a single point. No heel induced by work forces. Source of electrical, hydraulic and pneumatic power.

56. Ideal Installation vessel Push, pull, twist and shear 280 kN in any direction in seconds. Fast connection and disconnection. Soft skin deflecting > 2 metres. Wave response adjusted to match client object. Co-operation between multiple units from a single point. No heel induced by work forces. Source of electrical, hydraulic and pneumatic power. Sea container handling points.

57. Ideal Installation vessel Push, pull, twist and shear 280 kN in any direction in seconds. Fast connection and disconnection. Soft skin deflecting > 2 metres. Wave response adjusted to match client object. Co-operation between multiple units from a single point. No heel induced by work forces. Source of electrical, hydraulic and pneumatic power. Sea container handling points. Local differential, carrier-phase navigation.

70. http://www.voithturbo.com/vt_en_pua_marine_vspropeller.htm Has lovely animation of rotor blade angles.

71. What we did wrong the first time Had a leadership which wanted us to fail. Now every developer wants every other developer to fail. Will this majority succeed?

72. What went wrong the first time ?

73. Having a leadership that secretly wanted the project to fail.

74. What went wrong the first time ? Having a leadership that secretly wanted the project to fail. Choosing a single very big target 2 GW.

75. What went wrong the first time ? Having a leadership that secretly wanted the project to fail. Choosing a single very big target 2 GW. Relying on second rate consultants.

76. What went wrong the first time ? Having a leadership that secretly wanted the project to fail. Choosing a single very big target 2 GW. Relying on second rate consultants. Not thinking enough about phase.

77. What we are doing wrong now Moving in the wrong direction. Going to full scale with inadequate small scale measurements. Not understanding ‘off-the-shelf’ components and materials because investors give launch date priority over reliability. Trying to survive loads above those at the economic limit. Using the wrong installation equipment. Having sharp corners. Not reporting failures to one another. Not thinking enough about phase.

78. Moving in the wrong direction.

79. Going to full scale with inadequate small-scale measurements.