1. 1 TMR 4225 Marine Operations Submarines, AUV and ROV Spring 2009 Lecturer: Tor Einar Berg Contact info: Phone 95670 email: Toreinar.berg@marintek.sintef.noToreinar.berg@marintek.sintef.no Office: Ormen Lange, MARINTEK

2. 2 Vision statement By end of the course all students will be able to: –Prepare simplified models for motion of Submarines Autonomous Underwater Vehicles (AUV) Remotely Operated Vehicles (ROV) –Check dynamic stability for AUV and manned submarines –Describe how design parameters influence motion characteristics of AUV

3. 3 Underwater vehicles in oil & gas industry Manned submarines for: –Installation and maintenance of subsea structures –Transportation of bulk cargos Autonomous underwater vehicles –Seabed mapping –Oceanographic observation/mapping –Work on subsea structures Remotely operated vehicles –Work observation –Inspection of subsea structures –Intervention work

4. 4 A Conceptual Arctic Field Construction Scheme

5. 5 Consumable Replenishment System Submarine Support Vessel Submarine Drilling Vessel TransportContainer Cargo deck Triton class ROV TransportContainer

6. 6 Ormen Lange – AUV and ROV operations Seabed mapping for pipeline track (Hugin 3000)

7. 7 Ormen Lange – AUV and ROV operations ROV operations related to: –installations –inspection/maintenance

8. 8 Snøhvit – an Arctic subsea field ROV operations –Installation –Operation –Decommissioning

9. 9 The Navy Unmanned Undersea Vehicle (UUV) Master Plan – November 2004 Classifies UUVs according to weight –Man-portable < 50 kg –Light weight vehicle – approximately 250 kg –Heavy weight vehicle – up to 1500 kg –Large vehicle – up to 10 tonnes

10. 10 NTNUs Minerva ROV NTNU has bought an ROV for biological research 2 Dr. ing studies have been allocated to develop tools and procedures for scientific use of the ROV For more info see the web site: http://www.ivt.ntnu.no/imt/minerva

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13. 13 Submarine ore carrier

14. 14 Submarine for ore transport

15. 15 Ore transport route

16. 16 LNG transport route

17. 17 Non-nuclear powered submarine

18. 18 Submarine for LNG transport

19. 19 Navigation system

20. 20 Multipurpose Autonomous Intervention Submarine

21. 21 Statoil’s MASU concept

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23. 23 EUCLID Submarine project MARINTEK takes part in a four years multinational R&D programme on testing and simulation of submarines, Euclid NATO project “Submarine Motions in Confined Waters”. Study topic: Non-linear hydrodynamic effects due to steep waves in shallow water and interaction with nearby boundaries.

24. 24 Testing the EUCLID submarine in waves Model fixed to 6 DOF force transducer Constant speed Regular waves, varying headings Submarine close to the surface

25. 25 Numerical study of bow plane vortex Streamlines released at bow plane for 10 deg bow plane angle (Illustration: CFDnorway) Streamlines released at bow plane for -10 deg bow plane angle (Illustration CFDnorway)

26. 26 Axis system definition for submarines