TMR4225 Marine Operations,

2007.01.11
What are you expecting to learn from todays
lecture?

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 TMR4225 Marine Operation

My objectives for this lecture:

Establish a commen knowledge on operational
parameters for different types of underwater vehicles
Obtain a commen understanding of critical phases in a
mission for an underwater vehicle
Document basic understanding of dominant flow
regimes during different phases of a mission for
underwater vehicles
Introduce motion equations for submarines and AUV
(streamlined bodies)
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 Lecture form

Presentations
Buzz groups
Short questions
2-3 minutes discussions
Oral presentation of buzz group results (keyword form)

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 Nomenclature

SNAME H-10 Panel

ITTC standard notation for manoeuvring

Forces and moments: X,Y,Z K, M, N

Yv force coefficient for sway speed
Yvv is sway force due to sway speed, a linear damping
force due to angle of attack of the vehicle

A more compact notation can be obtained by using a

vector/matrix formulation of the equations of motion

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 Axis systems

Earth fixed system

Vehicle fixed system
Right handed system
X-axis forward
Z-axis downwards

Positive deflection of control flaps/rudders are clockwise

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 Buzz groups Question 1

In what layers of the ocean space are each of the vehicle

types used?
Manned submarine
AUV
ROV

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 Buzz groups Q1 answer:

Manned submarines:
300 m waterdepth ( large military ones operates at larger depths)
11000 m extreme pressure vessel design (Trieste), sea space
exploration
3000 m exploration of sea bed

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 Buzz groups Q1 answer:

AUVs
500 meters
Military use, mine search 150-200 m
Offshore, mapping 3000 4000 m

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 Buzz groups Q1 answer:

ROVs
Use close to structures
Not used in the wave zone
Depth limited by umbilical, down to 1000 m?
Near the bottom, 1000 5000 m

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 Flow characteristics for standard
operations
Submarine in transit
Streamlined body
Mostly turbulent flow
Constant transit speed
Small perturbations, i.e. Sway/yaw/heave/pitch/roll speeds and
angles of control planes
Close to surface (periscope depth), in the wave zone
Close to the seabed (interaction effect?)

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 Flow characteristics for standard
operations
AUV
Streamlined body
Constant transit speed
Small perturbations, i.e. Sway/yaw/heave/pitch/roll speeds and
small angles of control planes
Or:
Zero/very low speed
Large angles of attack from current
Thrusters for hovering/position keeping

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 Flow characteristics for standard
operations
ROV
Non-streamlined body
Mostly turbulent flow due to separation on edges
Low speed
Large angles of attack; have to be able to operate in cross current
Different characteristics for up and down motion
Complex flow due to interacting thrusters
Umbilical drag can be high for operations at large depths
Tether management system can be used to remove umbilical
induced motion of ROV

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 Types of submarines

Military submarines
Norway Ula class (dimensions?)
Typhoon type
Viking project Nordic submarine
Cargo carrying submarines
Bulk carriers (coal, LNG, oil)
Intervention vehicles for subsea oil and gas production
Russian Lazurit project
Tourist submarines
Tropical waters
Amusement parks

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 Buzz groups Question 2

Discuss why no submarine bulk carriers have been

realized?
Groups 1, 3, 5,

Discuss why non of the concepts for subsea oil and gas
production submarines have been realized?
Groups 2, 4, 6, .

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 Buzz group Q2 answer:

Bulk carriers
Great risks, consequences if something happens (rescue)
Environmental problems, especially if nuclear powered
More power then for surface vessels due to larger wet surface (for
large slow speed bulk carriers 80-90% of resistance is viscous)
Load carrying capacity restricted due to increased steel weight
Too expensive to build and operate (high quality steel, redesign of
shipyards, scraping costs, .)
Separate terminals, high investment costs
Complex loading/unloading systems
Maintenance process must be modified
No need for this solution for ice free waters

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 Buzz group Q2 answer:

Submarines for oil and gas subsea structure installation and

maintenance
No advantages compared to ROVs
Not useful as diver platform for large depths
High costs, both for vessel design/production and initial structure
design to fit capacities of submarine
No oil company is willing to be first user of a system based on
submarine intervention

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 Submarine summary

Submarines are hydrodynamically well designed

Commercial use of submarines is at present no alternative
for subsea oil and gas production
May be role for submarines infuture Arctic oil and gas
exploration and production
Development of military submarines will continue, but not
at the same level as before
Submarines for tourism will expand
Manned vehicles will be used for exploration of the ocean
space
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 Submarine motion equations

6 degrees of freedom equations

Time domain formulation
Simplified sets of linear equations

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 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.

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 TMR4225 Marine Operations,
2007.01.11
Sum up the 3 most important learning
outcomes of todays lecture
Have your expectations been fulfilled?
If not, why not?

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 SHEFEX recovery mission

During a sounding rocket campaign at Andya Rocket

Range in October 2005 the 300 kg payload SHEFEX was
lost
Estimated impact zone was 70,3443 North and 12,1508
East
Water depth at impact zone is approximately 2700 m
Prepare a plan for the recovery mission

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 From outer to inner space

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