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Introduction to SIMO

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SIMO

Time domain simulation of surface vesselsTime domain simulation of surface vessels

Complex marine operationsComplex marine operations

SIMULATION OF COMPLEX MARINE OPERATIONS

Typical applications:

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Turret moored vesselTurret moored vessel Dynamic positioningDynamic positioning

SemiSemi--submersiblessubmersibles

Tension leg platforms (TLP)Tension leg platforms (TLP)

SPARSPAR--buoysbuoys

Time domain simulation of surface vessels :

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TLP installationTLP installation

OffloadingOffloading

Crane operations withCrane operations with

mechanical couplingmechanical coupling

Complex marine operations:

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Large volume body, total motion 6 DOFLarge volume body, total motion 6 DOF

1st order wave excitation forces1st order wave excitation forces Retardation funct ionsRetardation functions

Any other forcesAny other forces

Large volume body, separated motion 6 DOFLarge volume body, separated motion 6 DOF

1st order motion transfer functions (RAO)1st order motion transfer functions (RAO)Any other forcesAny other forces

Small volume body, total motion 3 DOFSmall volume body, total motion 3 DOF

PositionPosition--dependent hydrodynamic forcesdependent hydrodynamic forces

SYSTEM DESCRIPTION FILE

Body types:

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Initial posit ionInitial posit ion

Structural mass dataStructural mass data

Hydrostatic stiffnessHydrostatic stiffness

Linear and quadratic dampingLinear and quadratic damping

SYSTEM DESCRIPTION FILE

Body data specification (1):

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Wind force coefficientsWind force coefficients

Linear and quadratic current force coefficientsLinear and quadratic current force coefficients

TimeTime--dependent massdependent mass

Distributed hydrodynamic forces (Morison model)Distributed hydrodynamic forces (Morison model) Small body hydrodynamic dataSmall body hydrodynamic data

(incl. position dependent(incl. position dependent coeffcoeff. and diffracted wave. and diffracted wave

application)application)

SYSTEM DESCRIPTION FILE

Body data specification (2):

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Added mass dataAdded mass data

Retardation functionsRetardation functions

First order wave force transfer functions orFirst order wave force transfer functions or

First order motion transfer functionsFirst order motion transfer functions

First order diffracted wave transfer functionsFirst order diffracted wave transfer functions

SYSTEM DESCRIPTION FILE

Body data specification (3):

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Second order wave drif t forcesSecond order wave drift forces

Wave drift damping (wave drift current interactionWave drift damping (wave drift current interaction

coefficients)coefficients)

Second order wave force transfer functions (QTF)Second order wave force transfer functions (QTF)

dif ference frequency, ordifference frequency, or

sum frequencysum frequency

SYSTEM DESCRIPTION FILE

Body data specification (4):

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Specified forcesSpecified forces

External forcesExternal forces

Positioning system dataPositioning system data

SYSTEM DESCRIPTION FILE

Body data specification (5):

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Catenary mooring lines and risersCatenary mooring lines and risers ForceForce--elongation with fixed attack pointselongation with fixed attack points

Fenders, other contact elementsFenders, other contact elements

ThrustersThrusters

Dynamic PositioningDynamic Positioning

SYSTEM DESCRIPTION FILE

Positioning system elements:

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Specified forceSpecif ied force--elongation data, fixed attack pointselongation data, fixed attack points Simple wire couplingSimple wire coupling

Multiple wire couplingMultiple wire coupling

FenderFender

BumperBumper

Docking coneDocking cone

SYSTEM DESCRIPTION FILE

Coupling types:

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Regular wavesRegular waves

Irregular wavesIrregular waves

WindWind -- constant or fluctuatingconstant or fluctuating

CurrentCurrent -- constant velocity for given profileconstant velocity for given profile

SYSTEM DESCRIPTION FILE

Environment specification:

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PiersonPierson--MoskowitzMoskowitz (1 and 2 parameter spectrum)(1 and 2 parameter spectrum)

JONSWAP (2, 3 and 6 parameter spectrum)JONSWAP (2, 3 and 6 parameter spectrum)

Doubly peaked (Doubly peaked (TorsethaugenTorsethaugen))

Numerically defined (user defined)Numerically defined (user defined)

SYSTEM DESCRIPTION FILE

Available wave spectra:

Wave time series measured from model tests atWave time series measured from model tests at

MARINTEK Ocean Basin can be used directlyMARINTEK Ocean Basin can be used directly

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DavenportDavenport HarrisHarris

Wills (modified Harris)Wills (modified Harris)

SletringenSletringen

NPD / ISONPD / ISO

APIAPI

SYSTEM DESCRIPTION FILE

Available wind spectra:

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Dynamic analysis of crane operations

A set of simple equations of object motion, which can be

solved directly if the coefficients are constant:

(RAO-data for the vessel is calculated separately)

However:

Slamming: M varies

Slack/snatch: k varies

Winching: k varies

Damping: quadratic

Splash zone: M, c og Fex

position dependent

Ventilated items: M amplitude dependent

Large objects: M and c frequency dependent

Time domain simulation required

(t)F=xk+xc+xM ex

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Programs for analysis of crane operations

Simplified (smal volume) theory Forces and motions Ship unaffected by forces on the load

One or several vessels Heavy lift (in air, under water) Slender / complex structures Shadow effects, hydrodynamic coupling Positioning

Motion response Sea fastening forces

MACSI Crane operations

SIMO Complex marine

operations

RESPONSE Vessel motion

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MACSI-2: System configurations

Standard

(with or without guidewires or compensator)

Pull-down through a sea bedsheave

Pull-down with a subsea winch

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MACSI: Verification testMeasured vs. calculated motion in the splash zone

Test: A half submerged sphere in an

elastic pendulum, regular waves.

Data: Diameter: D = 0.280 m

Wave height H = 0.384 m

Wave period T = 2.5 s

MODEL TEST

Z

X

MACSI

Z

X

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Simulation of complex marine operations

Installation of

SNORRE TLP

Simulation model

SIMO

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SIMO Modeling of subsea structures

Slender elements

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Long pipes through the splash zone

Stability (step 1 - 2)

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Long pipes through the splash zone

Stability (step 3 - 4)

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Long pipes through the splash zone

Method 2

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Long pipes through the splash zoneWire tension calculated by SIMO (method 2)

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Why do we need a simulator?

New challenges require new technology for deep waters

More marine operations, high costs. Subsea equipment

Maintenance

More complex operations.

Need accurate analysis for Design of operation / equipment

Training of personnel, familiarization.

Decision support onboard.

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Structure of simulator

High level archi tecture (HLA) / Run -TimeInfrastructu re (RTI)

Terrain modu le

ROV contro l and

visualization

RIFLEX

cables and risers

SIMO

vessel INC. DP

SIMLA

Pipelaying

Free spans

SIMULATORCONTROL Visualization

GL view

Important features:Accurate modelling.State of art computer programs.Realistic visualization.Replay option

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Structure of simulator

HLA / RTI bus

ServerRIFLEX

(slender

structures)

SIMO

(multiple

Rigid bodies)

Operator

'*************************

SYSTEM DES SIMO

'*************************

NJORD riser

replacement op

---------------------------

'*************************

RISER SYSTEM

'*************************

NJORD riser

replacement op

---------------------------

'**************************

OPERATOR CONSOL

'**************************

NJORD riser

replacement op

----------------------------

Globale view ROV viewNavigation

display

Measured

dataPipelaying

(Terrain model,

Free spans)

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User interface Run on PCs Interactive vessel & crane

commands

Positioning, winches, ++

Run ROVs by joystick

Several screens.

Stereo & cave technology

Cave technology