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1 Edit this text for your title MEK 4450 Marine Operations Edit this text for your sub-title Presenter name, location, date etc. Kværner ASA / DNV, Fall 2013 Lesson 2/3

2 Lift phases Load out Transportation Over boarding Splash-zone Lowering Softer system,- resonance Landing Recovery

3 Deck layout

4 Initial phases Deck layout High utilization Deck strength Strong seafastening, simple to remove Simple lifting route Crane capacity Overboarding Clearance / clashes Pendulum motions Heeling of vessel Rotation. Vessel sides Systems for control Set-down on deck Guiding structures Tugger winches

5 Lifting from deck of vessel

6 Lifting from deck of vessel

7 Lifting from deck of vessel

8 Splash zone

9 Splash zone Often dimensioning for crane force Buoyancy reduces mass of object Crane wire tension Sufficient time for air to evacuate Stability of lifted object Internal tanks Air filled compartment

10

11 Further lowering Fatigue issues on the load Effects on the crane and wire Increased weight of the wire. Generally no use of AHC Deep water resonance

12 Landing Position control vs tolerances Guiding structures Lines Landing speed Damage module Soil damage (stiff clay) Reduction of tension in crane wire Vessel movement and ballasting Capacity of AHC Disconnection of rigging

13 Recovery

14 Recovery Rigging connection points Suction effects from seabed Water escapation No bouyancy+water filled May be dimensioning for crane Identical concerns as for deck lift-off Guidance and shock absorbers to be considered

15 Calculation model for lifting Crane tip motion: Zc(t) Prescribed L Lifting wire: linear spring. K=EA/L Lifted object. Z(t) Unknown

16 Calculation model for lifting Crane wire load: Morison load: Static load: Response: ಳ ష

17 Resonance Solve numerically Solve analytically: replace to equivalent linear damping Resonance: neglect damping and loading

18 Solution,- no damping Crane tip motion: Assumed response

19 Numerical Tools / Analysis Software Why numerical tools? More accurate and detailed description Why comercial tools: Time consuming to produce inhouse Better quality checks (?) Clients acceptance

20 Typical numerical model INPUT A B Disadvantages MODEL A B Notes A B OUTPUT A B Advantages

21 Numerical models Hydrostatic / stability models (e.g. AutoHydro, Hydro D) Basic hydrodynamic analyses (e.g. WADAM, WAMIT) Time domain coupeled analyses (e.g. SIMO) CFD Beam theory (e.g. Orcaflex, Riflex) FEM

22 Hydrostatic Analysis

23 Hydrostatic model INPUT Wet hull shape Mass COG Use with care for non- standard aplications MODEL Geometry: stripes Mass and COG Archimedes Buoyancy and moments Purpose made For normal ship Hull and normal operations OUTPUT Floating condition Stability margins Quick and simple to use

24 Hydrodynamic Analysis

25 Floating object in waves - standard theory INPUT Wet hull shape Mass distribution Viscous damping neglected Couplings and nonlinearity neglected MODEL Geometry: panels Mass matrix Inviscid Incompressible Vessel: rigid body Incident waves Purpose made For normal ship Hull and normal operations OUTPUT Motion, pressure ++ Transfer function Postprocessing Quick and accurate solutions when relevant

26 Transfer function

27 Time domain simulations COMPLETE MODEL: Fluid: CFD Rigid bodies Elastic medias Interfaces: Loads, pressures, deflections Too time consuming! CFD- approach Keep fluid model accurate Pure model of marine system Coefficient based approach Prescribed motion for fluids Rigid bodies and elastic coupling Coefficient based loading

28 Time domain simulation program INPUT (Hydro)dynamic characteristics Links, wires, beams etc Environment Quality of coefficients? Time consuming MODEL Rigid body motions Forces from environments and links Stepping forward in time. Runge Kutta etc OUTPUT Time series for motions, forces etc Design values: post processing Realistic modeling of marine operations

29 Time Domain Analysis

30 CFD

31 CFD INPUT Boundary geometry and conditions Initial conditons Fluid and turbulence parameters Time consuming Floating bodies? MODEL Viscous fluid Turbulence Bodies with prescribed motion Stepping forward in time. Runge Kutta etc OUTPUT Fields for velocity, pressure etc at different time steps Integrated quantities Realistic modeling of fluid flow Accurate (?) calcs of coefficients

32 Lifting analysis: what is relevant Wire Strength Flexibility Vessel Stability Wave induced motions Strength? Module Weight & buoyancy Drag & added mass Stability & strength

33 Lifting analysis: which programs are relevant Hydrostatic / stability models Vessel using crane. Module flips around? Basic hydrodynamic analyses Vessel motion Time domain coupled analyses Separate rigid bodies equipped with drag coefficients etc Environmental condition => environmental response Force- elongation coupling between vessel and module CFD: improved quality of coefficients

34 Structural check Global and local strength of vessel / deck Transport, storm condition Module strength Transport Lowering Wire strength

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