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Integrated EU-MOP Design System

Integrated EU-MOP Design System. Nikos Kakalis & Yiannis Ventikos University of Oxford. Athens, Greece 09 June 2006. Adequately large number of autonomous vessels Operate in a coordinated manner Combat a variety of oil-spills in a multitude of marine environments.

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Integrated EU-MOP Design System

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  1. Integrated EU-MOP Design System Nikos Kakalis & Yiannis VentikosUniversity of Oxford Athens, Greece 09 June 2006

  2. Adequately large number of autonomous vessels Operate in a coordinated manner Combat a variety of oil-spills in amultitude of marine environments Definition of the EU-MOP System

  3. Unit EU-MOP design levels Strategic System

  4. System vs. Unit Design The EU-MOP design process is an unusualengineering task: We are putting together a system aimed at fulfillinga pre-specified task; The unitscomprising the system are complex devices with specificationsthat are part of the design effort. System Level (strategic/operational) Unit Level (technical)

  5. Conceptual design approach Nantes Meeting, June 2005 Input information • Oil spill characteristics • Oil types • Age • Spill dimensions • quantity/volume • surface area, shape • Spill distribution • Environmental conditions Determine • Preliminary design • Unit volume, weight • Main characteristics • Manufacture materials • Power consumption Action Time Decide Most probable operating policy Number of Drones

  6. Integrated design

  7. EU-MOP Artificial Intelligence needs to perform systems operations: search-and-follow the slick decide on optimal collection strategy loading and unloading sequences, etc… System/swarm level

  8. EU-MOP ITERATIVE DESIGN Unit design Propulsion Energy source Electronics Oil recovery/ processing Storage

  9. Preliminary Unit Design • Power autonomy: 24hrs • Storage tank: 2m3 • Transition speed: 5 kn • Collection speed: 1-2 kn • Sea state 4 • 3 different sizes: large, medium, small Power: 10-50kW, Length: 3m, Brush, Propulsion: electric motors with propellers or water jets

  10. Iterative Design: The Unit Propulsion Energy Hulls Tanks Hulls Brush Electronics & Sensors Pumps

  11. Catamaran integrated design

  12. Design of catamaran EU-MOP Large EU-MOP model Length 3.20 m Breadth 2.30 m Fore hullclearance 0.94 m Draught 0.93 m Displacement (full-load) 3563 kg Medium EU-MOP model Length 3.00 m Breadth 1.88 m Fore hullclearance 0.68 m Draught 0.80 m Displacement (full-load) 2582 kg Main features: Autonomy 24h Energy production Diesel Generator Oil recovery Folding belt skimmer + oil storage tank Propulsion 2 x Azimuthing thrusters Trim adjustment No ballasts

  13. Unit design: energy source

  14. Unit design: propulsion & steering Connection to Propulsion Motor Steering Drive Shaft Locking Screw Sealed Thrust Race Teflon Face Grub Screw Bearing Retention Ring Needle Bearing

  15. Unit design: large catamaran manoeuvring Effect of Speed Effect of Loading Condition Effect of Nozzle Deflection Angle NDA: Nozzle Deflection Angle (°)

  16. Multi-monocat integrated design

  17. Design of monocat EU-MOP MONOCAT - Large Principle characteristics LOA 3.5 m LWL 3.5 m BOA 2.3 m Depth 1.3 m Fore hullclearance 1 m Air draft 3.45 m Other features: Autonomy 24h Energy production Diesel Generator Oil recovery Folding belt skimmer + 2m3 oil tank Propulsion 2 x Azimuthing thrusters Trim adjustment 2x 125l water ballasts Anti capzising volume (mast)

  18. Design of monocat EU-MOP MONOCAT - Large Hull Design features: - Allows for skimmer fitting and good oil canalization. - Provides enough volume for oil storage and equipment fitting. - Minimize drag. - Minimised change in draft with increasing loading. - Centre of volume located slightly aft for minimizing trim with increasing loading. Hydrostatics & stability (preliminary) Displ (kg) Wetted Draft (m) surf (m²) Lightship 1735 13.2 0.45 50% Load 2730 15.6 0.60 100% Load 3335 17.5 0.72

  19. Design of monocat EU-MOP MONOCAT - Medium Principle characteristics LOA 2.4 m LWL 2.4 m BOA 1.9 m Depth 1.10 m Fore hull clearance 0.7 m Air draft 2.13 m Other features: Autonomy 24h Energy production Diesel Generator Oil recovery Folding belt skimmer + 1.4 m3 oil tank Propulsion 2 x Azimuthing thrusters Trim adjustment 2x 90l water ballasts Anti capzising volume (mast)

  20. Design of monocat EU-MOP MONOCAT - Medium Hull Design features: Parametric scaling from Large unit’s Hull with specific targets: -Length constrained by 40’ container size -Increased freeboard / Length ratio -Increased Breadth / Length ratio Hydrostatics & stability Displ (kg) Wetted Draft (m) surf (m²) Lightship 1180 8.4 0.48 50% Load 1750 9.8 0.65 100% Load 2280 12.4 0.80

  21. Strategic level Suppose that we have: • I stockpiling facilities • J spill sites • E types of units

  22. Strategic level The objective function: Subject to the following constraints: Upper bounds of units’ allocations; storage of equipment at facility i only if it is opened Total capacity sent to each spill not more than its volume multiplied by the desired coverage coefficient

  23. Simulations: Natural Weathering Statfjord crude oil (API 37.7) Vo = 120 m3, T = 13oC, Wind speed = 20 Kn

  24. Simulations: EUMOP in Action 10 L EU-MOPs; 14hrs response time 11 hrs EU-MOP operation

  25. Future Challenges *Individual Workpackages will be addressing specific design and optimisation issues *The AI and unit coordination aspect of the Project is of paramount importance *Scheduling/queueing issues, along with the technical specifics of the docking and unloading modules are emerging as major challenges

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