Вы находитесь на странице: 1из 48

DNV Marine Operations Rules for Subsea Lift Operations

New Simplified Method for Prediction of Hydrodynamic Forces Tormod Be DNV Marine Operations 2nd December 2009

Content
Brief overview of relevant DNV publications DNV Rules for Marine Operations, 1996, Pt.2 Ch.5 Lifting Capacity Checks New Simplified Method for calculation of hydrodynamic forces, DNV-RP-H103 Ch.4 CFD Analyses Test Cases

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 2

Relevant DNV Publications


Lifting- and subsea operations :
DNV Rules for Planning and Execution of Marine Operations 1996 Special planned, non-routine operations of limited durations, at sea. Marine operations are normally related to temporary phases as e.g. load transfer, transportation and installation.
DNV-OS-E402 Offshore Standard for Diving Systems January 2004 (Amendments October 2009)

DNV Standard for Certification No.2.22 Lifting Appliances October 2008

DNV Standard for Certification No. 2.7-1 Offshore Containers April 2006

Special planned non-routine operations

Routine operations

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 3

Relevant DNV Publications - Other


DNV-RP-C205 Environmental Conditions and Environmental Loads April 2007 DNV-RP-H101 Risk Management in Marine and Subsea Operations, January 2003 DNV-RP-H102 Marine Operations during Removal of Offshore Installations, April 2004 DNV-RP-H103 Modelling and Analysis of Marine Operations, April 2009 Standard for Certification No. 2.7-3 Portable Offshore Units, June 2006 (a new revision will be issued 2010 which will include subsea units) DNV-OS-J-101 and -201 Design of Offshore Wind Turbine Structures and Substations for Wind Farms, October 2007 / 2009 DNV-OS-E303 and -RP-E304 Offshore Mooring Fibre Ropes, Certification (2008) and Damage Assessment (2005)
DNV Marine Operations' Rules for Subsea Lift Operations 2 December 2009 Slide 4

Relevant DNV Publications - Purchase


DNV publications can be purchased at: http://webshop.dnv.com/global/

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 5

Content
Brief overview of relevant DNV publications DNV Rules for Marine Operations, 1996, Lifting Capacity Checks New Simplified Method for calculation of hydrodynamic forces CFD Analyses Test Cases

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 6

Capacity Checks - DNV 1996 Rules


Rules for Planning and Execution of Marine Operations, 1996

Part 1 - General Pt.1 Ch.1 - Warranty Surveys Pt.1 Ch.2 - Planning of Operations Pt.1 Ch.3 - Design Loads Pt.1 Ch.4 - Structural Design

Part 2 - Operation Specific Requirements Pt.2 Ch.1 - Load Transfer Operations Pt.2 Ch.2 - Towing Pt.2 Ch.3 - Special Sea Transports Pt.2 Ch.4 - Offshore Installation Pt.2 Ch.5 - Lifting Pt.2 Ch.6 - Sub Sea Operations Pt.2 Ch.7 - Transit and Positioning of Mobile Offshore Units

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 7

Capacity Checks - DNV 1996 Rules


Part 2 Chapter 5 Dynamic loads, lift in air Crane capacity Rigging capacity,
(slings, shackles, etc.)

Structural steel capacity


(lifted object, lifting points, spreader bars, etc.)

Part 2 Chapter 6 Dynamic loads, subsea lifts


(capacity checks as in Chapter 5 applying dynamic loads from Chapter 6)
DNV Marine Operations' Rules for Subsea Lift Operations 2 December 2009 Slide 8

Capacity Checks DAF for Lift in Air


Dynamic loads are accounted for by using a Dynamic Amplification Factor (DAF). DAF in air may be caused by e.g. variation in hoisting speeds or motions of crane vessel and lifted object. The given table is applicable for offshore lift in air in minor sea states, typically Hs < 2-2.5m. DAF must be estimated separately for lifts in air at higher seastates and for subsea lifts !
Table 2.1 Pt.2 Ch.5 Sec.2.2.4.4

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 9

Capacity Checks - Crane Capacity


The dynamic hook load, DHL, is given by: DHL = DAF*(W+Wrig) + F(SPL)
ref. Pt.2 Ch.5 Sec.2.4.2.1

W is the weight of the structure, including a weight inaccuracy factor The DHL should be checked against available crane capacity The crane capacity decrease when the lifting radius increase.

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 10

Capacity Checks - Sling Loads


Example : The maximum dynamic sling load, Fsling, can be calculated by: Fsling = DHLSKLkCoGDW / sin
ref. Pt.2 Ch.5 Sec.2.4.2.3-6

where:

SKL = Skew load factor extra loading caused by equipment and fabrication tolerances. kCoG = CoG factor inaccuracies in estimated position of centre of gravity. DW = vertical weight distribution e.g. DWA = (8/15)(7/13) in sling A. = sling angle from the horizontal plane.
DNV Marine Operations' Rules for Subsea Lift Operations 2 December 2009 Slide 11

Capacity Checks - Slings and Shackles


The sling capacity Minimum breaking load, MBL, is checked by:

Fsling <

MBLsling sf

The safety factor is minimum sf 3.0. (Pt.2 Ch.5 Sec.3.1.2) Safe working load, SWL, and MBL, of the shackle are checked by : a) Fsling < SWL DAF and b) Fsling < MBL / 3.3

Both criteria shall be fulfilled (Pt.2 Ch.5 Sec.3.2.1.2)


DNV Marine Operations' Rules for Subsea Lift Operations 2 December 2009 Slide 12

Capacity Checks Structural Steel


Lifting points:
The load factor f = 1.3, is increased by a consequence factor, C = 1.3, so that total design faktor, design , becomes: Other lifting equipment: A consequence factor of C = 1.3 should be applied on lifting yokes, spreader bars, plateshackles, etc. Structural strength of Lifted Object: The following consequence factors should be applied :

design = c f = 1.3 1.3 = 1.7


The design load acting on the lift point becomes:

Fdesign = design Fsling = 1.7 Fsling

A lateral load of minimum 3% of the design load shall be included. This load acts in the shackle bow !
(ref. Pt.2.Ch.5 Sec.2.4.3.4)
DNV Marine Operations' Rules for Subsea Lift Operations 2 December 2009

Table 4.1

Pt.2 Ch.5 Sec.4.1.2


Slide 13

Content
Brief overview of relevant DNV publications DNV Rules for Marine Operations, 1996, Lifting Capacity Checks New Simplified Method for calculation of hydrodynamic forces CFD Analyses Test Cases

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 14

New Simplified Method - DNV-RP-H103


A new Recommended Practice; DNV-RP-H103 Modelling and Analysis of Marine Operations was issued april 2009. A new Simplified Method for calculating hydrodynamic forces on objects lifted through wave zone is included in chapter 4. This new Simplified Method supersedes the calculation guidelines in DNV Rules for Marine Operations, 1996, Pt.2 Ch.6.

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 15

New Simplified Method - Assumptions


The Simplified Method is based upon the following main assumptions: the horizontal extent of the lifted object is small compared to the wave length the vertical motion of the object is equal the vertical crane tip motion vertical motion of object and water dominates other motions can be disregarded The intention of the Simplified Method is to give simple conservative estimates of the forces acting on the object.

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 16

New Simplified Method - Assumptions


Time-domain analysis:
Includes loads and motion responses on both installation vessel and lifted object. Lifted object modelled applying correct geometry (not just a point in space) simulation valid for all wave lengths. Cranewire, lifting slings and tugger lines are included motion response of the lifted object is computed resonance effects are covered in analysis. Statistical analysis of responses in irregular sea states included. Coupling effects included (crane tip motions may be influenced by lifted structure). Non-linear response, as e.g. snap loads in lifting slings, can be computed. Visualization of lift.
DNV Marine Operations' Rules for Subsea Lift Operations 2 December 2009 Slide 17

New Simplified Method Crane Tip Motions


The Simplified Method is unapplicable if the crane tip oscillation period or the wave period is close to the resonance period, Tn , of the hoisting system

Tn = 2

M + A33 K

Heave, pitch and roll RAOs for the vessel should be combined with crane tip position to find the vertical motion of the crane tip If operation reference period is within 30 minutes, the most probable largest responses may be taken as 1.80 times the significant responses If the vessel heading is not fixed, vessel response should be analysed for wave directions at least 15 off the applied vessel heading

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 18

New Simplified Method Wave Periods


There are two alternative approaches:
Alt-1) Wave periods are included: Analyses should cover the following zerocrossing wave period range:

8 .9

Hs g

Tz 13

A lower limit of Hmax=1.8Hs=/7 with 2 wavelength =gTz /2 is here used.

Alt-2) Wave periods are disregarded: Operation procedures should in this case reflect that the calculations are only valid for waves longer than:
T z 10 . 6 HS g
A lower limit of Hmax=1.8Hs=/10 with wavelength 2 =gTz /2 is here used.

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 19

New Simplified Method Wave Kinematics


Alt-1) Wave periods are included:
The wave amplitude, wave particle velocity and acceleration can be taken as:

a = 0 .9 H S
2 vw = a T z
2 aw = a T z

e

2

4 2 d
T z2 g

4 2 d
2 Tz g

d :

distance from water plane to CoG of submerged part of object

Alt-2) Wave periods are disregarded:


The wave particle velocity and acceleration can be taken as:

v w = 0 .30

g Hs e
g e

0 .35 d Hs

aw = 0.10

0.35 d Hs

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 20

New Simplified Method Hydrodynamic Forces


Slamming impact force
Slamming forces are short-term impulse forces that acts when the structure hits the water surface. AS is the relevant slamming area on the exposed structure part. Cs is slamming coeff. The slamming velocity, vs, is :

2 2 v s = v c + v ct + v w
vc = lowering speed vct = vertical crane tip velocity vw = vertical water particle velocity at water surface

Varying buoyancy force Varying buoyancy, F , is the change in


buoyancy due to the water surface elevation.
F = V g

F = V g
V = Aw a 2 + ct2
a = wave amplitude ct = crane tip motion amplitude w = mean water line area in the wave surface zone
Slide 21

V is the change in volume of displaced water from still water surface to wave crest or wave trough.
DNV Marine Operations' Rules for Subsea Lift Operations 2 December 2009

New Simplified Method Hydrodynamic Forces


Drag force
Drag forces are flow resistance on submerged part of the structure. The drag forces are related to relative velocity between object and water particles. The drag coefficient, CD, in oscillatory flow for complex subsea structures may typically be CD 2.5. Relative velocity are found by :

v r = vc +

vct2 + v w2

vc = lowering/hoisting speed vct = vertical crane tip velocity vw = vertical water particle velocity at water depth , d Ap = horizontal projected area

Mass force
Mass force is here a combination of inertia force, Froude-Kriloff force and diffraction force. Crane tip acceleration and water particle acceleration are assumed statistically independent.
DNV Marine Operations' Rules for Subsea Lift Operations 2 December 2009

FM =

[(M + A33) act]2 + [(V + A33) aw]2

M = mass of object in air A33 = heave added mass of object act = vertical crane tip acceleration V = volume of displaced water relative to the still water level aw = vertical water particle acceleration at water depth, d
Slide 22

New Simplified Method Hydrodynamic Force


The hydrodynamic force is a time dependent function of slamming impact force, varying buoyancy, hydrodynamic mass forces and drag forces. In the Simplified Method the forces may be combined as follows:

Fhyd = ( FD + Fslam )2 + ( FM F ) 2
The structure may be divided into main items and surfaces contributing to the hydrodynamic force Water particle velocity and acceleration are related to the vertical centre of gravity for each main item. Mass and drag forces contributions are then summarized :
FM =

F
i

Mi

FD =

F
i

Di

FMi and FDi are the individual force contributions from each main item
DNV Marine Operations' Rules for Subsea Lift Operations 2 December 2009 Slide 23

New Simplified Method Load Cases Example


The static and hydrodynamic force should be calculated for different stages. Relevant load cases for deployment of a protection structure could be: Load Case 1 Still water level beneath top of ventilated buckets Slamming impact force, Fslam, acts on top of buckets. Varying buoyancy force, F , drag force, FD and mass force, FM are negligible. Load Case 2 Still water level above top of buckets Slamming impact force, Fslam, is zero Varying buoyancy, F , drag force, FD and mass force, FM, are calculated. Velocity and acceleration are related to CoG of submerged part of structure.
DNV Marine Operations' Rules for Subsea Lift Operations 2 December 2009 Slide 24

New Simplified Method Load Cases Example


Load Case 3 Still water level beneath roof cover. Slamming impact force, Fslam, acts on the roof cover. Varying buoyancy, F , drag force, FD and mass force, FM are calculated on the rest of the structure. Drag- and mass forces acts mainly on the buckets and is related to a depth, d, down to CoG of submerged part of the structure. Load Case 4 Still water level above roof cover. Slamming impact force, Fslam, and varying buoyancy, F, is zero. Drag force, FD and mass force, FM are calculated individually. The total mass and drag force is the sum of the individual load components, e.g. : FD= FDroof + FDlegs+ FDbuckets applying correct CoGs
DNV Marine Operations' Rules for Subsea Lift Operations 2 December 2009 Slide 25

New Simplified Method Load Cases Example

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 26

New Simplified Method Static Weight

In addition, the weight inaccuracy factor should be applied


DNV Marine Operations' Rules for Subsea Lift Operations 2 December 2009 Slide 27

New Simplified Method - DAF


Capacity Checks The capacities of crane, lifting equipment and lifted object are checked as for lift in air. The following relation should be applied:

Ftotal DAF = Mg
where Mg : weight of object in air [N] Ftotal : is the characteristic total force on the (partly or fully) submerged object. Taken as the largest of; Ftotal = Fstatic-max + Fhyd or Ftotal = Fstatic-max + Fsnap
2 December 2009

Fstatic-max is the maximum static weight of the submerged object including flooding and weight inaccuracy factor Fhyd is the hydrodynamic force Fsnap is the snap load (normally to be avoided)
Slide 28

DNV Marine Operations' Rules for Subsea Lift Operations

New Simplified Method Slack Slings


The Slack Sling Criterion. Snap forces shall as far as possible be avoided. Weather crietria should be adjusted to ensure this. The following criterion should be fulfilled in order to ensure that snap loads are avoided:

Fhyd 0.9 Fstatic min


Fstatic-min = weight before flooding, including a weight reduction implied by the weight inaccuracy factor.

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 29

New Simplified Method Added Mass


Hydrodynamic added mass for flat plates
Example: Flat plate where length, b, above breadth, a, is b/a = 2.0 :

A33 = 0.76

a2 b

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 30

New Simplified Method Added Mass


Added Mass Increase due to Body Height
The following simplified approximation of the added mass in heave for a three-dimensional body with vertical sides may be applied :
A33 1 + A 33o 2( 1 + 2 ) 1 2
Added Mass Increase due to Body Height
1.8 1.7 1.6

A33/A33o

1.5 1.4 1.3 1.2


1+SQRT((1-lambda^2)/(2*(1+lambda^2)))

and

Ap h + Ap

1.1 1 0 0.5 1 1.5 2 2.5


ln [ 1+ (h/sqrt(A)) ]

where A33o = added mass for a flat plate with a shape equal to the horizontal projected area of the object h = height of the object Ap = horizontal projected area of the object
DNV Marine Operations' Rules for Subsea Lift Operations 2 December 2009 Slide 31

New Simplified Method Added Mass


Added Mass from Partly Enclosed Volume
A volume of water partly enlosed within large plated surfaces will also contribute to the added mass, e.g.: The volume of water inside suction anchors or foundation buckets. The volume of water between large plated mudmat surfaces and roof structures.

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 32

New Simplified Method Added Mass


Added Mass Reduction due to Perforation
Recommended reduction:
Added Mass Reduction Factor

Effect of perforation on added mass


1 0.9 0.8 0.7 0.6 0.5 0.4 0.3 0.2 0.1
e^-P/28 BucketKC0.1-H4D-NiMo BucketKC0.6-H4D-NiMo BucketKC1.2-H4D-NiMo BucketKC0.5-H0.5D-NiMo BucketKC1.5-H0.5D-NiMo BucketKC2.5-H0.5D-NiMo BucketKC3.5-H0.5D-NiMo PLET-KC1-4 Roof-A0.5-2.5+ Hatch20-KCp0.5-1.8 Hatch18-KCp0.3-0.8 BucketKC0.1 BucketKC0.6 BucketKC1.2 RoofKCp0.1-0.27 RoofKCp0.1-0.37 DNV-Curve Mudmat CFD

A33 = 1.0 A33S

if p< 5

A33 = 0.7 + 0.3 cos[ ( p 5 ) / 34] A33S

if 5 < p < 34

A33 =e A33 S

10 p 28

if 34 < p < 50

A33S = added mass for a nonperforated structure.

0 0 10

Perforation 20 30

40

50

No reduction applied in added mass when perforation is small. A significant drop in the added mass for larger perforation rates. Reduction factor applicable for p<50.
DNV Marine Operations' Rules for Subsea Lift Operations 2 December 2009 Slide 33

New Simplified Method Example Case


Example: Submerged Foundation Bucket
Added mass for a thin circular disc:
2 4 A33o = 2.0 3 = 21867 kg 3
Flat plate : A33o = Height factor : =

2 4 2.0 3 = 21867 kg

2.0 2
1 + 2.0 2

= 0.78 A = 29496 kg 33o

1 0.78 2 ' Height increase : A33 s = 1 + 2 1 + 0.78 2

Added mass increase due to body height:


= 2.0 2
3.5 + 2.0 2
' = 0.50 A33 s

Incl. inside volume : A33 s = 29496 + 1.75 2 3.25 = 61546 kg Perforation : P = 100

= 1 +

1 0.50 2 2 1 + 0.50 2

A33o = 33803 kg

0.4 2 2.0 2

= 4 < 8 No reduction of A33 s

Added mass including partly enclosed volume:


A33 s = 33803 + 1.75 2 3.25 = 65854 kg

Bucket Dimensions:
Height = 3.5m Diameter = 4.0m Plate thickness = 0.25m Ventilation hole diameter = 0.8m

Added mass reduction due to perforation:


P = 100

0.4 2 2.0
2

= 4 SMALL

No reduction of A33s

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 34

New Simplified Method Example Case


Example: Submerged Foundation Bucket
Water particle velocity and acceleration:
2 2 2 vw = 1.75 e 5.5 9.81 = 1.48 m/s and aw = vw = 1.69 m/s2 5.5 5.5

1.0m

4 ( 1+1.25 )
2

1.25m

CoG

Drag force:
2 FD = 0.5 C D AP vr = 0.5 2.0 0.96 2.0 2 (0.25 + 1.48 )2 = 0.37 10 5 N

Regular Wave Data:


Mass force:
FM =

[(M + A 33 ) act ]2 + [(V + A 33 ) aw ]2

= (13031 + 65854 ) 1.69 = 1.33 10 5 N

Wave Height, Hmax = 3.5m Wave Period, Tz = 5.5s

Hydrodynamic force:
Fhyd =

Other Data

(FD + Fslam )2 + (FM F )2 =

(0.37 10 ) + (1.33 10 )
5 2

5 2

= 1.4 10 5 N

Buoyancy, V = 13031kg Negligible crane tip motions Lowering speed = 0.25m/s


Slide 35

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Content
Brief overview of relevant DNV publications DNV Rules for Marine Operations, 1996, Lifting Capacity Checks New Simplified Method for calculation of hydrodynamic forces CFD Analyses Test Cases

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 36

CFD Analyses Test Cases


Computational Fluid Dynamics (CFD) is a numerical method for computing fluid flows based on the Navier Stokes equations. The CFD-program COMFLOW is able to study complex free surface problems applying the Volume of Fluid method. The fluid domain consists of a cartesian grid where the fluid cells are defined either as boundary cells, empty cells, surface cells or fluid cells. Pressure forces are calculated as the integral of the pressure along the boundary of an object. Motion responses are not included, but the object can be given a prescribed motion.

Structure

Inflow boundary, Airy or Stokes 5th wave

Fluid domain

Numerical beach at aft end

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 37

CFD Analyses Protection Structure


CFD analysis:
Regular Stokes 5th wave: H=3.5m T=5.5s Domain 95x30x37m 4.4 million fluid cells Minimum grid size 0.18m near object, stretched elsewhere 8.5x8.5m solid roof and 10x10x1.0m top frame 1.0m legs, height 8m and hollow 3.5x4.0m buckets at x,y=8.5m ventilation holes 0.8m Wall thickness 0.25m half model 60s simulation time

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 38

CFD Analyses Protection Structure


Fhyd 1.1105N

Highest upwards hydrodynamic force when bucket is fully submerged occurs when the object is located in a wave trough.

Buoyancy, Vg

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 39

CFD Analyses Protection Structure


Half wave length is ~23.5m and the distance between buckets is 17m. Hence, there is a large phase difference between the hydrodynamic forces on forward and aft bucket.

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 40

CFD Analyses Protection Structure


ComFlow results show very high slamming loads on bucket top and the solid roof structure. These values are most likely too high as compressibility and formation/ collapse of air cushions are not included in the simulation.

Slamming load on roof structure

Slamming load on aft bucket

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 41

CFD Analyses Spool Piece


CFD analysis:
Regular Stokes 5th wave: H=3.5m T=5.5s The wave length is ~equal spool length Domain 130x30x31m 2.2 million fluid cells Minimum grid size 0.25m near object, stretched elsewhere 50m long closed pipe with diameter 1.0m Two simulations; 1) half submerged 2) 2m below surface 22s simulation time computer time 1318hrs
DNV Marine Operations' Rules for Subsea Lift Operations 2 December 2009 Slide 42

CFD Analyses Spool Piece Half Submerged


The wave length is equal the spool piece length Half of the spool piece is always out of the water. The total force on each half vary between zero and buoyancy+Fhyd

Vertical force on aft half at time t=5s :


2 2 2 3.5 Fm = ( V + madd ) aw 2.0 1.0 25 = 0.6 10 5 N 5.5 2 4 2

Fvertical = Vg + Fm = 1.0 25 9.81 0.6 10 5 = 1.4 10 5 N 4


2

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 43

CFD Analyses Spool Piece 2m Submerged

Total vertical force

Dynamic force amplitude (mainly mass forces) 0.55105 kN

Vertical force, fwd half

Vertical force, aft half

Brief approximation of mass force:


DNV Marine Operations' Rules for Subsea Lift Operations

2 2 2 3.5 Fm = ( V + madd ) aw 2.0 1025 1.0 25 0.77 = 0.45 10 5 N 4 2 5. 5


2 December 2009 Slide 44

And then One Final Comment:

When planning Marine Operations, remember to take into account ....


DNV Marine Operations' Rules for Subsea Lift Operations 2 December 2009 Slide 45

Easy Handling ..

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 46

.. and Survey Access !!

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 47

DNV Marine Operations' Rules for Subsea Lift Operations

2 December 2009

Slide 48

Вам также может понравиться