AAU Esbjerg - SubSea Workshop 080213

Esbjerg, Friday 8th February 2013 Conference and workshop Underwater robots Offshore structures and structural behavior
due to biofouling
www.aau.dk www.esbjerg.aau.dk
Presentation
Anders Schmidt Kristensen M.Sc. in Mechanical Eng. from Aalborg University in 1993 Ph.D. in Mechanical Eng. from Aalborg University in 1997 Consultant for PTC Denmark 1997-1998 implementation of Pro/ENGINEER 1998 to pt. Associate Prof. at Aalborg University Esbjerg in Mechanical Engineering Associate Prof. Mechanical Engineering, Ph.D., M.Sc. (ME), Department of Civil Engineering, Aalborg University Esbjerg 2010 Head of Campus Esbjerg
Finite Element Modelling
Aalborg University (AAU)

197.426 mennesker i Aalborg Kommune pr. 1 januar 2010
AAU-Cph
AAU-Esbjerg
115.114 mennesker i Esbjerg Kommune pr. 1 januar 2010
Offshore structures and structural behavior due to biofouling
Motivation Offshore structures

Examples
Structural behavior
Loads Fatigue
Biofouling or marine growth
Motivation Biofouling or marine growth is found to influence loading of offshore structures by increasing tube diameters, drag coefficient, mass and hydrodynamic added mass and structural weight. Biofouling or marine growth obstruct service and inspection of offshore structures.
Motivation - continued
Objective 2.1: Cognitive Systems and Robotics Target outcomes a) Robotic systems operating in real-world environments: Expanding and improving the functionalities of robotic systems and further developing relevant features, such as autonomy, safety, robustness, efficiency, and ease of use. As appropriate, work will include exploring ways of integrating, in robotic systems, new materials and advanced sensor, actuator, effector and leading edge memory and control technologies. Expected impact Integrated and consolidated scientific foundations for engineering cognitive systems under a variety of physical instantiations. Significant increase in the quality of service of such systems and of their sustainability in terms of, for instance, energy consumption, usability and serviceability, through the integration of cognitive capabilities. Innovation capacity in a wide range of application domains through the integration of cognitive capabilities. Improved competitive position of the robotics industry in existing and emerging markets for instance in the following sectors: manufacturing; professional and domestic services; assistance and co-working, production, logistics and transport, construction, maintenance and repair, search and rescue, exploration and inspection, systems monitoring and control, consumer robotics, education and entertainment. Consensus by industry on the need (or not) for particular standards. More widely accepted benchmarks. Strengthened links between industry and academia.
7
Motivation
Increasing activities in installations: Offshore structures SubSea systems and installations Deep Sea/Deep Water systems Services: Surveillance Maintenance Inspection Decommissioning
Subsea systems and installations

API RP 17N, Recommended Practice for Subsea Production System Reliability and Technical Risk Management. API RP 17A 4th Ed 2006 - Recommended Practice for Design and Operation of Subsea Production Systems equal to ISO 13628-1 API RP 17B 4th Ed 2008 - Recommended Practice for Flexible Pipe equal to ISO 13628-11 API RP 17C 2nd Ed 2002 - Recommended Practice on TFL (Through Flowline) Systems equal to ISO 13628-3 API SPEC 17D 1st Ed 1992 - Specification for Subsea Wellhead and Christmas Tree Equipment API SPEC 17E 3rd Ed 2003 - Specification for Subsea Production Control Umbilicals API SPEC 17F 1st Ed 2003 - Specification for Subsea Production Control Systems equal to ISO 13628-6 API RP 17G 2nd Ed 2006 - Recommended Practice for Design and Operation of Completion / Workover Riser Systems API RP 17H 1st Ed 2009 - Recommended Practice for Remotely Operated Vehicles (ROV) Interfaces on Subsea equal to ISO 13628-8 API RP 17I 1st Ed 1996 - Installation Guideline for Subsea Ambilicals API SPEC 17J 2nd Ed 1999 - Specification for Unbonded Flexible Pipe equal to ISO 13628-2 API SPEC 17K 1st Ed 2001 - Specification for Bonded Flexible Pipe equal to ISO 13628-10 API RP 17M 1st Ed 2009 - Recommended Practices on Remotely Operated Tool (ROT) Intervention Systems equal to ISO 13628-9 API RP 17N 1st Ed 2009 - Recommended Practice for Subsea Production System Reliability and Technical Risk Management API RP 17O 1st Ed 2009 - Recommended Practice for Subsea High Integrity Pressure Protection Systems (HIPPS)
SubSea systems and installations
10
OFFSHORE STRUCTURES
11
Terminology
12
Offshore systems
13
Offshore systems
WILL ALSO AFFECT INFRASTRUCTURE
14
Offshore systems
15
Offshore structures - Jacket foundation
16
Offshore structures
17
Offshore structures
18
Offshore structures
19
Offshore structures
20
Installation
21
Offshore structures
22
Offshore structures
23
Offshore structures monopile foundation
24
Offshore structures monopile foundation
25
Offshore structures
26
STRUCTURAL BEHAVIOR
27
Fatigue failure Residual stresses

Residual stress are built-in or introduced (typically during
manufacturing) to an unloaded part. therefore, fatigue failure
Residual stresses can be the cause of crack initiation and,

Example: rotary dryer. Welding lifters to a rotary shell Residual stresses introduced during welding caused crack initiation
Source: ASM International
Fatigue failures
Alexander L. Kielland (1980) Accomm / drilling rig Less than 2 years old Capsized when member failed due to fatigue Capsized in under 20min 123 died
Samlinger
Fatigue failures
Samlinger
Offshore wind energy systems
31
Loads
32
Loads Random loads can be described in the Time or Frequency domain:
33 Introduction
Characterization of Fatigue
Fatigue - a distinct failure mode:

Apparently brittle even in ductile materials Sudden and catastrophic Result of initiation and propagation of a crack Fatigue is failure due to time-varying stresses
34 Introduction
Fatigue failure
Fatigue failures more common than static Due to multiple loadings of material Always begins at crack Occurs in three stages
Crack initiation Crack propagation Fracture
35 Introduction
Fatigue failure
36 Introduction
Damage ratio D
Stress-life
5x105 = 500.000 cykler
2x106 = 2.000.000 cykler
Introduction
Fatigue issues
39
Fatigue issues
40
Offshore structural components
41
42
TOWER = 150.000kg
En reduktion af godstykkelsen p 1 mm betyder en vgt besparelse P 2 tons
17m
En reduktion af godstykkelsen p 1 mm betyder en 34m vgt besparelse P 3,8 tons Estimated 16 mill dkr saved for 90 OWT
43
44
BIOFOULING OR MARINE GROWTH

45
Problem description:
Biofouling/marine growth is an accumulation of microorganisms, plants, algae, and/or animals on wet or wetted surfaces.
Marine growth can increase the radius of a windturbine foundation upto 25cm. This results in: - Inspection is made difficult, i.e. fatigue, corrosion - Loads are increased, i.e. hydrodynamics forces - Corrosion is increased Resulting in: - Increased costs of systems production - Increased costs of maintenance/operation - Increased costs of inspection
46
Problem description:
47
Citations from Offshore Windturbine regulations:
48
Definitions:
49
Basic components in an Autonomous Underwater Vehicle (AUV)

Need: Biofouling causes an increase of loads on an offshore windturbine, i.e. increased costs. Problem: Can an offshore structure be kept free of biofouling using an AUV system?
BIOFOULING
DEPLOYMENT SYSTEM DOCKING SYSTEM
CONTROL SYSTEMS
BUOYANCY
PROPULSION SYSTEMS
MANIPULATOR SYSTEM
FRAME
50
Example on an Offshore Wind Farm:
AUV visiting all Wind turbines to remove marine growth
51
Example - cost
52
Issues to be solved:
Deployment How do we put/install the system in the water? Buoyancy How do we design a buoyancy system without affecting the hydrodynamics of the vehicle/vessel? Docking How do we supply the vehicle/vessel with energy during operation? Propulsion How do we design the propulsion system to allow minimum use of power and to maximize maneuvering? Frame - How do we design a frame without affecting the hydrodynamics of the vehicle/vessel? Manipulator How do we design a system which allows us to hook on/off the offshore structure and remove/clean biofouling with a minimum use of power? Control How do we navigate between several offshore structures, how do we navigate into the docking unit and dock/undock, how do we operate the cleaning process?
53
Thank you for your attention

AAU Esbjerg - SubSea Workshop 080213

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Esbjerg, Friday 8th February 2013 Conference and workshop Underwater robots Offshore structures and structural behavior

Finite Element Modelling

Aalborg University (AAU)

Offshore structures and structural behavior due to biofouling

Motivation Offshore structures

Biofouling or marine growth

Subsea systems and installations

SubSea systems and installations

WILL ALSO AFFECT INFRASTRUCTURE

Offshore structures - Jacket foundation

Offshore structures monopile foundation

Offshore structures monopile foundation

Fatigue failure Residual stresses

Residual stresses can be the cause of crack initiation and,

Source: ASM International

Offshore wind energy systems

Loads Random loads can be described in the Time or Frequency domain:

Fatigue - a distinct failure mode:

5x105 = 500.000 cykler

2x106 = 2.000.000 cykler

Offshore structural components

Offshore structural components

En reduktion af godstykkelsen p 1 mm betyder en vgt besparelse P 2 tons

Offshore structural components

BIOFOULING OR MARINE GROWTH

Citations from Offshore Windturbine regulations:

Basic components in an Autonomous Underwater Vehicle (AUV)

DEPLOYMENT SYSTEM DOCKING SYSTEM

Example on an Offshore Wind Farm:

AUV visiting all Wind turbines to remove marine growth

Thank you for your attention

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