A nonlinear PDE formulation for offshore vessel pipeline installation

Jensen, Gullik A.; Säfström, Niklas; Nguyen, Tu Duc; Fossen, Thor I.

doi:10.1016/j.oceaneng.2009.12.009

Cited by 56 publications

(29 citation statements)

References 16 publications

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“…Meanwhile, the generalised force will be added in the motion equations for ith element: The circular unit section which is dξ in length is affected by the hydrodynamic resistance force [21] ( Fig. 6):…”

Section: Buoyancy Forcementioning

confidence: 99%

Application of dynamic optimisation to the trajectory of a cable-suspended load

Drąg

2016

Nonlinear Dyn

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The paper discusses a dynamic model of the system consisting of an on-board hoisting winch on a moving vessel, cable, and load. The model accounting for large rope sag and hydrodynamic drag force was used to solve the problem of dynamic optimisation. The essence of which is what angle of rotation should be selected for the hoisting winch to ensure that the load during the defined movement of the vessel shall remain at the set distance from the seabed, which may be undulating. To solve this problem, the nonlinear optimisation methods were used. The presented calculation results show the efficiency of the developed 3D system model and its possible application to solve other similar optimisation problems.

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Section: Buoyancy Forcementioning

confidence: 99%

Application of dynamic optimisation to the trajectory of a cable-suspended load

Drąg

2016

Nonlinear Dyn

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“…It is only in effect when the payload position x is below the seabed level. This gives F sb = k sb Â x þ c sb Â _ x, where spring coefficient is k sb ¼ 10 Remark 1 It is worth noting that there has been a significant attention to develop time-domain models for simulation and control system design based on data obtained from seakeeping programs such as VERES [20] and WAMIT [21]. These programs are used to compute the potential coefficients for a vibratory spring-damper model and the existing wave loads (Froude-Krylov and diffraction forces) for a given vessel design (see for instance [22][23][24] and the references therein).…”

Section: Combined Payloadmentioning

confidence: 99%

Modeling, simulation and design optimization of a hoisting rig active heave compensation system

Walid

Iskandarani

et al. 2012

Int. J. Mach. Learn. & Cyber.

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The objective of this paper is to present an approach in developing a virtual active heave compensation system for a draw-works on a hoisting rig. A virtual system enables quicker overall product development time of a physical system as well as flexibility in optimizing the design parameters. Development of the virtual system started with the modelling of the draw-works and hoisting rig dynamics. Simulations of this model were run in two operational modes while subject to a sinusoidal wave: heave compensation and seabed landing of a payload. The results were analyzed and used for optimization in terms of cost and performance. This lays the groundwork for further testing either through hardware-in-the-loop testing (HIL) or using an actual prototype.

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“…In the sequel we will consider q 2 H as a vector q ¼ ðq 0 ; q 1 ; q 2 ; q 3 Þ T 2 R 4 . The multiplication rule (13) can then be expressed by means of a matrix-vector product in R 4 . Namely,…”

Section: Quaternionsmentioning

confidence: 99%

“…In the recent paper [13] this model is employed for modeling pipe-lay offshore operations and the rod equations are coupled to a controlled rigid body (representing the vessel conducting the pipe-lay operations). In the same paper the configuration manifold is described using Euler angles and the choice of appropriate conventions (coordinate charts) is very important for the performance of the method.…”

Section: Introductionmentioning

confidence: 99%