Experimental Force Data of a Restrained ROV under Waves and Current

Gabl, Roman; Davey, Thomas; Cao, Yu; Li, Qian; Li, Boyang; Walker, Kyle L.; Giorgio-Serchi, Francesco; Aracri, Simona; Kiprakis, Aristides; Stokes, Adam A.; Ingram, David

doi:10.3390/data5030057

Cited by 23 publications

(29 citation statements)

References 23 publications

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“…Currents of up to 1.6 m/s can be generated in any direction independently of the waves. Typical applications are the investigation of tidal turbines [43], novel velocity measurement approaches [44,45] as well as remotely operated vehicles [46]. For the presented investigation no current was used and the different wave directions were investigated without changing or rotating the experimental set-up in the tank.…”

Section: Experimental Set-upmentioning

confidence: 99%

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Roll Motion of a Water Filled Floating Cylinder—Additional Experimental Verification

Gabl

Davey

Ingram

2020

Water

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Understanding the behaviour of water filled bodies is important from an applied engineering perspective when understanding the sea-keeping performance of certain floating platforms and vessels. Even by assuming that the deformation is negligible small in relation to the motion of the structure, these fluid-structure-fluid interactions are challenging to model, both physically and numerically, and there is a notable lack of reference data sets and studies to support the validation of this work. Most of the existing information is highly specific to certain hulls forms, or is limited to small motions. A previous study addressed this by modelling a floating cylinder (giving a more generic case) with roll and pitch motions in excess of 20°. The presented experiment expands on that work to further investigate the previously observed switch between pitch and roll in the cylinder under wave action as induced by the sloshing of the internal water volume. An additional experimental investigation, focused on a single draft, was conducted to test open research questions from the previous study. Here we show that the roll response of the water filled cylinder is repeatable, independent of the tank position and wave amplitude, provided the observation time is long enough to capture the fully developed motion response of the floating object. The mooring system used comprised four soft lines connected on two points on the cylinder. This arrangement resulted in slightly different restoring forces in different wave directions. A relative change of the wave direction by 90° led to a larger wave frequency band in which the roll motion occurred. These cases were, again, also conducted with the solid ballast. Both sets of data provide an interesting validation case for future work on water ballast inside a floating object.

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Section: Experimental Set-upmentioning

confidence: 99%

“…The analysis of the wave amplitudes show that for the higher frequencies the spreading of the results increased. FloWave typically delivers reduced wave amplitudes [2,46], which are corrected as part of open tank calibration tests. The observed higher values are likely caused by reflections coming from the cylinder.…”

Section: Experimental Conditionsmentioning

confidence: 99%

Roll Motion of a Water Filled Floating Cylinder—Additional Experimental Verification

Gabl

Davey

Ingram

2020

Water

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“…During the test, the ROV was connected to eight tethers to the frame at the height of 1 m from the floor (see Figure 7a). The configurations of the frame and tethers are given by Gabl et al [31]. The measurement instrumentation used were: (1) motion capturing system (MoCAP) to record the motion and rotation of the different structures, (2) load cells to measure the forces along the eight tethers.…”

Section: Experiments Setupmentioning

confidence: 99%

“…Besides, the experimental investigation of the vehicle was conducted in the FloWave wave and current facility [30], located at the University of Edinburgh. A novel test method was designed to match the requirement of the study and make the best usage of the FloWave facility [31]. During the test, eight tethers were applied to hold the ROV in place without introducing substantial interference, and each tether was equipped with a load cell to track the motions and rotations which is integrating with an underwater video motion capture system.…”

Section: Introductionmentioning

confidence: 99%

Numerical Modelling and Experimental Testing of the Hydrodynamic Characteristics for an Open-Frame Remotely Operated Vehicle

Cao

et al. 2020

JMSE

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The remotely operated vehicles (ROVs) are important to provide the technology support for both the traditional offshore structures and rapidly-growing renewable energy facilities during their full-lifecycles, such as site survey, installation, inspection, maintenance and repair. Regarding the motion and performance of a ROV, the understanding of its hydrodynamic properties is essential when exposing to the disturbances of wave and current. In this study, a numerical model is proposed within the frame of an open-source platform OpenFOAM. The hydrodynamics of the adopted ROV (BlueRov2) in its four principal degrees of freedoms (DOFs) is numerically simulated by a Reynolds-Averaged Navier-Stokes (RANS) solver. Meanwhile, an experimental test is carried out by using a novel technique on measuring the hydrodynamic forces and moments. To validate the numerical prediction methodologies, a set of systematic simulations of the ROV subjected to the disturbances caused by various flow conditions are performed. Comparing to the model test measurement, the numerical model proved to be reliable in offering a good estimation of the hydrodynamic parameters. This also indicates that the presented numerical methodologies and experimental techniques can be applied to other types of open-frame ROVs in quantifying the hydrodynamic parameters, capturing the physics of the fluid-structure interaction (FSI) and feature of the turbulent vorticity which are all essential for the effective control of the ROVs under the nonlinear flow disturbances.

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“…The paper presents the experimental set-up with the new swing, which is part of the FloWave Ocean Energy Research Facility [25][26][27][28][29] at The University of Edinburgh. The measurement procedure and the relevant equations are described in Section 2.…”

Section: Introductionmentioning

confidence: 99%

Accuracy Analysis of the Measurement of Centre of Gravity and Moment of Inertia with a Swing

et al. 2021

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Floating devices under wave and current loads are typically designed based on numerical methods followed by a validation with experimental investigations. This allows an independent check due to the comparison of two different modelling approaches based on different assumptions. At an early stage of the project, numerical simulations are based on theoretical (ideal) values of the centre of gravity (CG) and moment of inertia (MI). The building process of a scaled model results very often in a requested simplification of certain parts, which can influence the CG and also the MI of the scaled model. Knowing those discrepancies allows us to improve the comparability of both approaches but the measurement of those values is connected with either a higher uncertainty or a high level of effort. A significant improvement of such measurements can be reached by the deployment of a specific experimental set-up. This paper presents the classification of the newly designed swing with a high accuracy inertial inclinometer, which was verified by the marker-based motion capturing system. The achieved experiences are useful for the future use of the set-up as well as similar investigations. The comparison with the theoretical values for the swing as well as an example model showed very good agreements and a high accuracy of few millimetres for the CG and an error smaller 1% for MI.

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Experimental Force Data of a Restrained ROV under Waves and Current

Cited by 23 publications

References 23 publications

Roll Motion of a Water Filled Floating Cylinder—Additional Experimental Verification

Roll Motion of a Water Filled Floating Cylinder—Additional Experimental Verification

Numerical Modelling and Experimental Testing of the Hydrodynamic Characteristics for an Open-Frame Remotely Operated Vehicle

Accuracy Analysis of the Measurement of Centre of Gravity and Moment of Inertia with a Swing

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