Structural Reliability-Based Control for Moored Vessels: Experimental Results

2007 ◽  
Author(s):  
Per I. B. Berntsen ◽  
Ole M. Aamo ◽  
Bernt J. Leira
Keyword(s):  
Structural Properties ◽  
Reliability Index ◽  
Laboratory Experiments ◽  
Structural Reliability ◽  
Weather Conditions ◽  
Dynamic Positioning ◽  
Mooring System ◽  
Reliability Measures ◽  
Mooring Lines ◽  
Surface Vessels

This paper addresses dynamic positioning of surface vessels moored to the seabed via a turret based spread mooring system, referred to as position mooring. The controller utilize a reliability index to determine the actuator force needed to operate safely. The structural reliability measures become an intrinsic part of the controller, automatically adjusting the allowed geographical region based on current weather conditions and structural properties of the mooring lines. The performance of the controller is demonstrated through laboratory experiments on a model vessel named CyberShip III.

Value of information of in situ inspections of mooring lines

2021 ◽  
pp. 1748006X2098740
Author(s):  
Jorge Mendoza ◽  
Jacopo Paglia ◽  
Jo Eidsvik ◽  
Jochen Köhler
Keyword(s):  
Pitting Corrosion ◽  
Value Of Information ◽  
Structural Reliability ◽  
Structural Safety ◽  
Statistical Dependence ◽  
Mooring System ◽  
Mooring Lines ◽  
Corrosion Condition ◽  
Chain Links

Mooring systems that are used to secure position keeping of floating offshore oil and gas facilities are subject to deterioration processes, such as pitting corrosion and fatigue crack growth. Past investigations show that pitting corrosion has a significant effect on reducing the fatigue resistance of mooring chain links. In situ inspections are essential to monitor the development of the corrosion condition of the components of mooring systems and ensure sufficient structural safety. Unfortunately, offshore inspection campaigns require large financial commitments. As a consequence, inspecting all structural components is unfeasible. This article proposes to use value of information analysis to rank identified inspection alternatives. A Bayesian Network is proposed to model the statistical dependence of the corrosion deterioration among chain links at different locations of the mooring system. This is used to efficiently update the estimation of the corrosion condition of the complete mooring system given evidence from local observations and to reassess the structural reliability of the system. A case study is presented to illustrate the application of the framework.

Validation of Mooring Simulations (for Mooring Integrity Assessment) With In-Service Tension Measurements

2021 ◽  
Author(s):  
Willemijn Pauw ◽  
Remco Hageman ◽  
Joris van den Berg ◽  
Pieter Aalberts ◽  
Hironori Yamaji ◽  
...  
Keyword(s):  
Numerical Models ◽  
Weather Conditions ◽  
Mooring Line ◽  
Mooring System ◽  
Mooring Lines ◽  
Data Set ◽  
Integrity Assessment ◽  
Motion Data ◽  
Load Cells ◽  
Line Loads

Abstract Integrity of mooring system is of high importance in the offshore industry. In-service assessment of loads in the mooring lines is however very challenging. Direct monitoring of mooring line loads through load cells or inclinometers requires subsea installation work and continuous data transmission. Other solutions based on GPS and motion monitoring have been presented as solutions to overcome these limitations [1]. Monitoring solutions based on GPS and motion data provide good practical benefits, because monitoring can be conducted from accessible area. The procedure relies on accurate numerical models to model the relation between global motions and response of the mooring system. In this paper, validation of this monitoring approach for a single unit will be presented. The unit under consideration is a turret-moored unit operating in Australia. In-service measurements of motions, GPS and line tensions are available. A numerical time-domain model of the mooring system was created. This model was used to simulate mooring line tensions due to measured FPSO motions. Using the measured unit response avoids the uncertainty resulting from a prediction of the hydrodynamic response. Measurements from load cells in various mooring lines are available. These measurements were compared against the results obtained from the simulations for validation of the approach. Three different periods, comprising a total of five weeks of data, were examined in more detail. Two periods are mild weather conditions with different dominant wave directions. The third period features heavy weather conditions. In this paper, the data set and numerical model are presented. A comparison between the measured and numerically calculated mooring line forces will be presented. Differences between the calculated and measured forces are examined. This validation study has shown that in-service monitoring of mooring line loads through GPS and motion data provides a new opportunity for mooring integrity assessment with reduced monitoring system complexity.

Research on the Optimization of the Offset and the Power Consumption for a DP Assisted Mooring System

2013 ◽  
Author(s):  
Hongchao Wang ◽  
Lei Wang ◽  
Hanlin Liu
Keyword(s):  
Power Consumption ◽  
The Other ◽  
Engineering Practice ◽  
Dynamic Positioning ◽  
Positioning System ◽  
Mooring System ◽  
Mooring Lines ◽  
Positioning Accuracy ◽  
Dynamic Positioning System ◽  
Two Measures

DP assisted mooring system is a new positioning system including mooring system and dynamic positioning system. In this paper, two measures are proposed to reduce the offset and the power consumption of a generic semi-submersible platform which is equipped with a DP assisted mooring system during operation. One is to tighten the windward mooring lines and slacken the leeward mooring lines, the other is to reduce or cancel the forbidden angles of the thrusters adjacent to the failed thrusters. Given that the two measures can both reduce the offset and the power consumption of the semi-submersible unit, it is suggested to combine the two measures together to obtain better positioning accuracy. This paper is helpful to engineering practice.

scholarly journals Structural Reliability Based Dynamic Positioning of Turret-Moored FPSOs in Extreme Seas

2014 ◽  
Vol 2014 ◽  
pp. 1-6 ◽  
Author(s):  
Yuanhui Wang ◽  
Chuntai Zou ◽  
Fuguang Ding ◽  
Xianghui Dou ◽  
Yanqin Ma ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Structural Reliability ◽  
Oil And Gas ◽  
Single Point ◽  
Line Tension ◽  
Mooring Line ◽  
Dynamic Positioning ◽  
Mooring Lines ◽  
Oil And Gas Exploration ◽  
Time Control

FPSO is widely used during the deep-sea oil and gas exploration operations, for which it is an effective way to keep their position by means of positioning mooring (PM) technology to ensure the long-term reliability of operations, even in extreme seas. Here, a kind of dynamic positioning (DP) controller in terms of structural reliability is presented for the single-point turret-moored FPSOs. Firstly, the mathematical model of the moored FPSO in terms of kinematics and dynamics is established. Secondly, the catenary method is applied to analyze the mooring line dynamics, and mathematical model of one single mooring line is set up based on the catenary equation. Thereafter, mathematical model for the whole turret mooring system is established. Thirdly, a structural reliability index is defined to evaluate the breaking strength of each mooring line. At the same time, control constraints are also considered to design a state feedback controller using the backstepping technique. Finally, a series of simulation tests are carried out for a certain turret-moored FPSO with eight mooring lines. It is shown in the simulation results that the moored FPSO can keep its position well in extreme seas. Besides, the FPSO mooring line tension is reduced effectively to ensure mooring lines safety to a large extent in harsh sea environment.

Consistent Design Codes for Anchors and Mooring Lines

2002 ◽  
Author(s):  
Rune Dahlberg ◽  
Jan Mathisen
Keyword(s):  
Structural Reliability ◽  
Mooring System ◽  
Design Codes ◽  
Safety Factors ◽  
Design Code ◽  
Mooring Lines ◽  
Safety Level ◽  
Industry Standard ◽  
Partial Safety Factors ◽  
Anchor Design

As the water depth of hydrocarbon discoveries becomes deeper, the technological challenges related to the design of mooring systems increases. Changing from steel catenary mooring systems (CMS) to fibre rope taut mooring systems (TMS) has been accompanied by an immense focus on how to qualify and approve fibre rope material for use in a TMS. This involves items related to specifications for manufacturing, handling and testing fibre ropes, as well as calibration of safety factors to use in the design of TMSs. One consequence of moving to a TMS is that the anchors will have to take more uplift load than in a conventional CMS, which makes the anchors a more critical component of the mooring system than before. The types of anchor normally available to the designer of a TMS are pile anchors, suction anchors and various types of plate anchors. Anchors of all types are designed and installed in ever-deeper water, but the safety of the designed mooring systems varies with the design code adopted. There is thus an obvious need for an industry standard, a design code for each anchor type that is calibrated based on structural reliability analysis using the current experience and knowledge in the industry. This paper compares anchor design codes that use total safety factors (TSF) with the DNV design code that uses partial safety factors and failure consequence classes. Examples of design codes for station-keeping systems that adopt the TSF format are API RP2SK and (assumed herein) the ISO code, which is under development. The comparison demonstrates that use of the safety format adopted in the DNV code provides more flexibility and ensures a uniform safety level of all components in a mooring system than the TSF format. If all types of anchor were designed to the same safety level it would be possible to compare anchors without worrying about differences in safety. A typical approach for calibration of a design code is described.

Reliability-Based Structural Optimization for Positioning of Marine Vessels

2006 ◽  
Author(s):  
Bernt J. Leira ◽  
Per I. B. Berntsen ◽  
Ole Morten Aamo
Keyword(s):  
Control System ◽  
Control Algorithm ◽  
Structural Reliability ◽  
Mooring System ◽  
Response Model ◽  
Marine Structures ◽  
Mooring Lines ◽  
Control Schemes ◽  
Marine Vessels

The present paper is concerned with floating marine structures that are kept in position by means of mooring lines in addition to a thruster system. Different options relevant for construction of automatic control schemes for the thruster system are first investigated based on a simplified response model. In particular, the role of structural reliability criteria applied to the mooring system is investigated. Subsequently, a more refined control algorithm based on such reliability criteria is introduced. The performance of this control system is demonstrated by numerical simulations.

scholarly journals Performance of an Advanced Intelligent Control Strategy in a Dynamic Positioning (DP) System Applied to a Semisubmersible Drilling Platform

2021 ◽  
Vol 9 (4) ◽  
pp. 399
Author(s):  
Mohamad Alremeihi ◽  
Rosemary Norman ◽  
Kayvan Pazouki ◽  
Arun Dev ◽  
Musa Bashir
Keyword(s):  
Oil And Gas ◽  
Weather Conditions ◽  
Dynamic Positioning ◽  
System Failures ◽  
Oil Drilling ◽  
System A ◽  
Advanced Control ◽  
Safety And Reliability ◽  
Drilling Operations ◽  
Shallow Seas

Oil drilling and extraction platforms are currently being used in many offshore areas around the world. Whilst those operating in shallow seas are secured to the seabed, for deeper water operations, Dynamic Positioning (DP) is essential for the platforms to maintain their position within a safe zone. Operating DP requires intelligent and reliable control systems. Nearly all DP accidents have been caused by a combination of technical and human failures; however, according to the International Marine Contractors Association (IMCA) DP Incidents Analysis, DP control and thruster system failures have been the leading causes of incidents over the last ten years. This paper will investigate potential operational improvements for DP system accuracy by adding a Predictive Neural Network (PNN) control algorithm in the thruster allocation along with a nonlinear Proportional Integral derivative (PID) motion control system. A DP system’s performance on a drilling platform in oil and gas deep-water fields and subject to real weather conditions is simulated with these advanced control methods. The techniques are developed for enhancing the safety and reliability of DP operations to improve the positioning accuracy, which may allow faster response to a critical situation during DP drilling operations. The semisubmersible drilling platform’s simulation results using the PNN strategy show improved control of the platform’s positioning.

scholarly journals Transient Responses Evaluation of FPSO with Different Failure Scenarios of Mooring Lines

2021 ◽  
Vol 9 (2) ◽  
pp. 103
Author(s):  
Dongsheng Qiao ◽  
Binbin Li ◽  
Jun Yan ◽  
Yu Qin ◽  
Haizhi Liang ◽  
...  
Keyword(s):  
Service Condition ◽  
Mooring Line ◽  
Mooring System ◽  
Transient Effects ◽  
Floating Platform ◽  
Transient Responses ◽  
Mooring Lines ◽  
Performance Deterioration ◽  
Steady State Responses ◽  
Influence Process

During the long-term service condition, the mooring line of the deep-water floating platform may fail due to various reasons, such as overloading caused by an accidental condition or performance deterioration. Therefore, the safety performance under the transient responses process should be evaluated in advance, during the design phase. A series of time-domain numerical simulations for evaluating the performance changes of a Floating Production Storage and Offloading (FPSO) with different broken modes of mooring lines was carried out. The broken conditions include the single mooring line or two mooring lines failure under ipsilateral, opposite, and adjacent sides. The resulting transient and following steady-state responses of the vessel and the mooring line tensions were analyzed, and the corresponding influence mechanism was investigated. The accidental failure of a single or two mooring lines changes the watch circle of the vessel and the tension redistribution of the remaining mooring lines. The results indicated that the failure of mooring lines mainly influences the responses of sway, surge, and yaw, and the change rule is closely related to the stiffness and symmetry of the mooring system. The simulation results could give a profound understanding of the transient-effects influence process of mooring line failure, and the suggestions are given to account for the transient effects in the design of the mooring system.

Qualification and Certification of Polyester Rope for Seabed Contact

2017 ◽  
Author(s):  
Øystein Gabrielsen ◽  
Kjell Larsen
Keyword(s):  
Water Flow ◽  
Water Depth ◽  
Test Method ◽  
Mooring System ◽  
Qualification Test ◽  
Mooring Lines ◽  
Norwegian Sea ◽  
Flow Through ◽  
Full Scale Tests ◽  
Certification Requirements

The Aasta Hansteen spar in the Norwegian Sea is designed to be moored with a taut polyester rope mooring system. The water depth at the field is 1300 meters, and due to the short installation season the most efficient hookup is with pre-installed mooring lines, which require the mooring lines to be laid down on the seabed. DNV certification does not allow seabed contact for polyester ropes unless proven that no soil ingress and damage takes place. To be able to certify the ropes Statoil developed a test method including contact with soil, rope movement and forced water flow through the filter construction. Full scale tests were performed with actual rope and Aasta Hansteen soil, both in laboratory and at site. This paper discusses the certification requirements and presents adequate qualification test together with results from testing.

Reliability Analysis of Reinforced Concrete Structural during Construction

2011 ◽  
Vol 71-78 ◽  
pp. 310-314
Author(s):  
Jun Zhao
Keyword(s):  
Reinforced Concrete ◽  
Stochastic Analysis ◽  
Reliability Index ◽  
Structural Reliability ◽  
Reinforced Concrete Structures ◽  
Time Varying ◽  
Calculation Algorithm ◽  
Random Field Theory ◽  
Reliability Calculation ◽  
Practical Engineering

According to random field theory, combined with the construction of the characteristics of reinforced concrete structures, based on the geometric significance of the reliability index, the optimization algorithm of the reliability was established, and the reliability calculation algorithm of reinforced concrete structural during construction is proposed based on stochastic finite element method. Based on a stochastic analysis of the practical engineering, the time-varying laws of the reinforced concrete structural reliability index during construction are concluded.

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