Docking and Undocking Considerations for Floatover Analyses and Operations

An alternative to lifted installation of topsides by a derrick barge is installation of single, integrated offshore platform topsides by floatover method. Floatover installation reduces hook-up and commissioning, which results in overall schedule and cost savings. Numerous papers were written recently to describe many aspects of the floatover operations. Nature of the floatover is such that it requires detailed engineering analyses, numerical simulations, model testing, and planning to evaluate all phases of the operation [Ref 5], [Ref 6]. Proper analysis of floatover requires numerical simulations using time-domain methodology to evaluate the system non-linearities inherent in the floatover hardware, fendering, mooring lines. Normally, weight transfer stages are given a high profile however it is found that the docking and undocking stages are equally as important. These sensitive stages of the floatover operation occur when the barge is entering the jacket slot prior to the floatover and exiting the jacket slot afterwards. The operation is sensitive to the prevailing weather and the number of simulations to make sure the operations can be performed safely is significant. Results of the docking and undocking analyses usually determine the weather standby and thus workability. This paper will address the docking and undocking stages of floatover for a barge that does not have its own propulsion. The paper shall include a concurrent investigation on effects of weather criteria. Stiffness of the hardware, mating lines/cross lines, mooring lines and the effect they have on the system will be discussed.

A Frequency-Domain, Finite-Order Representation of a Catenary Riser’s Dominant Nonlinear Dynamics

A numerical simulation and system identification approach to the dynamic equilibrium of a catenary riser has been developed. A finite DOF representation of the dominant dynamics is constructed using frequency domain identification by applying nonlinear signal theory techniques on response data series when exciting the structure with sinusoidal motions at the top. Data series are obtained through numerical integration of a finite differences simulation model on the basis of the six nonlinear partial differential equations describing the riser dynamics. Dynamic equilibrium is mathematically formulated by the very same equations that implicate both geometric and hydrodynamic nonlinearities; the latter are depicted by Morison’s formula. Thus, spatio-temporal series are generated for riser bending moments induced by sinusoidal heave motions of various amplitudes and frequencies. These data are consequently transformed to the frequency domain where complex Singular Value Decomposition is applied in order to derive the full nonlinear spectrum. The significant harmonics of the riser’s spectrum for the bending moment on the 2D plane of reference are demonstrated to be the three lower odd harmonics and a set of orthogonal modes for these three significant harmonics is derived. The methodology proposed is finally applied to a typical test case for validation.

Improving 3-D Variational Stereo Reconstruction of Oceanic Sea States by Camera Calibration Refinement

Studies of wave climate, extreme ocean events, turbulence, and the energy dissipation of breaking and non-breaking waves are closely related to the measurements of the ocean surface. To gauge and analyze ocean waves on a computer, we reconstruct their 3-D model by utilizing the concepts of stereoscopic reconstruction and variational optimization. This technique requires a pair of calibrated cameras — cameras whose parameters are estimated for the mathematical projection model from space to an image plane — to take videos of the ocean surface as input. However, the accuracy of camera parameters, including the orientations and the positions of cameras as well as the internal specifications of optics elements, are subject to environmental factors and manual calibration errors. Because the errors of camera parameters magnify the errors of the 3-D reconstruction after projection, we propose a novel algorithm that refines camera parameters, thereby improving the accuracy of variational 3-D reconstruction. We design a multivariate error function that represents discrepancies between captured images and the reprojection of the reconstruction onto the images. As a result of the iteratively diminished error function, the camera parameters and the reconstruction of ocean waves evolve to optimal values. We demonstrate the success of our algorithm by comparing the reconstruction results with the refinement procedure to those without it and show improvements in the statistics and spectrum of the wave reconstruction after the refinement procedure.

Calculation of Wave Height Dependent Force RAO’s on Submerged Bodies in Close Proximity to the Free Surface

Diffraction calculations overpredict motion RAO’s and force RAO’s in cases where a small layer of water is present on top of a submerged body. This was observed after conducting model tests on a free floating SSCV Thialf and a captive submerged cylinder. A parameter study is done to get a better understanding of why diffraction calculations overpredict the forces in heave direction. From this study it was observed that unrealistically high water elevations existed on top of the cylinder causing the heave forces to be overestimated. A damping lid is therefore implemented to decrease this water elevation. On top of that, a new method is developed to be able to capture the dependency of the force RAO on the wave height. This method uses the instantaneous submergence height (the height of water on top of the submerged body) to determine the time averaged force RAO for a given wave height and wave frequency.

A Comparison of Different Approximations for Computation of Second Order Roll Motions for a FLNG

The use of FLNG units for gas exploration and production offshore is a subject in study by some oil companies. More complex and sophisticated than a FPSO production plant, a gas production plant has strict motion criteria in order to have an optimal operational performance. Due to this, designers have been trying hull concepts with small initial stability and higher roll motion periods in order to reduce the unit motions and improve the plant performance. Indeed, the increase of roll natural period dramatically reduces the first order roll motions. However, the unit still responds at its resonance due to second order excitation. These kinds of loads are also more complex and require a great computational power to be evaluated. Due to its complexity, which would involve the solution of a non-homogeneous free surface boundary condition, some approximations are used in order to assess the second order loads and motions. In this paper, the different formulations for the first part of QTF, contributed by first order quantities, are revisited and the differences are highlighted. Furthermore the approximations for the computation of the second part of the QTF, contributed by the second order potential, are benchmarked for the case of a FLNG operating in deep water depth.

Dual Stiffness Approach for Polyester Mooring Line Analysis in Time Domain: Semisubmersible Case

This paper is a continuation of a series of investigation for the dual stiffness approach for polyester mooring lines. Tahar et. al. (2012) has presented the global performance comparison between the dual stiffness method and the traditional method for the Spar platform. As shown in that study, there are appreciable differences between the former and the later methods especially in lateral motions, which, however, result in little difference in SCR strength response. Is it because the Spar has better motion characteristics than other wet tree floating platforms such as the semisubmersible and FPSO? This paper will investigate the effect of the dual stiffness method and the traditional method to SCR response for a Semisubmersible platform. The fully coupled dynamic analysis tool CHARM3D has been modified to incorporate the dual stiffness approach. Two axial stiffnesses (EA) of polyester line, post installation (static) stiffness and storm (dynamic) stiffness have been convoluted into a dual stiffness to represent the total response of the floating platform in a single run. In the traditional method, the analyses are done twice, one run for each stiffness. Then, the extremes from each run are used as governing values for design. The SCR will be modeled and analyzed using ABAQUS software.

Consideration of a Rotary Power Take-Off Mechanism as a Wave-Energy Converter on the WindFloat Platform

The possibility of incorporating a wave-energy extractor into a current design of the WindFloat platform is examined. First, to absorb wave energy, a rolling cam shape, with rotary power take-off, is attached to a tubular truss member of the WindFloat located above the calm-waterline. Based on the assumption that the extractor is operating in beam seas, numerical predictions for the coupled 3-DOF system (surge, heave and pitch motions) were completed for an ideal-fluid situation. The degradation of the performance of the wave energy extractor because of viscous effects was discussed in [1]. Second, a design of a versatile bi-directional rotary system, named the UC Berkeley Double-Ratchet Mechanism (UCB-DRM) was made. This mechanism can produce a unidirectional rotational motion, thus facilitating the power take off by a generator. A physical unit was constructed. The efficiency and performance of this mechanical system is assessed by introducing a known, bi-directional torque input and measuring the torque output.

Performance Comparison Between Linear and Nonlinear Controllers for a Dynamic Positioning System

This paper addresses some preliminary discussion concerning the performance of different dynamic observer-controller-based positioning system for a shuttle tanker by considering her operational condition changes. The observer-controller models are nonlinear passivity based observer and backstepping controller, Extended Kalman Filter and Proportional-Derivative like controller, and notch filter and Proportional-Integral-Derivative controller. The variation of the operational condition of the vessel is obtained by changing the vessel draft and the environmental condition, such as relative incidence of the current, waves and wind, and the peak period of the sea wave spectrum. The performance of the dynamics of the vessel is investigated through numerical simulation in which a saturation model for the actuators is included. Preliminary results have indicated that the nonlinear observer-backstepping controller is the easiest approach to select the observer and control parameter in the case of variation of the draft.

Experimental Validation of a New Shallow Water CALM Buoy Design

This paper presents an overview of the model testing of a new turret-type CALM buoy concept developed by WISON for shallow water (20m–80m) applications. In the WISON design the outer body of the buoy is hexagonal, a geometry that allows for ease of fabrication while retaining hydrodynamic efficiency. The overall objective of the model tests was to demonstrate the performance of this new design for a typical shallow water environment under both operating and survival conditions. Additionally, the model tests were intended to provide data to calibrate the numerical models for buoy motions and line tensions used in the design, and to give guidance regarding the suitability of the buoy freeboard and deckhouse arrangement.

Design Advantages on Umbilical Systems Brought by a New High Performance SDSS Tube

Subsea umbilical systems developed for deep offshore applications become more and more demanding regarding injection capacity, number of functionalities and water depth. Some applications, such as subsea boosting, subsea separation or gas lift are even more severe, leading to tube temperature, which can exceed, in some cases 70°C. These operating conditions and requirements are significantly impacting the performance of the main umbilical. The most common solution, to avoid such issues, is to design thicker tubes to improve the strength of the umbilical cross section. The positive effect of the wall thickness increase has to be opposed to major drawbacks, such as weight increase and fatigue performance degradation generating more issues than providing solutions. To face these challenges, Vallourec Umbilicals, with the technical support of TOTAL SA headquarter Technology Division, has developed a new manufacturing process for seam welded stainless steel tubes (SAF 2507), with higher mechanical properties and tighter wall thickness tolerances. The benefit of this innovation is to provide for a given application (i. e. pressure, water depth and temperature) thinner tubes able to meet severe operating conditions without impacting performances of the umbilical structure. This paper, after a description of the manufacturing process and product qualification protocol (that led to a Type Approval Certificate from Bureau Veritas in October 2012), presents the technical advantages brought by seam welded solution, compared to seamless super duplex tubes.