scholarly journals Fluid Parameter Identification for Underwater Snake Robots

2018 ◽  
Author(s):  
Eleni Kelasidi ◽  
Gard Elgenes ◽  
Henrik Kilvær
Keyword(s):  
Marine Biology ◽  
Oil And Gas ◽  
Fluid Dynamic ◽  
Autonomous Underwater Vehicles ◽  
Oil And Gas Industry ◽  
Underwater Vehicles ◽  
Analytical Models ◽  
Hydrodynamic Drag ◽  
Drag Forces ◽  
Snake Robots

Nowadays different types of unmanned underwater vehicles (UUVs), such as remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs), are widely used for sub-sea inspection, maintenance, and repair (IMR) operations in the oil and gas industry, archaeology, oceanography and marine biology. Also, lately, the development of underwater snake robots (USRs) shows promising results towards extending the capabilities of conventional UUVs. The slender and multi-articulated body of USRs allows for operation in tight spaces where other traditional UUVs are incapable of operating. However, the mathematical model of USRs is more challenging compared to models of ROVs and AUVs, because of its multi-articulated body. It is important to develop accurate models for control design and analysis, to ensure the desired behaviour and to precisely investigate the locomotion efficiency. Modelling the hydrodynamics poses the major challenge since it includes complex and non-linear hydrodynamic effects. The existing analytical models for USRs consider theoretical values for the fluid coefficients and thus they only provide a rough prediction of the effects of hydrodynamics on swimming robots. In order to obtain an accurate prediction of the hydrodynamic forces acting on the links of the USRs, it is necessary to obtain the fluid coefficients experimentally. This paper determines the drag and added mass co-efficients of a general planar model of USRs. In particular, this paper presents methods for identifying fluid parameters based on both computational fluid dynamic (CFD) simulations and several experimental approaches. Additionally, in this paper, we investigate variations of the drag force modelling, providing more accurate representations of the hydrodynamic drag forces. The obtained fluid coefficients are compared to the existing estimates of fluid coefficients for a general model of USRs.

Path Following of Underactuated Marine Underwater Vehicles in the Presence of Unknown Ocean Currents

2014 ◽  
Author(s):  
Signe Moe ◽  
Walter Caharija ◽  
Kristin Y. Pettersen ◽  
Ingrid Schjølberg
Keyword(s):  
Oil And Gas ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Path Following ◽  
Oil And Gas Industry ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Ocean Currents ◽  
The Arctic ◽  
Ocean Current

The use of autonomous marine vehicles, and especially autonomous underwater vehicles, is rapidly increasing within several fields of study. In particular, such vehicles can be applied for sea floor mapping, oceanography, environmental monitoring, inspection and maintenance of underwater structures (for instance within the oil and gas industry) and military purposes. They are also highly suitable for operations below ice-covered areas in the Arctic. However, there are still many challenges related to making such underwater vehicles autonomous. A fundamental task of an autonomous underwater vehicle vessel is to follow a general path in the presence of unknown ocean currents. There exist several results for underwater vehicles to follow a general path when no ocean currents are present [1] and to follow a geometrically simple path such as a straight line when ocean currents affect the vehicle [2, 3], but the problem of general path following in the presence of unknown ocean currents has not been solved yet. This paper presents a method to achieve this. The results are an extension of the results in [1], and introduce a virtual Serret-Frenet reference frame that is anchored in and propagates along the desired path. The closed-loop system consists of an ocean current observer, a guidance law, a controller and an update law to drive the Serret-Frenet frame along the path, and is shown to be asymptotically stable given that certain assumptions are fulfilled. This guarantees that the autonomous underwater vehicle will converge to the desired path and move along it with the desired velocity. Simulation results are presented to verify and illustrate the theoretical results.

Wheel Box Test Aeromechanical Verification of New First Stage Bucket With Integrated Cover Plates for MS5002 GT

2019 ◽  
Author(s):  
Marco Mariottini ◽  
Nicola Pieroni ◽  
Pietro Bertini ◽  
Beniamino Pacifici ◽  
Alessandro Giorgetti
Keyword(s):  
Gas Turbine ◽  
Oil And Gas ◽  
Oil And Gas Industry ◽  
Response Assessment ◽  
Operating Conditions ◽  
Analytical Models ◽  
Gas Industry ◽  
Improved Performance ◽  
Cover Plates

Abstract In the oil and gas industry, manufacturers are continuously engaged in providing machines with improved performance, reliability and availability. First Stage Bucket is one of the most critical gas turbine components, bearing the brunt of very severe operating conditions in terms of high temperature and stresses; aeromechanic behavior is a key characteristic to be checked, to assure the absence of resonances that can lead to damage. Aim of this paper is to introduce a method for aeromechanical verification applied to the new First Stage Bucket for heavy duty MS5002 gas turbine with integrated cover plates. This target is achieved through a significantly cheaper and streamlined test (a rotating test bench facility, formally Wheel Box Test) in place of a full engine test. Scope of Wheel Box Test is the aeromechanical characterization for both Baseline and New bucket, in addition to the validation of the analytical models developed. Wheel Box Test is focused on the acquisition and visualization of dynamic data, simulating different forcing frequencies, and the measurement of natural frequencies, compared with the expected results. Moreover, a Finite Elements Model (FEM) tuning for frequency prediction is performed. Finally, the characterization of different types of dampers in terms of impact on frequencies and damping effect is carried out. Therefore, in line with response assessment and damping levels estimation, the most suitable damper is selected. The proposed approach could be extended for other machine models and for mechanical audits.

A Composite Rigid Body Algorithm for Modeling and Simulation of an Underwater Vehicle Equipped With Manipulator Arms

2004 ◽  
Author(s):  
Mohammad Khalaj Amir Hosseini ◽  
Mohammad Banae ◽  
Ali Meghdari
Keyword(s):  
Rigid Body ◽  
Modeling And Simulation ◽  
Degrees Of Freedom ◽  
Oil And Gas ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Design Stage ◽  
Viscous Drag ◽  
Position Sensing ◽  
Drag Forces

In this paper modeling and simulation of an underwater vehicle equipped with manipulator arms, using Composite Rigid Body (CRB) algorithm will be discussed. Because of increasing need to Unmanned Underwater Vehicles (UUVs) in oil and gas projects in Persian Gulf, for doing operations such as inspection of offshore jackets, subsea pipelines and submarine cables and also pre installation survey and post laid survey of submarine pipelines and cables, design and construction of “SROV” was developed in Sharif University of Technology, and at design stage behavior of underwater vehicles was studied. In this paper, an efficient dynamic simulation algorithm is developed for an UUV equipped with m manipulators that each of them has N degrees of freedom. In addition to the effects of mobile base, the various hydrodynamic forces exerted on these systems in an underwater environment are also incorporated into the simulation. The effects modeled in this work are added mass, viscous drag, fluid acceleration, and buoyancy forces. For drag forces, the emphasis here is on the modeling of the pressure drag. Recent advances in underwater position and velocity sensing enable real-time centimeter-precision position measurements of underwater vehicles. With these advances in position sensing, our ability to precisely control the hovering and low-speed trajectory of an underwater vehicle is limited principally by our understanding of the vehicle’s dynamics and dynamics of the bladed thrusters commonly used to actuate dynamically-positioned marine vehicles. So the dynamics of thrusters, are developed, and an appropriate mapping matrix dependent on the position and orientation of the thrusters on the vehicle, is used to calculate resultant forces and moments of the thrusters on the center of gravity of the vehicle. It should be noted that hull-propeller and propeller-propeller interactions are considered in the modeling too. Finally the results of the simulations, for an underwater vehicle equipped with one 2 DOFs manipulator, are presented and discussed in details.

A Composite Rigid Body Algorithm for Modeling and Simulation of an Underwater Vehicle Equipped With Manipulator Arms

2005 ◽  
Vol 128 (2) ◽  
pp. 119-132 ◽  
Author(s):  
Mohammad Khalaj Amir Hosseini ◽  
Omid Omidi ◽  
Ali Meghdari ◽  
Gholamreza Vossoughi
Keyword(s):  
Rigid Body ◽  
Modeling And Simulation ◽  
Degrees Of Freedom ◽  
Oil And Gas ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Design Stage ◽  
Viscous Drag ◽  
Position Sensing ◽  
Drag Forces

In this paper, modeling and simulation of an underwater vehicle equipped with manipulator arms, using a composite rigid body algorithm, will be discussed. Because of the increasing need for unmanned underwater vehicles (UUVs) in oil and gas projects in the Persian Gulf, for doing operations such as inspection of offshore jackets, subsea pipelines, and submarine cables, and also pre-installation survey and post-laid survey of submarine pipelines and cables, design and construction of “SROV” was developed in Sharif University of Technology, and at the design stage behavior of the underwater vehicles was studied. In this paper, an efficient dynamic simulation algorithm is developed for an UUV equipped with m manipulators so that each of them has N degrees of freedom. In addition to the effects of the mobile base, the various hydrodynamic forces exerted on these systems in an underwater environment are also incorporated into the simulation. The effects modeled in this work are added mass, viscous drag, fluid acceleration, and buoyancy forces. For drag forces, the emphasis here is on the modeling of the pressure drag. Recent advances in underwater position and velocity sensing enable real-time centimeter-precision position measurements of underwater vehicles. With these advances in position sensing, our ability to precisely control the hovering and low-speed trajectory of an underwater vehicle is limited principally by our understanding of the vehicle’s dynamics and the dynamics of the bladed thrusters commonly used to actuate dynamically positioned marine vehicles. So the dynamics of thrusters are developed and an appropriate mapping matrix dependent on the position and orientation of the thrusters on the vehicle is used to calculate resultant forces and moments of the thrusters on the center of gravity of the vehicle. It should be noted that hull-propeller and propeller-propeller interactions are considered in the modeling too. Finally, the results of the simulations, for an underwater vehicle equipped with 1 two degrees of freedom manipulator, are presented and discussed in detail.

scholarly journals Life-Support Model of Supply Systems of Oil and Gas Industry Objects

2018 ◽  
Vol 41 ◽  
pp. 01028 ◽  
Author(s):  
Fares Abu-Abed ◽  
Alexey Khabarov
Keyword(s):  
Service Time ◽  
Oil And Gas ◽  
Life Support ◽  
Oil And Gas Industry ◽  
Gas Production ◽  
Distribution Functions ◽  
Analytical Models ◽  
Measuring Instruments ◽  
Gas Industry ◽  
Oil And Gas Production

At present, repair and diagnostic complexes are being developed for repair of oil and gas production facilities, including control areas for working capacity, diagnosing components used in maintenance stations, as well as areas equipped with the necessary technological equipment, measuring instruments, tools and equipment for carrying out current repair of replacement elements. For maintenance of repair, repair-diagnostic complexes are equipped with means of power supply, sets of spare property and accessories and operational documentation. Repair-diagnostic complexes can be represented using a three-phase multi-channel queuing system. The study of such a system with the distribution functions of the service time of applications different from the exponential makes it difficult to use analytical models. The developed simulation model of the repair and diagnostic complex allows to evaluate the characteristics of its functioning, the most important of which is the average service time of the application in the system, as well as to determine the required number of channels on each site. The developed model can be aggregated into a general model of research into the operation of complex technical systems for supplying oilfield facilities.

Researching and Development of an Autonomous Underwater Vehicles with Capability of Collecting Solar Energy

2021 ◽  
Vol 31 (2) ◽  
pp. 75-83
Keyword(s):  
Solar Energy ◽  
Oil And Gas ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Water Environment ◽  
Underwater Vehicles ◽  
Polluted Water ◽  
Hydrodynamic Equations ◽  
Hierarchical Sliding Mode ◽  
The Stability

Autonomous Underwater Vehicles (AUV) is an unmanned underwater device with capability of performing a variety of missions in the water environment such as ocean operation, offshore waters, polluted water investigation including: marine scientific research, maritime monitoring, exploration, marine economics, oil and gas, security and defense, surveillance and measurement and in rescue and salve. In this article, the authors developed a model of AUV with retractable wings and evaluate the efficiency of solar energy collection. The establishment of the controller to adapt the stability requirements, in accordance with the model of equipment S-AUV (Solar - Autonomous Underwater Vehicles) was built. The hydrodynamic equations with the predefined conditions were modeled and solved. The Hierarchical Sliding Mode Controller (HSMC) for the S-AUV were applied in this research. Experimental results showed that the efficiency of the collection of the solar cell has been significantly improved comparing to a diving equipment without retractable energy wings. In addition, the simulation results showed that the developed controller performed much better control quality, adhering to the set value with the error within the permissible limit.

Hybrid Data Driven Approach for Reservoir Production Forecast

2021 ◽  
Author(s):  
Achraf Ourir ◽  
Jed Oukmal ◽  
Baptiste Rondeleux ◽  
Zinyat Agharzayeva ◽  
Philippe Barrault
Keyword(s):  
Data Science ◽  
Oil And Gas ◽  
Oil And Gas Industry ◽  
Machine Learning Algorithms ◽  
Analytical Models ◽  
Reservoir Engineering ◽  
Full Data ◽  
Production Forecast ◽  
Data Set ◽  
Well Completion

Abstract Analytical models, in particular Decline Curve Analysis (DCA) are widely used in the oil and gas industry. However, they are often solely based on production data from the declining wells and do not leverage the other data available in the field e.g. petrophysics at well, completion length, distance to contacts... This paper describes a workflow to quickly build hybrid models for reservoir production forecast based on a mix of classic reservoir methods and machine learning algorithms. This workflow is composed of three main steps applied on a well by well basis. First, we build an object called forecaster which contains the subject matter knowledge. This forecaster can represent parametric functions trained on the well itself or more complex models that learn from a larger data set (production and petrophysics data, synthesis properties). Secondly this forecaster is tested on a subset of production history to qualify it. Finally, the full data set is used to forecast the production profile. It has been applied to all fluids (oil, water, gas, liquid) and revealed particularly useful for fields with large number of wells and long history, as an alternative to classical simulations when grid models are too complex or difficult to history match. Two use cases from conventional and unconventional fields will be presented in which this workflow helped quickly generate robust forecast for existing wells (declining or non-declining) and new wells. This workflow brings the technology, structure and measurability of Data Science to Reservoir Engineering. It enables the application of the state of the art data science methods to solve concrete reservoir engineering problems. In addition, forecast results can be confronted to historical data using what we call "Blind Testing" which allows a quantification of the forecast uncertainty and avoid biases. Finally, the automated workflow has been used to generate a range of possible realizations and allows the quantification the uncertainty associated with the models.

An Experimental Investigation of Hydrodynamic Impacts of Marine Growth on Mid-Water Arch System

2014 ◽  
Author(s):  
Michael Farmakis ◽  
Yuting Jin ◽  
Shuhong Chai ◽  
Henri Morand ◽  
Cecile Izarn
Keyword(s):  
Experimental Investigation ◽  
Oil And Gas ◽  
Physical Modelling ◽  
Operating Conditions ◽  
Hydrodynamic Drag ◽  
Marine Biofouling ◽  
Drag Forces ◽  
Arch System ◽  
3D Scans ◽  
Hydrodynamic Effects

The presence of marine growth modifies hydrodynamic effects to subsea structures and could lead to incorrect modelling if not properly accounted for. Widely-used design practice codes do not contain any specific guidelines or recommendations to account for the effects of marine fouling on complex subsea structures and due to the desired longevity of oil and gas constructs, considerable amounts of marine biofouling can accumulate. In the experimental investigation described in the paper, the impacts of different marine growth severities, current velocities and current directions on the hydrodynamic drag were carried out in the Flume Tank at the University of Tasmania. A 1:15 scale mid-water arch (MWA) was employed during this investigation. Several marine biofouling severities were tested as well as the structure without marine growth, representing scenarios based on realistic MWA operating conditions. Physical modelling was validated with numerical simulations using computational fluid dynamics. Experimental results gathered show a rise in drag forces when the artificial marine growth is attached. The highest force magnitudes were observed when the marine growth severity was at its maximum roughness. This has been complemented by numerical results, with input parameters coming from 3D scans of the artificial marine growth.

scholarly journals Synchronization system in wireless sensor networks of oil and gas complex

2020 ◽  
Vol 164 ◽  
pp. 03030
Author(s):  
Dmitry Onyshko ◽  
Dmitry Fugarov ◽  
Olga Purchina ◽  
Anna Poluyan ◽  
Nikolay Rasteryaev ◽  
...  
Keyword(s):  
Mathematical Modeling ◽  
Wireless Sensor Networks ◽  
Sensor Networks ◽  
Oil And Gas ◽  
Oil And Gas Industry ◽  
Analytical Models ◽  
Wireless Sensor ◽  
Gas Industry ◽  
Synchronization System ◽  
Software Packages

The aim of this work is to study the synchronization system in wireless sensor networks of remote objects of the oil and gas complex. The objective of the study is to ensure the timely collection of reliable information about the parameters of the process. In the course of the study, methods of theoretical circuitry and mathematical modeling were used, in particular, regression and analytical models, methods of probability theory and mathematical statistics using MathCad and Matlab software packages. The conducted studies indicate a high vulnerability of the radio links of the infocommunication system for monitoring the parameters of remote objects of the oil and gas complex from attacks on the synchronization system when using deterministic synchronization signals in it. The results achieved allow us to provide the specified requirements for reliability and timeliness when deploying modern wireless sensor networks in the oil and gas industry.

A Systematic Approach to Risk Assessment: Focusing on Autonomous Underwater Vehicles and Operations in Arctic Areas

2014 ◽  
Author(s):  
Ingrid Bouwer Utne ◽  
Ingrid Schjølberg
Keyword(s):  
Risk Assessment ◽  
Systematic Approach ◽  
Oil And Gas ◽  
Autonomous Underwater Vehicles ◽  
Extreme Environments ◽  
Underwater Vehicles ◽  
The Arctic ◽  
Oil And Gas Exploration ◽  
Exploration And Production ◽  
Impact Risk

Climatic degradation of equipment, in combination with stringent requirements for human safety and minimalistic environmental impact, need to be addressed through improved risk assessment in vulnerable areas, such as the Arctic. The performance of technologies and risk related to its utilization, for example in terms of autonomous operations, significantly impact future requirements for oil and gas exploration and production. An interdisciplinary and systemic approach integrating both risk to the environment and to humans is needed as the challenges related to operation in extreme environments directly impact risk, costs, and the general societal acceptance of the activities. Development of such an approach focusing on autonomous underwater vehicles (AUV) and operations is addressed in this paper.

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