-
11.06.2013
1
1
Overview of CeSOS 2002-2012by Torgeir Moan
T.Moan CeSOS
CeSOS Highlights and AMOS Visions Conference,May 27-29 2013
2
Outline- BackgroundObjective and Scope
- Resources(Budget,personnel, laboratories)
- Results- personnel training , publications …- scientific results withemphasis on structural mechanicsand some multidisciplinaryactivities
- Concluding remarks
-
11.06.2013
2
3
Experiments/full-scale obs.
PrincipalResearchAreas
Integration of Disciplines
Research Challenges
Hydro-dynamics
StructuralMechanics
AutomaticControl
TheoryC
CeSOS Objective & Scope
CeSOS BackgroundSafe and sustainable utilisation of the oceans
Develop new, fundamental knowledge about ships and ocean structures behaviour in a chaotic sea
T.Moan CeSOS
4
OceanographyMeteorology
Experimental/In-service obs.
AutomaticControl
Mathematicalmodelling
Material-technology
Electro -Sensor-Instrumentation’technology
Hydro-dynamics
CeSOS’ research strategyBasic research:
- development of disciplinesand
- integration of disciplines in view of- technological visionsin close contact with the industry Structural
mechanics
T.Moan CeSOS
-
11.06.2013
3
5Resources Key economic data (MNOK)- Basic contribution
: 130- Contributions
EU, other RCN projects: : 248
- Total : 378
Average annual personnel years: -Researchers: 46.1 (30-60)-Administration: 2.4
T.Moan CeSOS
6
The CeSOS Board• Torbjørn Digernes, Dean, IVT Faculty/Rector, NTNU,
(chairman 2002-2005, member since 2006-)• Ingvald Strømmen, Dean, IVT Faculty, NTNU,
(chairman 2006-)• Carl A. Carlsen, Director of research, (2002-2006), DNV• Pål G. Bergan, Director of research and innovation
(2007-2008)• Frode Kamsvåg, Head of Department of Hydrodynamics,
Structures and Stability, DNV (2009-2010) • Tommy Bjørnsen, Regional Manager, DNV (2010-2011)• Liv Astri Hovem, Director of operations,
Technical Advisory Ship and Offshore, DNV (2011-)• Trond Singsaas, Director of organization and
development, NTNU, (2002-2005) • Arne Sølvberg, Dean, IME Faculty, NTNU (2002-2008)• Geir Egil Øien, Dean, IME Faculty, NTNU (2009-)• Oddvar Aam, Managing director, MARINTEK,
(2002-2008)• Oddvar I. Eide, Managing director. MARINTEK,
(2009-)
Current Board
T.Moan CeSOS
-
11.06.2013
4
7
Personnel Key persons
Senior researchers
4 adjunct prof. (DTU; ILS Oy; U. Newcastle, AU); 3 adjunct prof. NTNU9 visiting professors, researchers, postdoctors8 postdoctors/researchers
PhD candidates -60-70% of the person years (27-60 candidates)
Cooperation with previous CeSOS employees:- MARINTEK : 8 persons - SINTEF Fishery and Aquaculture - DNV JIP on whipping/springing - INSEAN, DTU, SJTU, MIT, Osaka university; Keppel Singapore
3 MIT professors; 11 Long-term visiting
professors & researchers,12 postdoctors
Daring, Demanding,Dynamic,
T.Moan CeSOS
8
2013 2013 2013
2012
2012
2012
2012
20122012
2012
2013
2013
2013
UDNVIDNVMT MT/I DNV
2013 2013
2013
2013
2013
2013
T.Moan CeSOS
-
11.06.2013
5
9
Results PhD candidates
- graduated until 31.12.12 : 57- expected graduates 2013 : 10
2014- : 25-30
Training of other personnel- researchers/postdoctors- MSc students
Generating & disseminating new knowledge- Publications- Software- Other results
T.Moan CeSOS
10
Employee Category researcherPhD candidates
Postdoctors
Academia1) 20 % 30 %Research institutes 25 % 15 %Industry 55 % 55 %
First job for researchers after leaving CeSOS
T.Moan CeSOS
- Share of foreign researchers that start working in Norway: 75 % (in the first 5-6 years) – 100 % (last two years)
- Share of foreign researchers: 2003 (35%) to 2012 (80%)
Foreign researchers
1) 4 professors in Norway and 10 abroad
-
11.06.2013
6
11Publications 2002-2012
-8 books + 2 translations published in 2005-2012-ca 34 book chapters-ca 49 keynote lectures-ca 390 journal papers (+ +)-ca 620 conference papers (+ +)
Dissemination aimed at special target groups
Dissemination to the general public
Coverage in massmedia
T.Moan CeSOS
12
Some quality measures (2002-2012)• Best paper awards journals/conferences:10
• Esso award at NTNU for best PhD thesis: 4
• Research awards (academies of science; visiting/honorary prof.): 16
• Keynote lectures at major international conferences: 51
T.Moan CeSOS
-
11.06.2013
7
13
International Scientific Conferences - member of organising committee, session organiser etc
typically 10 – 12 conferences every year
Editorial board of Journals- editorial board members of 22 journals, of which:- editor of 2 and associate editor of 3 journals
International Networking (Above activities + visits etc)
Results: Dissemination & networking…..
Ida Aglen:Researcher grand prixwinner
Morten Breivik:USV experimentson TVSchrødinger katt
Popular presentations
MIT INSEAN, Rome
Other universities& research institutes
CSSRC, Wuxi
T.Moan CeSOS
14
MSc education
• Improving the quality of the MSc education by providing an excellent environment for research and study through
- the additional resources (accessible) for teaching/advicing- practicing research based teaching/learning(supervising 20-25 MSc students every year)
- research publications- textbooks
• Improving, especially international, recruitment of MSc studentsby increased visibility of a large, dynamic research and study environment with a focus on new problems, … (including network building)
T.Moan CeSOS
-
11.06.2013
8
15
Research Activities - overview
Experiments/full-scale obs.
Integration of Disciplines
Research Challenges
Hydro-dynamics
StructuralMechanics
AutomaticControl
Theory
Multi-disciplinary activities- structural engineering based on hydrodynamic and ice loads- control of vehicles with wave-induced motions and ice loads- safety assessment of marine structures and operations- integrated aero-hydro-servo-elastic dynamic analysis of e.g. wind turbines
T.Moan CeSOS
OMF TIF
TM
Thematic Research Areas: A-G
16
A.Wave induced motions and loads
Water entry and exit behaviour
Water entry of free fall life boats
Sloshing in tank
Nonlinear ship motions withgreen water and slamming
- numerical solution ofNavier Stokes equations
Understand the phenomenaDevelop mathematical modelsAssess the inherent modeluncertainty
Thematic research area OMF
T.Moan CeSOS
-
11.06.2013
9
17
B. Structural load effectsGeneral- different structures- fluid-structure interaction- stochastic features
1. Frequency and Time domain simulationof nonlinear, multibody and flexibleocean structures
2. Stochastic dynamic analysis of extremeload effects for multiplestochastic load effects
3. Fatigue due to nonlinear effects- wave-, High- and Low-frequency
4. Wave load effects in damagedfloating structures
0 50 100 150 200 250 300 350 400-5
0
5
time seconds
load
s
X(t)
Thematic research area
Global response of flexible ships
TM ; S3, S7, S21
T.Moan CeSOS
18
B. Structural load effects: Torsional response offlexible ships in oblique seas
-20
-15-10
-5
0
510
15
115 115.5 116 116.5 117 117.5 118 118.5 119 119.5 120time (s)
Tors
ion (N
m)
exp
-20
-15
-10
-5
0
5
10
15
115 116 116 117 117 118 118 119 119 120 120time (s)
Tors
ion (
Nm
)
lambda/L=0.20 lambda/L=0.22 lambda/L=0.24 lambda/L=0.18
Measurement
Numerical predictions for various encounter frequencies.
Comparison of response in regular waves
(Researchers: Hermundstad,Ijima, Zhu, Wu,Moan et al)
Wave- and high frequency response
Thematic research area TM ; S3, S7, S21
T.Moan CeSOS
-
11.06.2013
10
19
700x106
600
500
400
300
200
100
0RA
O o
f VB
M a
t 205
m fo
rwar
d of
AP
[N]
1.41.21.00.80.60.4
Incident circular wave frequency [rad/sec]
Direct calculation, rigid hull Modal superposition, flexible hull, 2 modes Hybrid method, flexible hull, 1 mode
Head seas
Efficient hydroelastic analysis- modal superposition viz rigid body + flexible modes
contributing to structural dynamics
Pentamaran (drawing) Model
(Researchers: Hermundstad,Ijima, Zhu, Wu,Moan et al)
T.Moan CeSOS
Thematic research area
20
0.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.00.0
0.2
0.4
0.6
0.8
1.0
1.2
1.4
1.6
=180m (/L=0.6) Exp. of Continuous Structure Krot=.159E11 Krot=0 Krot=.159E9
V
ertic
al R
espo
nse
Ampl
itude
(m)
x/L
Vertical response amplitude of the longitudinal centerline with different rotation stiffness of the connector
The mode shapes of the flexible floating interconnected structures
Response of interconnected, flexible large body
Thematic research area S3, S7, S21B. Structural load effects
Numerical resultsof Fu et al. (2005,2006)and experiments ofYago and Endo (1996)
300 m
60 m
2 m
Draft=0.5 m
T.Moan CeSOS
-
11.06.2013
11
21
, , ,
, , ,
//
sw sw c w w c t c t
sw sw c w w c t c t
w
sw
M M MM M M
max, max, max,sc T w T sw TM M M
, arg min, max, max,( )s m in T w T sws TM R M M
Semi-probabilistic
Time-invariant approach for use in reliability analysis
BendingMoment
Hogging
Sagging
t
Thematic research area S3, S7, S21
Combination of global and longitudinal SWBM and VWBM for shipsB. Structural load effects
T.Moan CeSOS
22
B. Structural engineering- Extreme values of stochastic response
Other problem areas:-Ringing -Wave-in-deck phenomena
(Researchers:Næss, Gaidai, Kota, Gao, Moan, et al)
T.Moan CeSOS
Thematic research area AN S3, TM
–Global maxima method–Weibull tail method–Upcrossing rate method (novel method: ACER)
Three-hour extreme bending moment at the sea bed due to wind loads only using various extrapolation methods. The reference value is obtained based on 396 10-min simulations, corresponding to 20 3-hour extremes. (Gaussian case)
Number of 10-min simulations
0 100 200 300 400
Pre
dict
ed 3
-hou
r ext
rem
e va
lue
3.0
3.5
4.0
4.5
5.0
Reference valueUpcrossing analysis methodGlobal maxima methodWeibull tail method (threshold=mean)Weibull tail method (threshold=mean+1.4std)Weibull tail method (threshold=mean+2.0std)Weibull tail method (threshold=mean+2.7std)
k
-
11.06.2013
12
23
B. Structural engineering- Fatigue stress cycles in broadband stochastic
response obtained in the frequency domain
(Researchers:Gao, Moan, et al)
T.Moan CeSOS
Thematic research area S3 (Z Gao)
• The narrow-band approximation is always conservative, but
Vanmarcke's bandwidth parameter0.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0
Rat
io o
f fat
igue
dam
age
to R
FC
0
1
2
3
4
5
6
7
8
9
10
11
12
13NB
0.20 0.25 0.30 0.35 0.40 0.45 0.50 0.55 0.601.0
1 .1
1 .2
1 .3
1 .4
1 .5N B
NB
RFC
DD
Accuracy of the narrow-band approximation for wide-band fatigue damage (based on comparison with rainflow counting for over 4000 spectra)
21 0 21 / /m m m
Vanmarcke’s bandwidth parameter
Simplified methods:- empirical-”theoretical” for bi- and tri-modal response
24
5. Effect of weather forecasting andheavy weather avoidance in shipoperations
6. Uncertaintainty analysis ofstill-water and wave-inducedload effects; and
7. Uncertainty of ultimate resistance
8. Structural reliability analysis
0
0
( )
f
g
P P g
f d
xx
x
x x
mTrueX value
Pr edicted
B. Structural analysis in a reliability context Thematic research area TM, S21
Nonlinear FEM
Model uncertainty:
Hs = 17 m
T.Moan CeSOS
-
11.06.2013
13
25
B. Structural reliability under vector‐load processesThematic research area TM, AN
T.Moan CeSOS
26
Ultimate Strength Test of Mark III
FoamPlywood
Procedure for strength assessment of LNG tank containment system – under sloshing loads
Fluid motionin the tank
ExperimentalAnalysis
scaling
CFD prediction?
Scatterdiagram
Structural response
Screening analysis todetermine important sea states
Shipmotion
Analysis
DesignCheck:ULS, FLS
All sea states
Pressure-timehistories
0 1000 2000 3000 400010
-6
10-4
10-2
100 1-F(x)
x, kPa
Pressure distribution(Faltinsen et al, Graczyk, Moan )
B. Structural engineeringThematic research area TM
T.Moan CeSOS
-
11.06.2013
14
27
C. Ship operations General- hydrodynamic: motion in the horizontalplane (foil, rudder, propeller)
- automatic control- reliability/safety
1. Modelling ship- ship interactionin waves at forward speed
2. Sea-keeping and manoeuvringof high speed vessels
3. Station-keeping and manoeuvring ofships in waves
4. Modeling, estimation and controlof parametric roll for ships
TORQUE INPUT
POWER
RPM
CONSTANTPROPELLER
TORQUE
TORQUE INPUT
POWER
RPM
CONSTANTPROPELLER
TORQUE
Thematic research area
Ship-ship interaction during replenishment
OMF, TIF
T.Moan CeSOS
28
5. Arctic marine operations
6. Underwater operationsand control (AUV, ROV)
- deep water, arctic
7. Reliability and risk analysis ofmanoeuveringunder different ocean and iceconditions
Level ice Ridge Ice berg
modelling of ice forces for- hull strength and- ship resistance- manoeuvering forces
Thematic research area C. Ship operations (continued)
TM, KR:S9, RS:S11
T.Moan CeSOS
-
11.06.2013
15
29
Icebreaker Path, Resistance and Hull Forces
Simulated and measured ship resistance for the Icebreaker AHTS/IB Tor Viking II
(Researchers: Riska, Moan, Biao, Sawamura,et al) + Dynamic effects
Thematic research area C. Ship operations in the arctic:
TM, KR:S9
T.Moan CeSOS
30Thematic research area C. Ship operations
TM, S9, S11
Stationkeeping of a moored vessel in drifting ice- effect of heading control
Capability plot for moored tanker MT Uikku withoutheading control (HC) and with heading control.
Validation in Aalto U. ice tank
MT Uikku
T.Moan CeSOS
-
11.06.2013
16
31
General.- motion simulations- automatic control- human factors
1. Simulation and control of complexmarine operations
2. Example: Development of numericalmodel for anchor handlingoperations for assessing
- system design- planning operations- developing simulator for training- decision support for the crew
3. Risk analysis of positioningsystems for deep-water FPS- Thruster assisted mooring
under sea and ice loads
Thematic research area D. Stationary marine operations
OMF-TIF-TM
T.Moan CeSOS
32
Tandem offloading risk of collision
P(drive-off)P(failure of recovery|drive-off)
P (collision) =
Probability of Tanker drive-off
Failure probability of recovery actions initiated by tanker DP operator, in drive-off scenario
FPSO Hawser
Wind, Wave, Current
Hose
Tanker (DP)
50-90 m
Turret
- collision during normal operation
- error induced drive-off and collision
Thematic research area D. Stationary marine operations
TM; S18
T.Moan CeSOS
-
11.06.2013
17
33Thematic research area TM - SINTEF FH; S 18
Risk assessment of well boat operation in “open sea” D. Stationary marine operations
T.Moan CeSOS
34
T.Moan CeSOS
Barge transport of living quarters.
The reliability of sea fastening depends on uncertainties in load effects and resistance. Uncertainties in wave induced load effects depends on -the uncertainty in weather forecasting for restricted operations.
-the variability inn sea states for unrestricted operations (based on long term statistics) depends on the variability in sea states
Uncertainty in weather forecasts illustrated by the mean values and standard deviation of the observed significant wave height for givenforecasted values and the length of the period.
Thematic research area TM; S 18 D. Reliability assessment of marine operations executed
based on weather forecasts
-
11.06.2013
18
35
1. Combined cross-flow andin-line vortex induced vibrations
2. Effect of internal flow (slugs) on riserbehaviour
3. Control of extreme responsefor marine risers, pipes during layingand trawling operation
E. Slender marine structuresThematic research area CML : S6,S14
T.Moan CeSOS
36
1. Modelling and control of mobile, interconnected structures for aquaculture in harsh conditions
- hydrodynamics- structural mechanics- automatic control
- system design- operations
Preventfish escape
Challenges:- interaction between floater, net cage, mooring and possibly food barge
Thematic research area F. Aquacultural facilities
OMF-TM
T.Moan CeSOS
-
11.06.2013
19
37Thematic research area G. Renewable Marine Energy
Wind energy
Strategy• Combine offshore
technology with industrial energy experiences
• Joint effort:industry – R&D –education:- marine technology- energy technology
Wave energy
TM-TIF
T.Moan CeSOS
38
Wave energy conversion
- Available power: kW/m wave crest- Absorbed wave power: power = force · velocity
- The machinery (electric, hydraulic or other) provides an opposing forceand so extracts power
- Electrical power (30 – 70 % of absobed power)
Thematic research area G. Renewable Ocean Energy:
TM
T.Moan CeSOS
-
11.06.2013
20
39
Comparison of concepts
HEAVING BUOY HEAVING TWO- PITCHINGBODY SYSTEM DEVICE
FLOATING OWC.
Thematic research area G. Renewable Ocean Energy:
TM; S16
System modelWave-buoy
Hydraulic pump
Hydraulic motor
Pipelines
Check valves
Accumulators
T.Moan CeSOS
40
Source: NREL/Wind power today, 2010.
Mechanical drive train w/gear box
Direct drive Hydraulic transfer
(Chapdrive concept)
Thematic research areasG. Renewable Marine Energy: Offshore wind turbines
TM-TIF
Other subsystems- rotor, tower, support structure,
mooring (foundation)T.Moan CeSOS
-
11.06.2013
21
41Thematic research areasG. Renewable Marine Energy: Offshore wind turbines
TM
Support structures
Floating
T.Moan CeSOS
42
Stochastic dynamic analysis of wind turbines-Extremes for ULS-Stress ranges for fatigue analysis
Contribution to cumulative fatigue damage of wind loads and wave loads
(WB Dong et al)
Thematic research areasG. Renewable Marine Energy: Offshore wind turbines
TM, S3, S12, S15
T.Moan CeSOS
-
11.06.2013
22
43
(WB Dong et al)
Thematic research areasG. Renewable Marine Energy: Offshore wind turbines
TM, S3, S21
Dynamic load effect and reliability analysis of a 750 kW land-based wind turbine De-coupled analysis method:
Time series of Torque
Dynamic contact forces
Global response analysis by FAST (NREL)
tooth
T.Moan CeSOS
Crack propagationmodel
Reliability model
44Thematic research areasG. Renewable Marine Energy: Offshore floating wind turbines
TM, S12, S15
44
- Environmental Conditions- Rotor aerodynamics- Hydrodynamics- System model- Automatic control- Power generation- Stochastic analysis
- Effect of Internal faults (blade pitch fault , grid fault..)
- comparison withland based turbines
- Simulation parameters
Load effects in-Rotor-Drive train-Tower-Support structure-Mooring
• tightly coupledsystem
• nonlinear
T.Moan CeSOS
-
11.06.2013
23
45
• Decoupled analysis to determine Tooth contact forces, Bearing forces, Gear deflections.
- Global aero-hydro-servo-elastic simulation
- Drivetrain multi-body simulationbased on main shaft loading andnacelle motions
GRC Drive train config.
(Xing and Moan, J.Wind Energy, 2012; Xing et al., submitted toJ.Wind Energy, 2012)
Thematic research areasG. Renewable Marine Energy: Offshore wind turbines
TM, S3, S12, S15
Dynamic load effects of a 750 kW FWT with a land-based wind turbine
T.Moan CeSOS
46
Blade pitch and control system faults
• Blade seize: imbalance loads• Shutdown loads: impulse from aerodynamic braking can lead to pitch vibrations• What about sensor faults?• Does changing the shutdown pitch rate help?
Wilkinson et al., 2011
Con
trib
utio
n to
failu
re
rate
(fai
lure
s/tu
rbin
e/yr
) (%
)
Pitch system
-200 -150 -100 -50 0 50 100 150 200-1.5
-1
-0.5
0
0.5
1
1.5x 10
4
Tow
er T
op B
MY
, kN
m
TLP, EC 5
time - TF, s
BC
Shut down turbine quickly
Fault occurs
Continue operating with faulted blade
Example: Tension leg wind turbineunder blade pitch fault
Thematic research areasG. Renewable Marine Energy: Offshore wind turbines
TM, S3, S21
T.Moan CeSOS
-
11.06.2013
24
47
Utilization of the wind farm space
FishfarmWEC array
Aquaculture farm
T.Moan CeSOS
48
Concluding remarks:Continued excellence in marine technology CeSOS continuation – with alternative support
- CRI CREATE (2006-2014)- CEER NOWITECH (2009-2017)- 7th EU FR MARINA platform, Mare-Wint (2012-2016)- other RCN, EU projects
CoE AMOS (2013-2023)
Competence in theMarine Technology Centre- personnel (with employment or new recruitment) MARINTEK (16), NTNU(3+)
- publications, educational programs,- projects run by others (KMB Arctic DP,………..)
InfrastructureT.Moan CeSOS
-
11.06.2013
25
49
Concluding remarks- Increased ambitions and focus on excellencehas strengthened the marine technology research and qualityas well as organising and managing research
- Increased internationalisation - Increased international visibility (attractiveness in research consortia, recruitment of researchers and MSc candidates)
- attracts national and international research funding! - a continuous sequence of CoE/CRI/… centres ”justify” investment in new infrastructure
T.Moan CeSOS
50Acknowledgement
- Fellow CeSOS colleagues for cooperation making CeSOS a CoE
- the Research Council of Norway forinitiating and sponsoring CeSOS
- NTNU, MARINITEK, SINTEF Fisheryand Aquaculture, Det Norske Veritas andStatoil for financial support and cooperation
- International partners: DTU, MIT, INSEAN, and others for cooperation
Thank you!T.Moan CeSOS