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