Guidance and control of iceberg towing operation in open water, with experimental testing
Icebergs pose serious threats to existing and planned offshore structures, vessels, and operations in Arctic waters such as the East Coast of Canada, East and West Greenland, the Barents Sea, and the Kara Sea. A collision between an offshore installation and an iceberg could cause serious damage to...
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Institutt for marin teknikk
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ftntnutrondheimi:oai:ntnuopen.ntnu.no:11250/238547 2023-05-15T15:11:37+02:00 Guidance and control of iceberg towing operation in open water, with experimental testing Sundland, Mika Nikolai Skjetne, Roger Norges teknisk-naturvitenskapelige universitet, Fakultet for ingeniørvitenskap og teknologi, Institutt for marin teknikk 2013 http://hdl.handle.net/11250/238547 eng eng Institutt for marin teknikk 648691 ntnudaim:9502 http://hdl.handle.net/11250/238547 121 Master thesis 2013 ftntnutrondheimi 2019-09-17T06:48:49Z Icebergs pose serious threats to existing and planned offshore structures, vessels, and operations in Arctic waters such as the East Coast of Canada, East and West Greenland, the Barents Sea, and the Kara Sea. A collision between an offshore installation and an iceberg could cause serious damage to the installation, and in a worst case scenario take life. Therefore, if an iceberg is evaluated as a threat, physical iceberg management must be mobilized to mitigate the threat. For open water, this is typically done by single vessel towing of the iceberg using steel hawser and synthetic floating tow lines.This work describes a model for open water iceberg towing using a single towing vessel. This includes a mathematical model of the towing vessel, the iceberg and the towline between them. It also looks into certain towline configuration choices, estimation of damping and mass, and other things that can affect the towing model. The mathematical model was based on the work of [marchenko2008] and then generalized to the Fossen-style of notation [fossen2011].A maneuvering controller was designed for use in the towing operation. The controller was designed using maneuvering theory as described by [skjetne2005]. The controller is responsible for guiding the ship along a path, with the iceberg trailing behind it. Another controller has been designed for controlling the tension in the towline. In addition to the controllers, several observers had to be designed. These observers are responsible for estimating position, velocity, bias, and tension in the system.Finally, an experiment with the CS Enterprise I model vessel, and an emulated iceberg, was conducted in a towing tank. The experiment gave important qualitative data regarding the iceberg towing system, and confirmed that the controller worked in a real-life scenario. Master Thesis Arctic Barents Sea Greenland Iceberg* Kara Sea NTNU Open Archive (Norwegian University of Science and Technology) Arctic Barents Sea Canada Fossen ENVELOPE(18.652,18.652,69.045,69.045) Greenland Kara Sea |
institution |
Open Polar |
collection |
NTNU Open Archive (Norwegian University of Science and Technology) |
op_collection_id |
ftntnutrondheimi |
language |
English |
description |
Icebergs pose serious threats to existing and planned offshore structures, vessels, and operations in Arctic waters such as the East Coast of Canada, East and West Greenland, the Barents Sea, and the Kara Sea. A collision between an offshore installation and an iceberg could cause serious damage to the installation, and in a worst case scenario take life. Therefore, if an iceberg is evaluated as a threat, physical iceberg management must be mobilized to mitigate the threat. For open water, this is typically done by single vessel towing of the iceberg using steel hawser and synthetic floating tow lines.This work describes a model for open water iceberg towing using a single towing vessel. This includes a mathematical model of the towing vessel, the iceberg and the towline between them. It also looks into certain towline configuration choices, estimation of damping and mass, and other things that can affect the towing model. The mathematical model was based on the work of [marchenko2008] and then generalized to the Fossen-style of notation [fossen2011].A maneuvering controller was designed for use in the towing operation. The controller was designed using maneuvering theory as described by [skjetne2005]. The controller is responsible for guiding the ship along a path, with the iceberg trailing behind it. Another controller has been designed for controlling the tension in the towline. In addition to the controllers, several observers had to be designed. These observers are responsible for estimating position, velocity, bias, and tension in the system.Finally, an experiment with the CS Enterprise I model vessel, and an emulated iceberg, was conducted in a towing tank. The experiment gave important qualitative data regarding the iceberg towing system, and confirmed that the controller worked in a real-life scenario. |
author2 |
Skjetne, Roger Norges teknisk-naturvitenskapelige universitet, Fakultet for ingeniørvitenskap og teknologi, Institutt for marin teknikk |
format |
Master Thesis |
author |
Sundland, Mika Nikolai |
spellingShingle |
Sundland, Mika Nikolai Guidance and control of iceberg towing operation in open water, with experimental testing |
author_facet |
Sundland, Mika Nikolai |
author_sort |
Sundland, Mika Nikolai |
title |
Guidance and control of iceberg towing operation in open water, with experimental testing |
title_short |
Guidance and control of iceberg towing operation in open water, with experimental testing |
title_full |
Guidance and control of iceberg towing operation in open water, with experimental testing |
title_fullStr |
Guidance and control of iceberg towing operation in open water, with experimental testing |
title_full_unstemmed |
Guidance and control of iceberg towing operation in open water, with experimental testing |
title_sort |
guidance and control of iceberg towing operation in open water, with experimental testing |
publisher |
Institutt for marin teknikk |
publishDate |
2013 |
url |
http://hdl.handle.net/11250/238547 |
long_lat |
ENVELOPE(18.652,18.652,69.045,69.045) |
geographic |
Arctic Barents Sea Canada Fossen Greenland Kara Sea |
geographic_facet |
Arctic Barents Sea Canada Fossen Greenland Kara Sea |
genre |
Arctic Barents Sea Greenland Iceberg* Kara Sea |
genre_facet |
Arctic Barents Sea Greenland Iceberg* Kara Sea |
op_source |
121 |
op_relation |
648691 ntnudaim:9502 http://hdl.handle.net/11250/238547 |
_version_ |
1766342454830694400 |