‘Dynamic Positioning-Theory & Practices’ - 2nd Edition

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CONTENT

About the Author

Introduction

Acknowledgments

Part I – Theory of Dynamic Positioning

1. Offshore Environment

1.1 Development of Dynamic Positioning (DP)

1.2 Offshore Structures

1.3 Types of DP Vessels

1.4 Underwater Vehicles

2. Components of a DP System

2.1 Definitions .

2.2 Components of a Dynamic Positioning System

2.2.1 The Vessel Model

2.2.2 Thrusters

2.2.3 Controller

2.2.4 Position Reference System (PRS)

2.2.5 Sensors

2.2.6 Power System

2.2.7 Human Machine Interface (HMI)

2.2.8 Independent Joystick Control System (IJS)

2.3 Mode of DP Operation

2.4 Centre of Rotation

3. DP System Architecture

3.1 Guidelines on DP Vessels

3.2 Concept of Redundancy

3.3 ?Equipment Classes

3.4 Integrated Vessel Management System

3.5 Thruster Configuration

3.6 Communications, Alarm and Warning

3.7 Ergonomics

3.8 Cables and Piping Systems

3.9 Fire and Gas System

3.10 Protection against Fire and Flooding

3.11 Emergency Shutdown (ESD)

4. Position Measurement

4.1 Position Reference System

4.2 System Settings

4.3 Signal Processing and PRS Tests

4.3.1 Freeze Test

4.3.2 Variance Test and Weighting

4.3.3 Prediction Test

4.3.4 Divergence Test

4.3.5 Median Test

4.3.6 Example of PRS Weighting

4.4 Common Factor Failure

4.5 Position Coordinate System

5. Principles of Dynamic Positioning

5.1 Methods of Positioning

5.2 The Model

5.2.1 Motion Model of Vessel

5.2.2 Kalman Filter and Model

5.2.3 Example of Model Update.

5.3 Error Compensation Force

5.4 Power Overload Control

5.5 Dynamic Positioning Process

5.5.1 DP System Control Loop

5.5.2 Quick Current (Fast Learn)

5.5.3 Gain Control

5.5.4 Model Control

5.6 Modelling Errors

5.6.1 Thruster Demand/Feedback Error

5.6.2 Wind Sensor Error

5.6.3 Wave Drift Forces

5.6.4 Wind Shadow

6. Position Keeping Capability

6.1 DP Capability

6.2 DP Footprint Plots

6.3 Consequence Analysis

6.4 DP Capability Plot

6.4.1 DNVGL Capability Levels

6.4.2 Most Loaded Thruster

6.4.3 Drift-off Calculations

7. Power System

7.1 Components of Power System

7.2 Propulsion Systems

7.3 Power Generation

7.4 Switchboards

7.5 Uninterruptible Power Supplies (UPS)

7.6 Alternative Energy Storage

7.7 Hybrid DC Distribution Grid

7.8 Power Management System

?????????7.8.1 Scope of a Power Management System

?????????7.8.2 Functions of a Power management System

8. Guidelines for Vessels and Units with Dynamic Positioning (DP) Systems (MSC.1/Circ.1580)

Preamble

1. General

1.1 Purpose

1.2 Definitions

2. Equipment Classes

3. Functional Requirements

3.1 General

3.2 Power system

3.3 Thruster system

3.4 DP Control System

3.4.1 General

3.4.2 Computers

3.4.3 Position reference system

3.4.4 Vessel Sensors

3.5 Cables and piping systems

3.6 Requirements for essential non-DP systems

3.7 Independent joystick system

4. Operational Requirements

5. Surveys, Testing and Dynamic Positioning Verification Acceptance Document (DPVAD)

6. Training

9. Risk Assessment

9.1 Definitions

9.2 Hazard Analysis Techniques

9.3 The Risk Assessment

9.3.1 Procedure

9.3.2 Hazard Identification

9.3.3 QRA

9.3.4 Risk Mitigation

9.3.5 Record of Findings

9.3.6 Review of the Risk Assessment

9.4 Risk Environment in DP Operations

9.4.1 Hazards- DP Operations

9.4.2 Escalating Factors

9.5 Bow-Tie Analysis

10. DP Operational Planning

10.1 The Scope

10.2 Risk Analysis

10.3 Class Requirement

10.4 DP Status Alert Levels

10.5 Operational Activity Planning

10.5.1 Critical Activity Mode (CAM)

10.5.2 Task Appropriate Model (TAM)

10.5.3 Activity-Specific Operating Guidelines (ASOG)

10.6 Important Planning Factors

10.6.1 ?DP Capability

10.6.2 Positional Information

10.6.3 Weather

10.6.4 Power Generation and Distribution

10.6.5 Position Reference Systems

10.6.6 Operation in Shallow Waters and Strong Currents

10.6.7 SIMOPS (Simultaneous Operations)

10.6.8 DP Vessels Operating in Proximity

10.6.9 DP Operations near Floating Objects

10.7 DP Planned Maintenance

10.8 Blackout Recovery Drill

10.9 DP Operations Manual

10.10 Bridge Management

10.11 Management of Change (MOC)

10.12 Documentation and Records

10.13 Training and Competence

10.14 DP Emergency Drills

10.15 Human Factors

10.16 DP Station Keeping Events

11. DP Operation and Contingency Planning

11.1 Entering an Oil/Gas Field

11.2 Selecting a work site

11.3 Entering 500m Safety zone

11.4 Approaching the Work site

11.5 DP Watchkeeping

11.5.1 Parameters to be Monitored

11.5.2 Functional Controls

11.5.3 Warning and Alarm Limits

11.5.4 DP Watchkeeping Handovers

11.5.5 Data Logkeeping

11.6 Handling a DP Vessel

11.6.1 DP Mode

11.6.2 Joystick mode

11.6.3 Manual mode

11.7 Contingency Planning

11.7.1 Safe Termination and withdrawal

11.7.2 Action During Blackout

11.7.3 Abandoning DP Operation

11.7.4 DP Emergency Response

?Part II – Equipment

12. Position Reference Systems

12.1 ?Differential GNSS

12.1.1 DGPS

12.1.2 GLONASS

12.1.3 Differential Absolute and Relative Positioning System (DARPS)

12.2 FANBEAM

12.3 CyScan

?12.4 Artemis

?12.5 Taut Wire

12.6 RADius

12.7 RadaScan

?12.8 HPR System

12.8.1 Underwater Acoustics

12.8.2 The HPR system

12.8.4 Methods of Positioning

12.8.5 Applications of HPR

12.8.6 Operational Limitations of HPR System

12.9 Hydroacoustic Aided Inertial Navigation (HAIN) System

?12.9.1 Inertial-aided GNSS

13. Sensors - Gyro, MRU and Wind Sensor

13.1 Heading Sensor

13.2 Motion Reference Unit/Vertical Reference Unit

13.3 Wind Sensor

13.4 Sensor Redundancy

13.5 Other Sensors

14. Thruster System

14.1 Factors Affecting Thrust Capability

14.2 Thruster Failure Modes

14.2.1 Hydraulic Failure

14.2.2 Electrical Failure

14.3 Thruster Failure Modes

14.4 Dealing with Thruster Failure

14.5 Isolation of a Faulty Thruster

14.6 System Checks

?Part III – Trials, Tests and Failures

15. Surveys, Trials and Checks

15.1 Surveys

15.2 FMEA and FMECA

15.2.1 Uses

15.2.2 The Objectives

15.2.3 Scope

15.3 Single Point Failure and Redundancy Criteria

15.3.1 Failure Modes and Effects

15.3.2 Common Mode Failure

15.3.3 Common Cause Failure

15.3.4 Hidden Failures

15.3.5 FMEA Tests

15.3.6 Software FMEA

15.4 The FMEA Objectives

15.5 Concerns

15.6 FMEA Proving Trials

15.7 Annual DP Trials

15.8 FMEA verification

15.9 FMEA Management

15.10 Gap Analysis

15.11 Minor Upgrades and Modifications

15.12 Hardware-in-the-loop (HIL) Testing

15.13 Dynamic Positioning Verification Acceptance Document (DPVAD)

15.14 Trials and Checks

15.15 eCMID and CMID database

16. Failures, Emergencies and Incidents.

16.1 Trends and Analyses of DP Incidents

16.1.1 Position Reference Systems

16.1.2 Computer and Systemic Failures

16.1.3 Model Instability

16.1.4 Thrusters

16.1.5 Power

16.1.6 Sensors

16.1.7 Joystick

16.1.8 Human Error

16.2 Offshore Incidents

16.2.1 DSV Bibby Topaz Incident

16.2.2 OSV Incident in the US Outer Continental Shelf

17.?DP Incident Investigation

17.1 The Objective

17.2 Pre- Investigation

17.3 Initiating Investigation

17.5 Gathering and Collating Data

17.6 Root Cause Analysis

17.7 Recommendations

17.8 Trends Analysis

17.9 Following up

17.10 LFI

Part IV – Roles of DP Vessels

18. Diving Operations

18.1 DSV

18.2 Responsibilities of Personnel

18.3 Communications

18.4 DP Status Alert Levels

18.5 Diving Management systems

18.6 Operational Activity Planning

18.7 Hazards Identification

18.8 The Diving Operation

18.9 Contingency Plan

19. Offshore Drilling Operations

19.1 MODU

19.1 Offshore Drilling Process

19.2 Responsibilities of Personnel

19.3 Communications

19.4 DP Status Alert Levels

19.5 Offshore Drilling

19.6 Operational Activity Planning

19.7 Hazards Identification

19.8 The Drilling Operation

19.9 Contingency Plan

?20. Pipe Lay Operation

20.1 Pipe Lay vessel

20.2 Responsibilities of Personnel

20.3 Communications

20.4 DP Status Alert Levels

20.5 Types of Pipe lay

20.6 Use of DP in Pipe lay

20.6 Operational Activity Planning

20.7 Hazards Identification

20.8 The Pipe lay Operation

20.9 Contingency Plan

21. AHV and OSV Operations

21.1 Anchor Handling Vessel

21.2 OSV

21.3 Operational Activity Planning

21.4 Hazards

21.5 Vessel Handling

21.6 Anchor Handling Operation for MODUs

22. Heavy Lift Operations

22.1 Heavy lift /Crane Vessels

22.2 Responsibilities of Personnel

22.3 Communications

22.4 DP Status Alert Levels

22.5 Heavy lift operating Modes

22.6 Operational Activity Planning

22.7 Hazards Identification

22.8 DP Heavy lift Operation

22.9 Contingency Plan

23. Shuttle Tanker and FPSO Operations

23.1 Shuttle Tankers

23.2 Responsibilities of Personnel

23.3 Communications

23.4 DP Status Alert Levels

23.5 Offloading Facilities

23.6 Operational Activity Planning

23.7 Hazards Identification

23.8 The Offtake Operation

23.9 Emergency Response

24. Miscellaneous Mission–specific Operations

24.1 Accommodation vessels

24.2 Cable Lay vessels

24.3 Dredging vessels

24.4 Rock Dumping vessels

24.5 Service Operation vessels (SOVs)

24.6 ROV support vessels