2506 lines
56 KiB
Plaintext
2506 lines
56 KiB
Plaintext
#LyX 2.3 created this file. For more info see http://www.lyx.org/
|
|
\lyxformat 544
|
|
\begin_document
|
|
\begin_header
|
|
\save_transient_properties true
|
|
\origin unavailable
|
|
\textclass article
|
|
\use_default_options true
|
|
\begin_modules
|
|
customHeadersFooters
|
|
minimalistic
|
|
todonotes
|
|
figs-within-sections
|
|
\end_modules
|
|
\maintain_unincluded_children false
|
|
\language british
|
|
\language_package default
|
|
\inputencoding auto
|
|
\fontencoding global
|
|
\font_roman "default" "default"
|
|
\font_sans "default" "default"
|
|
\font_typewriter "default" "default"
|
|
\font_math "auto" "auto"
|
|
\font_default_family default
|
|
\use_non_tex_fonts false
|
|
\font_sc false
|
|
\font_osf false
|
|
\font_sf_scale 100 100
|
|
\font_tt_scale 100 100
|
|
\use_microtype true
|
|
\use_dash_ligatures true
|
|
\graphics default
|
|
\default_output_format default
|
|
\output_sync 0
|
|
\bibtex_command default
|
|
\index_command default
|
|
\paperfontsize default
|
|
\spacing single
|
|
\use_hyperref true
|
|
\pdf_title "Net-zero Cable Repair Ship"
|
|
\pdf_author "Andy Pack"
|
|
\pdf_bookmarks true
|
|
\pdf_bookmarksnumbered false
|
|
\pdf_bookmarksopen false
|
|
\pdf_bookmarksopenlevel 1
|
|
\pdf_breaklinks false
|
|
\pdf_pdfborder true
|
|
\pdf_colorlinks false
|
|
\pdf_backref false
|
|
\pdf_pdfusetitle true
|
|
\papersize default
|
|
\use_geometry true
|
|
\use_package amsmath 1
|
|
\use_package amssymb 1
|
|
\use_package cancel 1
|
|
\use_package esint 1
|
|
\use_package mathdots 1
|
|
\use_package mathtools 1
|
|
\use_package mhchem 1
|
|
\use_package stackrel 1
|
|
\use_package stmaryrd 1
|
|
\use_package undertilde 1
|
|
\cite_engine biblatex
|
|
\cite_engine_type authoryear
|
|
\biblio_style plain
|
|
\biblio_options urldate=long
|
|
\biblatex_bibstyle authoryear
|
|
\biblatex_citestyle authoryear
|
|
\use_bibtopic false
|
|
\use_indices false
|
|
\paperorientation portrait
|
|
\suppress_date true
|
|
\justification true
|
|
\use_refstyle 1
|
|
\use_minted 0
|
|
\index Index
|
|
\shortcut idx
|
|
\color #008000
|
|
\end_index
|
|
\leftmargin 2cm
|
|
\topmargin 2cm
|
|
\rightmargin 3.5cm
|
|
\bottommargin 2cm
|
|
\secnumdepth 3
|
|
\tocdepth 3
|
|
\paragraph_separation skip
|
|
\defskip medskip
|
|
\is_math_indent 0
|
|
\math_numbering_side default
|
|
\quotes_style british
|
|
\dynamic_quotes 0
|
|
\papercolumns 1
|
|
\papersides 1
|
|
\paperpagestyle fancy
|
|
\bullet 1 0 9 -1
|
|
\bullet 2 0 24 -1
|
|
\tracking_changes false
|
|
\output_changes false
|
|
\html_math_output 0
|
|
\html_css_as_file 0
|
|
\html_be_strict false
|
|
\end_header
|
|
|
|
\begin_body
|
|
|
|
\begin_layout Standard
|
|
\begin_inset CommandInset toc
|
|
LatexCommand tableofcontents
|
|
|
|
\end_inset
|
|
|
|
|
|
\begin_inset Newpage newpage
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
\begin_inset FloatList table
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
\begin_inset FloatList figure
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
\begin_inset Newpage newpage
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Right Footer
|
|
Andy Pack
|
|
\end_layout
|
|
|
|
\begin_layout Left Footer
|
|
January 2021
|
|
\end_layout
|
|
|
|
\begin_layout Left Header
|
|
Sustainable Cable Ship - Group 1
|
|
\end_layout
|
|
|
|
\begin_layout Part
|
|
Vessel Study
|
|
\end_layout
|
|
|
|
\begin_layout Section
|
|
Propulsion
|
|
\end_layout
|
|
|
|
\begin_layout Subsection
|
|
Power Requirements
|
|
\end_layout
|
|
|
|
\begin_layout Subsubsection
|
|
Hotel Load [AP]
|
|
\end_layout
|
|
|
|
\begin_layout Section
|
|
Efficiency Investigations
|
|
\end_layout
|
|
|
|
\begin_layout Subsection
|
|
Solar [AP]
|
|
\end_layout
|
|
|
|
\begin_layout Section
|
|
Energy Storage [AP]
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
\begin_inset Flex TODO Note (inline)
|
|
status open
|
|
|
|
\begin_layout Plain Layout
|
|
Justify need for buffer battery, surrounding power electronics
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Subsection
|
|
Rechargeable Battery Chemistry
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
There are many different methods for constructing a traditional rechargeable
|
|
battery or
|
|
\emph on
|
|
secondary cell
|
|
\emph default
|
|
; the chemistry of the reactants determines the characteristics of the system
|
|
as well as having drastic implications on the safety and sustainability.
|
|
Secondary cells are a consumable item, their components degrade with usage
|
|
and this lifespan will be reduced if not constructed and maintained correctly.
|
|
This only accentuates the importance of the solution's sustainability as
|
|
it constitute a significant amount of material which will periodically
|
|
require source and disposal.
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
\begin_inset Float table
|
|
wide false
|
|
sideways false
|
|
status open
|
|
|
|
\begin_layout Plain Layout
|
|
\noindent
|
|
\align center
|
|
\begin_inset Tabular
|
|
<lyxtabular version="3" rows="8" columns="7">
|
|
<features tabularvalignment="middle">
|
|
<column alignment="center" valignment="middle" width="15col%">
|
|
<column alignment="center" valignment="middle" width="10col%">
|
|
<column alignment="center" valignment="middle" width="10col%">
|
|
<column alignment="center" valignment="middle" width="10col%">
|
|
<column alignment="center" valignment="middle" width="10col%">
|
|
<column alignment="center" valignment="middle" width="10col%">
|
|
<column alignment="center" valignment="middle" width="10col%">
|
|
<row>
|
|
<cell alignment="center" valignment="top" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\series bold
|
|
NiCd
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\series bold
|
|
NiMH
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\series bold
|
|
Lead Acid
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\series bold
|
|
Li-ion
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\series bold
|
|
Li-ion Polymer
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\series bold
|
|
Reusable Alkaline
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
</row>
|
|
<row>
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
Gravimetric Energy Density
|
|
\begin_inset Newline newline
|
|
\end_inset
|
|
|
|
|
|
\series bold
|
|
(Wh/kg)
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
45 - 80
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
60 - 120
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
30 - 50
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
110 - 160
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
100 - 130
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
80 (initial)
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
</row>
|
|
<row>
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
Cycle Life
|
|
\begin_inset Newline newline
|
|
\end_inset
|
|
|
|
|
|
\series bold
|
|
(to 80% of initial)
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
1500
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
300 - 500
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
200 - 300
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
500 - 1000
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
300 - 500
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
50
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
</row>
|
|
<row>
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
Self-discharge / Month
|
|
\begin_inset Newline newline
|
|
\end_inset
|
|
|
|
|
|
\series bold
|
|
(room temperature)
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
20%
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
30%
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
5%
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
10%
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
~10%
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
0.3%
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
</row>
|
|
<row>
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
Load Current
|
|
\begin_inset Newline newline
|
|
\end_inset
|
|
|
|
|
|
\series bold
|
|
(Peak)
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
20C
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
5C
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
5C
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
>2C
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
>2C
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
0.5C
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
</row>
|
|
<row>
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
Load Current
|
|
\begin_inset Newline newline
|
|
\end_inset
|
|
|
|
|
|
\series bold
|
|
(Ideal)
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
1C
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
\begin_inset Formula $\leq$
|
|
\end_inset
|
|
|
|
0.5C
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
0.2C
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
\begin_inset Formula $\leq$
|
|
\end_inset
|
|
|
|
1C
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
\begin_inset Formula $\leq$
|
|
\end_inset
|
|
|
|
1C
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
\begin_inset Formula $\leq$
|
|
\end_inset
|
|
|
|
0.2C
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
</row>
|
|
<row>
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
Operating Temperature
|
|
\begin_inset Newline newline
|
|
\end_inset
|
|
|
|
|
|
\series bold
|
|
(discharge only)
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
-40 - 60°C
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
-20 - 60°C
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
-20 - 60°C
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
-20 - 60°C
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
0 - 60°C
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="middle" topline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
0 - 65°C
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
</row>
|
|
<row>
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
Commercial Use Since
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
1950
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
1990
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
1970 (sealed lead acid)
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
1991
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
1999
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
1992
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
</row>
|
|
</lyxtabular>
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Plain Layout
|
|
\noindent
|
|
\align center
|
|
\begin_inset VSpace smallskip
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Plain Layout
|
|
\begin_inset CommandInset citation
|
|
LatexCommand citep
|
|
key "battery-uni-chemistry-types"
|
|
literal "false"
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Plain Layout
|
|
\begin_inset Caption Standard
|
|
|
|
\begin_layout Plain Layout
|
|
Comparison of physical characteristics for common rechargeable battery chemistri
|
|
es
|
|
\begin_inset CommandInset label
|
|
LatexCommand label
|
|
name "tab:battery-chemistry-stats"
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
Table
|
|
\begin_inset CommandInset ref
|
|
LatexCommand ref
|
|
reference "tab:battery-chemistry-stats"
|
|
plural "false"
|
|
caps "false"
|
|
noprefix "false"
|
|
|
|
\end_inset
|
|
|
|
outlines the relevant characteristics for the most common configurations
|
|
of rechargeable battery.
|
|
As can be seen, Lithium-ion technology leads the other solutions in most
|
|
of the categories.
|
|
While Nickel-Cadmium has a higher lifespan than Li-ion there are other
|
|
factors that led to this being discounted.
|
|
NiCd suffers from the
|
|
\emph on
|
|
memory effect
|
|
\emph default
|
|
, where frequent charge/discharge cycles lead to the battery
|
|
\emph on
|
|
remembering
|
|
\emph default
|
|
the point at which charging began and experiencing a drop in voltage past
|
|
this point.
|
|
Additionally, Cadmium is a highly toxic heavy metal requiring specialist
|
|
containment; in fact, many types of Cadmium battery are now banned in the
|
|
EU.
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
Lithium-ion batteries are a mature domain and one of active research; they
|
|
are essentially the standard for portable electronics and the growing electric
|
|
vehicle market.
|
|
\end_layout
|
|
|
|
\begin_layout Subsection
|
|
Innovative Solutions
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
\begin_inset Flex TODO Note (inline)
|
|
status open
|
|
|
|
\begin_layout Plain Layout
|
|
Flow battery, solid state
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Subsection
|
|
Proposed Solution
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
\begin_inset Flex TODO Note (inline)
|
|
status open
|
|
|
|
\begin_layout Plain Layout
|
|
Justify lithium & 18650 cell
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
For this project, Lithium was proposed as the solution for a vessel energy
|
|
storage solution.
|
|
As previously mentioned, the domain is an area of fervent research as a
|
|
result of it's critical importance to consumer electronics and electric
|
|
vehicles.
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Subsubsection
|
|
Configuration
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
\begin_inset Flex TODO Note (inline)
|
|
status open
|
|
|
|
\begin_layout Plain Layout
|
|
Matlab code, C rates etc
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
The amount of required cells for the battery system was calculated using
|
|
the expected propulsion power requirements in conjunction with the expected
|
|
generation capabilities of the Ammonia fuel cells.
|
|
The specifics for the calculations can be seen in appendix
|
|
\begin_inset CommandInset ref
|
|
LatexCommand ref
|
|
reference "sec:Battery-Cell-Calculations"
|
|
plural "false"
|
|
caps "false"
|
|
noprefix "false"
|
|
|
|
\end_inset
|
|
|
|
; to summarise, the amount of required cells was calculated from the required
|
|
power draw of the battery and the characteristics of the 18650 Lithium
|
|
cell being used.
|
|
The result was 237,169 cells.
|
|
These cells are arranged into a M x N matrix of parallel and series blocks,
|
|
all the series blocks connected in parallel must be of the same length
|
|
\begin_inset Flex TODO Note (Margin)
|
|
status open
|
|
|
|
\begin_layout Plain Layout
|
|
Figure?
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
.
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
The balance of parallel to series blocks not necessarily a critical design
|
|
parameter; as the drive motors are AC, transformers can be used to modify
|
|
the two parameters.
|
|
For high power applications high voltage is typically preferred to high
|
|
current.
|
|
\end_layout
|
|
|
|
\begin_layout Subsubsection
|
|
Challenges
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
\begin_inset Flex TODO Note (inline)
|
|
status open
|
|
|
|
\begin_layout Plain Layout
|
|
\begin_inset Quotes bld
|
|
\end_inset
|
|
|
|
rapid disassembly
|
|
\begin_inset Quotes brd
|
|
\end_inset
|
|
|
|
, lifespan reduction (replacement required)
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Subsubsection
|
|
Safety Circuitry
|
|
\end_layout
|
|
|
|
\begin_layout Subsubsection
|
|
Lifespan
|
|
\end_layout
|
|
|
|
\begin_layout Subsubsection
|
|
Financial
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
\begin_inset Flex TODO Note (inline)
|
|
status open
|
|
|
|
\begin_layout Plain Layout
|
|
Price per pack
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Subsection
|
|
Life-cycle Analysis
|
|
\end_layout
|
|
|
|
\begin_layout Subsection
|
|
Time-dependent Modelling
|
|
\end_layout
|
|
|
|
\begin_layout Section
|
|
Mission Ops
|
|
\end_layout
|
|
|
|
\begin_layout Subsection
|
|
Grapnel-based Operations [AP]
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
While the use of robotics has made sub-sea cable repair operations more
|
|
efficient, durable and accurate, as will be discussed there are situations
|
|
where this is not available and it is worth briefly outlining how grapnels
|
|
are used in repair operations.
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
Grapnels are specialised tools attached to lengths of chain which trail
|
|
the stern of the ship.
|
|
For cable repair operations, a cut & hold grapnel is used
|
|
\begin_inset CommandInset citation
|
|
LatexCommand citep
|
|
key "cut-and-hold-paper,cut-and-hold-eta-product"
|
|
literal "false"
|
|
|
|
\end_inset
|
|
|
|
.
|
|
With knowledge of the path of the subject cable and the location of the
|
|
fault, the grapnel is lowered before the boat makes a pass perpendicular
|
|
to the cable.
|
|
As the grapnel makes contact it is able to both cut and grip the cable
|
|
before being raised to the surface vessel.
|
|
\begin_inset Flex TODO Note (Margin)
|
|
status open
|
|
|
|
\begin_layout Plain Layout
|
|
Disadvantages
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Subsection
|
|
Unmanned Underwater Vehicle Operations [AP]
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
The following section outlines how the use of an unmanned underwater vehicle
|
|
(UUV) can make mission operations more efficient and precise.
|
|
The state of current UUV usage throughout cable repair operations is outlined
|
|
in order to identify the critical capabilities, requirements and advantages
|
|
over traditional grapnel operations.
|
|
The future of the domain is then explored and the challenges in applying
|
|
these developments to sub-sea cable repair are identified before exploring
|
|
how these can be overcome in order to meet the determined requirements.
|
|
Prior to this, the domain of UUVs as a whole is described in order to outline
|
|
the scope of available vehicles.
|
|
\end_layout
|
|
|
|
\begin_layout Subsubsection
|
|
UUV Classes
|
|
\end_layout
|
|
|
|
\begin_layout Paragraph
|
|
ROVs and AUVs
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
UUVs can be divided into two categories based on their control scheme.
|
|
Remotely operated underwater vehicles (ROV) and autonomous underwater vehicles
|
|
(AUV) are distinguished by whether a human is controlling the vehicle or
|
|
whether it operates independently; as such they have different applications.
|
|
ROVs have been the vehicle class of choice where complex intervention and
|
|
actuation is required such as offshore oil and gas operations and cable
|
|
repair.
|
|
A human operator controls the vehicle from the surface vessel, bi-directional
|
|
communication including data, control, video and power are transmitted
|
|
through an umbilical cord tether between the two vessels.
|
|
AUVs on the other hand have primarily been used for survey and research
|
|
purposes.
|
|
|
|
\begin_inset Flex TODO Note (Margin)
|
|
status open
|
|
|
|
\begin_layout Plain Layout
|
|
No umbilical cord?
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
This distinction in responsibilities is not static, however.
|
|
Like other robotics domains such as auto-mobiles and ships, autonomy is
|
|
a rapidly developing area of research and development; newer vehicles are
|
|
able to complete more complex operations without human intervention and
|
|
with longer endurance.
|
|
\end_layout
|
|
|
|
\begin_layout Paragraph
|
|
Physical Configuration
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
The physical layout of a UUV can generally be described by one of two classes,
|
|
box frames or torpedo shaped.
|
|
|
|
\begin_inset Flex TODO Note (Margin)
|
|
status open
|
|
|
|
\begin_layout Plain Layout
|
|
determined by the size and range of the vehicle.
|
|
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
Box frame UUVs are typically larger with more space for instruments and
|
|
actuators but are not expected to make longer distance journeys as a result
|
|
of their poor hydrodynamic profile.
|
|
Torpedo shaped vehicles tend to be smaller without actuators; their hydrodynami
|
|
c profile makes them well suited for faster, longer distance missions however
|
|
this comes at the cost of reduced stability and control.
|
|
\end_layout
|
|
|
|
\begin_layout Subsubsection
|
|
Current ROV Usage
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
Cable repair operations are currently undertaken, where possible, with human-con
|
|
trolled ROVs.
|
|
With visual contact and direct actuation at the seabed, the ROV is used
|
|
to identify, cut and grip the cable for retrieval to the surface-vessel.
|
|
In doing so the need for repeated motions of the ship across the cable
|
|
is removed, saving time and fuel.
|
|
Instead the surface vessel uses dynamic positioning in order to maintain
|
|
it's position above the ROV and cable.
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
While this finer control is a key benefit for ROV use over grapnels, one
|
|
of the most important benefits is the ability to bury repaired cables in
|
|
the sea floor using high-powered water jets.
|
|
70% of cable damage is caused by man-made activity, of which over a third
|
|
is a result of fishing activity; another quarter is as a result ship anchors
|
|
|
|
\begin_inset CommandInset citation
|
|
LatexCommand citep
|
|
key "ultra-map-cable-damage-causes"
|
|
literal "false"
|
|
|
|
\end_inset
|
|
|
|
.
|
|
As such, the ability to protect sub-sea cables in shallower waters by burying
|
|
them from human intervention is a key parameter in protecting cables from
|
|
further damage.
|
|
While this can be completed with a separate plough, this would require
|
|
more deck space, motion of the surface vessel.
|
|
Ploughs are also typically extremely heavy pieces of equipment and would
|
|
make the vessel less efficient overall.
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
The need for fine movement control and actuators with which to manipulate
|
|
cables has led to box frame vehicles dominating this field, figure
|
|
\begin_inset CommandInset ref
|
|
LatexCommand ref
|
|
reference "fig:The-HECTOR-7-ROV"
|
|
plural "false"
|
|
caps "false"
|
|
noprefix "false"
|
|
|
|
\end_inset
|
|
|
|
shows SIMEC Technology's HECTOR-7 ROV, a typical design for sub-sea cable
|
|
repair vehicles.
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
\begin_inset Float figure
|
|
wide false
|
|
sideways false
|
|
status open
|
|
|
|
\begin_layout Plain Layout
|
|
\noindent
|
|
\align center
|
|
\begin_inset Graphics
|
|
filename hector-7.jpg
|
|
lyxscale 50
|
|
width 50col%
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Plain Layout
|
|
\begin_inset Caption Standard
|
|
|
|
\begin_layout Plain Layout
|
|
SIMEC Technology's HECTOR-7 ROV used on Orange Marine's Pierre de Fermat,
|
|
|
|
\begin_inset CommandInset citation
|
|
LatexCommand citep
|
|
key "rov-hector-7-datasheet"
|
|
literal "false"
|
|
|
|
\end_inset
|
|
|
|
|
|
\begin_inset CommandInset label
|
|
LatexCommand label
|
|
name "fig:The-HECTOR-7-ROV"
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
\begin_inset Float table
|
|
wide false
|
|
sideways false
|
|
status open
|
|
|
|
\begin_layout Plain Layout
|
|
\noindent
|
|
\align center
|
|
\begin_inset Tabular
|
|
<lyxtabular version="3" rows="8" columns="5">
|
|
<features tabularvalignment="middle">
|
|
<column alignment="center" valignment="top">
|
|
<column alignment="center" valignment="top">
|
|
<column alignment="center" valignment="top" width="0pt">
|
|
<column alignment="center" valignment="top">
|
|
<column alignment="center" valignment="top">
|
|
<row>
|
|
<cell alignment="center" valignment="top" bottomline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\series bold
|
|
HECTOR-7
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\series bold
|
|
Atlas
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\series bold
|
|
ST200
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\series bold
|
|
QTrencher 600
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
</row>
|
|
<row>
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\series bold
|
|
Company
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
SIMEC Technology
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell multicolumn="1" alignment="center" valignment="top" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
Global Marine
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell multicolumn="2" alignment="center" valignment="top" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
SMD
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
</row>
|
|
<row>
|
|
<cell multirow="3" alignment="center" valignment="middle" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\series bold
|
|
Vessel
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell multirow="3" alignment="center" valignment="middle" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
Pierre de Fermat
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
Wave Sentinel
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell multirow="3" alignment="center" valignment="middle" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
Cable Innovator
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell multirow="3" alignment="center" valignment="middle" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
N/A
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
</row>
|
|
<row>
|
|
<cell multirow="4" alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell multirow="4" alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
C.S Sovereign
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell multirow="4" alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell multirow="4" alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
</row>
|
|
<row>
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\series bold
|
|
Depth Rating
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
3,000 m
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
2,000 m
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
2,500 m
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
3,000 m
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
</row>
|
|
<row>
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\series bold
|
|
Weight in Air
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
9 t
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
10.6 t
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
6.5 t
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
11 t
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
</row>
|
|
<row>
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\series bold
|
|
Power
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
300 kW
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
300 kW
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
-
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
450 kW
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
</row>
|
|
<row>
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\series bold
|
|
Burial Depth
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
2 m
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
2 m
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
1.5 m
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
|
|
\begin_inset Text
|
|
|
|
\begin_layout Plain Layout
|
|
3 m
|
|
\end_layout
|
|
|
|
\end_inset
|
|
</cell>
|
|
</row>
|
|
</lyxtabular>
|
|
|
|
\end_inset
|
|
|
|
|
|
\begin_inset VSpace smallskip
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Plain Layout
|
|
\begin_inset CommandInset citation
|
|
LatexCommand citep
|
|
key "rov-hector-7-datasheet,global-marine-atlas-data-sheet,glboal-marine-st200-datasheet,smd-qtrencher-600-datasheet"
|
|
literal "false"
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Plain Layout
|
|
\begin_inset Caption Standard
|
|
|
|
\begin_layout Plain Layout
|
|
Relevant specifications and operating capabilities for sub-sea cable repair
|
|
ROVs
|
|
\begin_inset CommandInset label
|
|
LatexCommand label
|
|
name "tab:ROV-specs"
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
Table
|
|
\begin_inset CommandInset ref
|
|
LatexCommand ref
|
|
reference "tab:ROV-specs"
|
|
plural "false"
|
|
caps "false"
|
|
noprefix "false"
|
|
|
|
\end_inset
|
|
|
|
lists the specifications for the ROVs currently being used as part of the
|
|
ACMA cable repair agreement along with similarly classed vehicles from
|
|
other providers.
|
|
As can be seen, current ROVs for this domain have a maximum working depth
|
|
of about 3 km.
|
|
This poses a problem to cable repair operations where, further out to sea,
|
|
the sea floor can extend much further, see figure
|
|
\begin_inset Flex TODO Note (Margin)
|
|
status open
|
|
|
|
\begin_layout Plain Layout
|
|
bathymetry chart
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
.
|
|
While ROVs could be capable, in theory, of reaching lower depths it is
|
|
important to balance these working capabilities with other considerations
|
|
such as price and weight.
|
|
In practice, this working depth is a reasonable range to work within, it
|
|
could be argued that the most important capability of current ROVs is their
|
|
ability to re-bury the cable post-repair.
|
|
As described previously, this is in order to protect the cable from human
|
|
intervention including fishing and anchor operations.
|
|
These incidents are more prevalent in shallower waters within the operating
|
|
range of the ROV, therefore it is acceptable to use a grapnel outside of
|
|
this operating range where burying the cable is less important.
|
|
\end_layout
|
|
|
|
\begin_layout Paragraph
|
|
Requirements Specification
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
Using this information the requirements for a cable repair UUV could be
|
|
described as the following,
|
|
\end_layout
|
|
|
|
\begin_layout Enumerate
|
|
The UUV should have actuators in order to both cut and grip cables
|
|
\end_layout
|
|
|
|
\begin_layout Enumerate
|
|
The UUV should be able to operate to at least 2 km of depth
|
|
\end_layout
|
|
|
|
\begin_layout Enumerate
|
|
The UUV should be able to locate the cable without visual information i.e.
|
|
electromagnetically
|
|
\end_layout
|
|
|
|
\begin_deeper
|
|
\begin_layout Enumerate
|
|
In shallower water the cable is buried and will not be able to be visually
|
|
identified
|
|
\end_layout
|
|
|
|
\end_deeper
|
|
\begin_layout Enumerate
|
|
The UUV should be able to re-bury the cable in shallower waters
|
|
\end_layout
|
|
|
|
\begin_deeper
|
|
\begin_layout Enumerate
|
|
This should provide more protection to the cable from interference including
|
|
fishing operations
|
|
\end_layout
|
|
|
|
\end_deeper
|
|
\begin_layout Subsubsection
|
|
Current AUV Usage
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
Autonomous underwater vehicles are well suited to survey and research operations
|
|
; without human intervention they sweep a given area collecting data for
|
|
analysis.
|
|
This can include bathymetry
|
|
\begin_inset Foot
|
|
status open
|
|
|
|
\begin_layout Plain Layout
|
|
Measurement of the depth of a body of water
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
, surveys and chemical composition investigations such as pH and toxin levels.
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
\begin_inset Float figure
|
|
wide false
|
|
sideways false
|
|
status open
|
|
|
|
\begin_layout Plain Layout
|
|
\noindent
|
|
\align center
|
|
\begin_inset Graphics
|
|
filename hugin-superior.jpg
|
|
lyxscale 30
|
|
width 60col%
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Plain Layout
|
|
\begin_inset Caption Standard
|
|
|
|
\begin_layout Plain Layout
|
|
Kongsberg Maritime's HUGIN Superior AUV,
|
|
\begin_inset CommandInset citation
|
|
LatexCommand citep
|
|
key "auv-hugin-superior-datasheet"
|
|
literal "false"
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Plain Layout
|
|
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Subsubsection
|
|
Advantages
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
An advantage of using an autonomous vehicle would be the lack of need for
|
|
the surface vessel to maintain position directly above the ROV and fault;
|
|
instead the surface vessel would stay within a larger area only to maintain
|
|
contact with the UUV.
|
|
This could reduce the required power directed to dynamic positioning which
|
|
in higher sea states can become a significant draw.
|
|
Additionally as the UUV can move independently, the surface vehicle would
|
|
not need to directly track the vehicles movement; for example when the
|
|
UUV is re-burying the repaired cable in shallower waters.
|
|
This would, again, lower the required propulsion power used by the surface
|
|
vessel.
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
Another advantage could be a reduction in risk during mission operations.
|
|
With a traditional tethered ROV, should the umbilical cable be broken the
|
|
vehicle would likely lose functionality and require specialist recovery.
|
|
This break could occur as a result of a fault in the tether management
|
|
system, high storm activity causing too much tension on the system, or
|
|
in less likely scenarios, animal intervention.
|
|
An autonomous vehicle has no tether to break and a hybrid ROV/AUV could
|
|
likely be instructed to take control and return home should the tether
|
|
break during missions involving direct human control.
|
|
\end_layout
|
|
|
|
\begin_layout Subsubsection
|
|
Domain Challenges
|
|
\end_layout
|
|
|
|
\begin_layout Paragraph
|
|
Navigation
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
As mentioned, one of the main advantages of using an autonomous vehicle
|
|
for sub-sea cable repairs would be the physical de-coupling of the vehicles,
|
|
however this also poses the most significant challenge.
|
|
In typical ROV operations, the operator has knowledge of the location of
|
|
the ROV relative to the surface vessel.
|
|
As the surface vessel is GNSS
|
|
\begin_inset Foot
|
|
status open
|
|
|
|
\begin_layout Plain Layout
|
|
Global Navigation Satellite System, the generic term for satellite aided
|
|
global navigation of which the American GPS, Russian GLONASS and European
|
|
Galileo systems are examples
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
-enabled (Likely GPS) it has knowledge of its position in world co-ordinates
|
|
and the operator can use this to reduce the ROV's cable search space.
|
|
\begin_inset Flex TODO Note (Margin)
|
|
status open
|
|
|
|
\begin_layout Plain Layout
|
|
Diagram?
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
Decoupling the vehicles introduces complications that are not necessarily
|
|
typical to the existing use cases for AUVs.
|
|
The frequency of EM waves used by GNSS systems do not penetrate deep through
|
|
the water and an AUV must be able to operate without world co-ordinates
|
|
provided in this manner.
|
|
As such, navigation systems used by AUVs are typically
|
|
\emph on
|
|
dead reckoning
|
|
\emph default
|
|
systems.
|
|
This is a form of navigation that operates relative to a known fixed point
|
|
(where a UUV is deployed for example) as opposed to one relative to world
|
|
co-ordinates.
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
With an accurate system, this will satisfy many surveying and research use
|
|
cases where relative location data can be transformed to world-coordinates
|
|
after the fact.
|
|
This will prove less effective when the vehicle is expected to autonomously
|
|
navigate to a specific location (the cable fault).
|
|
A dead reckoning system as described above uses relative sensors to measure
|
|
it's speed and infer it's current location however these relative sensors
|
|
have associated measurement errors which accumulate over time.
|
|
This would be more pronounced under the water where sea currents are liable
|
|
to accentuate these errors, the efficacy of an AUV's fault location capabilitie
|
|
s may be reduced to the point of unacceptability.
|
|
\begin_inset Flex TODO Note (Margin)
|
|
status open
|
|
|
|
\begin_layout Plain Layout
|
|
Kalman filter now?
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Paragraph
|
|
Launch & Recovery
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
\begin_inset Flex TODO Note (Margin)
|
|
status open
|
|
|
|
\begin_layout Plain Layout
|
|
Top hat or garage TMS to act as LARS interface?
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Subsubsection
|
|
Proposed Design
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
The vehicle will be designed for hybrid ROV/AUV operations.
|
|
The vehicle should be able to complete missions independently of the surface
|
|
vessel with the ability to operate in a similar fashion to existing ROVs
|
|
(human controller, tethered power and data connection).
|
|
This will have a number of benefits, primarily that the vehicle should
|
|
be able to benefit from autonomous operation where possible with the ability
|
|
for direct human control in missions deemed to complex for autonomous control.
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
The existing remit of AUV operations is primarily survey, inspection and
|
|
light intervention, it is likely that the autonomous capabilities of this
|
|
vehicle would not be capable of conducting all existing cable repair missions
|
|
which involve a lot more involved intervention.
|
|
It is important that enabling autonomous operations does not ultimately
|
|
reduce it's operating capabilities.
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
As previously described, box frame UUVs are well suited to sub-sea cable
|
|
operations where fine movement control and space for actuators are critical.
|
|
As such a box frame of similar specifications to those currently used,
|
|
|
|
\begin_inset CommandInset citation
|
|
LatexCommand citep
|
|
key "global-marine-atlas-data-sheet,rov-hector-7-datasheet"
|
|
literal "false"
|
|
|
|
\end_inset
|
|
|
|
will be used.
|
|
The vehicle will likely be at the larger and heavier end of existing ROVs
|
|
as the vehicle must now have the onboard energy capabilities to complete
|
|
a mission without a constant power supply from the surface vessel.
|
|
\end_layout
|
|
|
|
\begin_layout Subsubsection
|
|
Communication
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
As the UUV is now expected to operate independently of the surface vessel,
|
|
it should have the ability to bi-directionally wirelessly communicate with
|
|
the surface vessel.
|
|
Uses for such a communications channel include the UUV reporting it's mission
|
|
status and the surface vessel providing high-level instructions such as
|
|
|
|
\emph on
|
|
return home
|
|
\emph default
|
|
orders.
|
|
When operating underwater, acoustic signals are the primary medium for
|
|
wireless communication.
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Subsubsection
|
|
Navigation
|
|
\begin_inset CommandInset label
|
|
LatexCommand label
|
|
name "subsec:Navigation"
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
As previously described, the navigation system will primarily be built on
|
|
the principle of
|
|
\emph on
|
|
dead reckoning
|
|
\emph default
|
|
using an inertial navigation system (INS).
|
|
An INS uses input from many types of sensor such as accelerometers and
|
|
gyroscopes to measure the movement of the vehicle and hence infer it's
|
|
location.
|
|
None of these could individually provide an accurate determination of location
|
|
and as such
|
|
\emph on
|
|
sensor fusion
|
|
\emph default
|
|
is employed.
|
|
Each sensor has an associated measurement uncertainty which compounds over
|
|
time, sensor fusion allows all the sensor measurements to be combined in
|
|
such a way as to produce a single output measurement with an uncertainty
|
|
smaller than any of each sensor individually.
|
|
A common method for implementing sensor fusion is using a
|
|
\emph on
|
|
Kalman filter
|
|
\emph default
|
|
|
|
\begin_inset Flex TODO Note (Margin)
|
|
status open
|
|
|
|
\begin_layout Plain Layout
|
|
reference, explain?
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
.
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
However, despite the use of a Kalman filter allowing more precise approximations
|
|
of the vehicles relative location, the lack of external calibrating updates
|
|
means that the overall uncertainty will still continually increase over
|
|
time.
|
|
In land-based robotics this is mitigated through the use of periodic GPS
|
|
measurements which have low, constant uncertainty and help to place an
|
|
upper bound on the overall error.
|
|
As previously mentioned, GNSS systems do not work deep underwater and as
|
|
such, another method for providing these external updates must be used.
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
The following proposes methods for providing global positioning to the UUV
|
|
without a traditional GNSS system.
|
|
This will be completed in two stages, the first being to provide the UUV
|
|
with the ability to measure the location of a fixed point relative to itself.
|
|
In parallel, the global co-ordinates of this fixed point will be communicated
|
|
to the UUV in order to infer it's own global location.
|
|
\end_layout
|
|
|
|
\begin_layout Paragraph
|
|
Underwater Acoustic Positioning
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
Alongside the use of acoustic signals for communications it will also be
|
|
employed for positioning.
|
|
One application for this is underwater acoustic positioning which employs
|
|
the use of time-of-flight measurements to beacons of a known location to
|
|
triangulate an object's location.
|
|
There are different configurations for such a system depending on how these
|
|
beacons are laid out,
|
|
\emph on
|
|
long-baseline
|
|
\emph default
|
|
(LBL) systems involve beacons located on the sea floor.
|
|
Spreading these beacons around the working area of an ROV widens the baseline
|
|
of the system and provides higher accuracy when triangulating.
|
|
This configuration is best suited to static areas of research such as ship
|
|
wrecks where an initial time devoted to deploying and calibrating these
|
|
underwater beacons is a reasonable expense to pay for the required high
|
|
accuracy.
|
|
This is not the case for sub-sea cable repairs where the deployment, calibratio
|
|
n and recovery of beacons on the seabed would be prohibitively complex and
|
|
add significant time to the duration of a mission.
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
|
|
\emph on
|
|
Short-baseline
|
|
\emph default
|
|
(SBL) systems involve a number of beacons placed at the furthest corners
|
|
of the surface vessel, this has the benefit of requiring little set-up
|
|
and pack-down at the cost of reduced accuracy.
|
|
Relative to the UUV these beacons are all on a similar bearing when operating
|
|
at a distance, as a result changes in the vehicle's location would be reflected
|
|
in similar changes to the measurements from all of the beacons.
|
|
Previously, with a long-baseline, the beacons are ideally surrounding the
|
|
UUV's working area and changes in its location are reflected in different
|
|
distance deltas for each beacon allowing tighter triangulation.
|
|
Accuracy can be improved by extending the beacons away from the vessel
|
|
to extend the baseline as far as possible.
|
|
\begin_inset Flex TODO Note (Margin)
|
|
status open
|
|
|
|
\begin_layout Plain Layout
|
|
such as on a boom?
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
One method to mitigate the drawbacks of both described methods is by using
|
|
GPS Intelligent Buoys (GIBs).
|
|
This configuration, also referred to as an
|
|
\emph on
|
|
inverted long-baseline
|
|
\emph default
|
|
, allows a much wider baseline than the surface-vessel-mounted beacons by
|
|
deploying a group of
|
|
\emph on
|
|
smart buoys
|
|
\emph default
|
|
around the expected working area of the UUV.
|
|
The use of buoys as opposed to beacons on the sea-floor significantly decreases
|
|
the preparation and clean-up mission phases.
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
Of these methods it is proposed that the surface vessel be equipped with
|
|
a short-baseline beacon array as well as a population of GIBs.
|
|
This will allow the choice between higher accuracy or faster mission turnaround
|
|
be decided by mission conditions as well as providing redundancy for either
|
|
system.
|
|
In shallower waters, the accuracy of the onboard SBL may be deemed sufficient
|
|
however in deeper water where the UUV is operating far further from the
|
|
surface vessel, the compactness of the SBL baseline may require the higher
|
|
accuracy of the GIBs
|
|
\begin_inset Foot
|
|
status open
|
|
|
|
\begin_layout Plain Layout
|
|
In practice the two could be used in conjunction for efficiency.
|
|
As the UUV is deployed it initially uses the onboard SBL array while the
|
|
surface vessel makes a pass around the working area deploying GIBs for
|
|
use as the UUV gets deeper
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
.
|
|
The GIBs would be considered additional accuracy, the SBL would be used
|
|
alongside the GIBs and act as an extra node in the array.
|
|
Additionally the weather and sea conditions could play a factor in the
|
|
decision.
|
|
In higher sea states and stormy weather, the deployment and recovery of
|
|
GIBs may be deemed too risky and the SBL could be used alone.
|
|
\end_layout
|
|
|
|
\begin_layout Paragraph
|
|
Global Calibration
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
The above underwater acoustic positioning system will allow the UUV to keep
|
|
track of it's position relative to known points at the surface, however
|
|
this alone will not provide the UUV with its global location.
|
|
In order for the UUV to calibrate it's local map to global co-ordinates,
|
|
the global position of these surface points must be provided.
|
|
This will be conducted over the previously described acoustic communication
|
|
channel.
|
|
As it could be expected that this channel has a low bandwidth, these updates
|
|
need not be excessively frequent.
|
|
\end_layout
|
|
|
|
\begin_layout Paragraph
|
|
Acoustic Doppler Current Profiling
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
While accelerometers and gyroscopes would be expected components of any
|
|
mobile dead reckoning navigation system, additional sensors well-suited
|
|
to sub-sea localisation will allow the vessel's movement to be more precise.
|
|
One such sensor is a
|
|
\emph on
|
|
Doppler velocity log
|
|
\emph default
|
|
(DVL) which estimates the vessel's velocity by tracking the seabed.
|
|
DVLs apply the broader concept of
|
|
\emph on
|
|
acoustic Doppler current profiling
|
|
\emph default
|
|
which measures the velocity of water by measuring the change in frequency
|
|
caused by the Doppler effect.
|
|
Combined with depth measurements calculated from the signal's echo time,
|
|
this can be used to estimate the vessel's velocity.
|
|
DVLs are crucial to a sub-sea INS as, like GPS, their error does not grow
|
|
when employed correctly unlike other relative sensors.
|
|
As described in section
|
|
\begin_inset CommandInset ref
|
|
LatexCommand ref
|
|
reference "subsec:Navigation"
|
|
plural "false"
|
|
caps "false"
|
|
noprefix "false"
|
|
|
|
\end_inset
|
|
|
|
, a sensor who's measurement error does not compound and grow but stays
|
|
constant is important as it places an upper bound on the overall error
|
|
and allows the system to maintain accuracy over time.
|
|
\end_layout
|
|
|
|
\begin_layout Subsubsection
|
|
Control
|
|
\end_layout
|
|
|
|
\begin_layout Subsubsection
|
|
Power
|
|
\end_layout
|
|
|
|
\begin_layout Subsubsection
|
|
Financials
|
|
\end_layout
|
|
|
|
\begin_layout Subsubsection
|
|
Summary
|
|
\end_layout
|
|
|
|
\begin_layout Part
|
|
Digitalisation
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
Before discussing how this project aims to leverage
|
|
\emph on
|
|
digitalisation
|
|
\emph default
|
|
it is worth defining the term and the adjacent term
|
|
\emph on
|
|
digitisation
|
|
\emph default
|
|
.
|
|
Digitisation describes the transforming of data or a process from an analogue
|
|
system to a digital one,
|
|
\begin_inset CommandInset citation
|
|
LatexCommand citep
|
|
key "workingmouse-digitalisation"
|
|
literal "false"
|
|
|
|
\end_inset
|
|
|
|
.
|
|
It is a value-neutral term in of itself and could have positive or negative
|
|
effects.
|
|
A simple example would be transitioning from working with pen-and-paper
|
|
forms to digital documents and PDFs.
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
Digitalisation describes the use of digitisation to increase efficiency
|
|
and access new value-producing business opportunities,
|
|
\begin_inset CommandInset citation
|
|
LatexCommand citep
|
|
key "workingmouse-digitalisation,gartner-digitalization"
|
|
literal "false"
|
|
|
|
\end_inset
|
|
|
|
.
|
|
To follow the above example, digitalisation could include using groupware
|
|
in order to collaboratively work on a cloud document as opposed to delivering
|
|
hard copy revisions of a document between locations.
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
As a broad concept, there are many ways that the concept of digitalisation
|
|
could be applied to this project, as a whole, though, the initiative could
|
|
be described as a
|
|
\emph on
|
|
smart ship
|
|
\emph default
|
|
.
|
|
Many of the features rely on interconnected sites, the internet network
|
|
topology can be seen in figure
|
|
\begin_inset CommandInset ref
|
|
LatexCommand ref
|
|
reference "fig:Network-topology"
|
|
plural "false"
|
|
caps "false"
|
|
noprefix "false"
|
|
|
|
\end_inset
|
|
|
|
.
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
The surface vessel will be connected to the internet via two gateways.
|
|
While berthed, the vessel should be able to connect to the depot via Ethernet
|
|
which can be run alongside the shore power line.
|
|
For internet connectivity while at sea, the vessel will be equipped with
|
|
satellite internet apparatus.
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
\begin_inset Float figure
|
|
wide false
|
|
sideways false
|
|
status open
|
|
|
|
\begin_layout Plain Layout
|
|
\noindent
|
|
\align center
|
|
\begin_inset Graphics
|
|
filename ../network/NetworkDiagramJointDepot.png
|
|
lyxscale 30
|
|
width 75col%
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Plain Layout
|
|
\begin_inset Caption Standard
|
|
|
|
\begin_layout Plain Layout
|
|
Network topology across the depot, vessel and cloud environment; main services
|
|
highlighted
|
|
\begin_inset CommandInset label
|
|
LatexCommand label
|
|
name "fig:Network-topology"
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
\begin_inset Newpage newpage
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
\begin_inset CommandInset label
|
|
LatexCommand label
|
|
name "sec:bibliography"
|
|
|
|
\end_inset
|
|
|
|
|
|
\begin_inset CommandInset bibtex
|
|
LatexCommand bibtex
|
|
btprint "btPrintCited"
|
|
bibfiles "references"
|
|
options "bibtotoc"
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Standard
|
|
\begin_inset Newpage newpage
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\begin_layout Section
|
|
\start_of_appendix
|
|
Battery Cell Calculations
|
|
\begin_inset CommandInset label
|
|
LatexCommand label
|
|
name "sec:Battery-Cell-Calculations"
|
|
|
|
\end_inset
|
|
|
|
|
|
\end_layout
|
|
|
|
\end_body
|
|
\end_document
|