20110913Protei6
Contents
1. blueprints manuals etc e ease of sourcing use of traditional and or simple components public code repository etc e universal access translation into languages other than English user friendly interface ready to go kits etc In order to provide the potential actors of Protei with relevant information regarding what they want to know and how much detail they want to go into Protei should provide 3 levels of documentation 1 Basic and simple explanations main design principles with straightforward schematics 2 User manual extensive documentation on the product design parameters interface requirements etc 3 Expert documents source code with comments blueprints CAD files etc Modular Protei should be as modular as possible to enable multiple taylor made applications for Protei technology oceanographic research water quality monitoring coastal radioactivity mapping plastic waste collection and more Anyone should be able to adapt the design to fit its own purpose Collaborative Protei end usersshould be able to give feedback about their experience failures suggestions for improvements feature requests etc on a public place forum bug and feature tracker etc Public versioning system should also be provided to follow the different versions of Protei and group the relevant documents in one place Licensed e Protei control programs should be under GNU GPL meaning that people have e Freedom to2. 09 XX CC BY SA 3 0 contact protei org p X X Protei_006 Qualification Basis Motivations This document aims at describing the functionalities and global layout of the sixth prototype of Protei in order to proceed to a standardized technology qualification process It is not intended to be a manual nor a testing report For detailed information about Protei_006 construction and design you should refer to Protei Handbook Protei is a sailing drone that can sail upwind and collect oil spills at sea More info on the Protei website http protei org DISCLAIMER This document only describes the functionalities and global layout for the version 6 of Protei referred to as Protei_006 which has been developed and tested trough the summer of 2011 in Rotterdam by the Protei_team It is not suitable for qualifying another version of Protei Also please note that the disposal of the oil collection system is not treated in this document and that specific laws apply in each country regarding the disposal of contaminated material such as oil Protei designers should not be held responsible for any issue related to oil disposal DO BY SA This work is licensed under a Creative Commons Attribution ShareAlike 3 0 Unported License Protei_006 Qualification Basis v 2011 09 XX CC BY SA 3 0 contact protei org p X X Protei_006 Qualification Basis 1 General System Description Protei is a sailing drone aiming at collecting
3. C1 Overall performance Race Track align it to Protei again increase in resistance how much for how much bending 1 2 3 kn Measure the sailing speed at different wind speeds and course into the wind Make sure that you measure the speed once the course is stable not the transient speed when trimming the sail Measure the heeling angle at different wind speeds and courses into the wind Measure heeling angle from previously calibrated markings on the keel Keep a list of which points of sailing are stable Set up a race track with 3 buoys Go upwind in a series of tacks and measure how much time is needed to complete a race track Race track contains 3 legs Cross Wind can do several legs between 1 and 2 to get an average sailing speed in cross winds Doing several legs also helps to correct any current effect Upwind define the breadth of the upwind zone based on the experience from test 0 how long does it takes to tack how much distance do you need to reach a good speed again Measure at least 3 times this distance Downwind when going back from buoy 3 to 1 2 Buoy 3 UPWIND LEG Try to reach the 3rd buoy with as few tacks as possible within a narrow band Tack anytime you cross the virtual line BUOY 1 CROSS WIND LEG 90 to true wind Repeat the race track with only bow bending and only stern bending Repeat with the boom and different ballasts none 5x weight 10
4. Point 201 1 6 4 2 Oil spill characterization After an oil spill on water the oil tends to spread into a slick over the water surface This is especially true of the lighter products such as gasoline diesel fuel and light crude oils which form very thin slicks Heavier crudes and Bunker C spread to slicks several millimetres thick As a general rule an oil slick on water spreads relatively quickly immediately after a spill The outer edges of a typical slick are usually thinner than the inside of the slick at this stage so that the slick may resemble a fried egg After a day or so of spreading this effect diminishes Winds and currents also spread the oil out and speed up the process Oil slicks will elongate in the direction of the wind and currents and as spreading progresses take on many shapes depending on the driving forces Oil sheens often precede heavier or thicker oil concentrations If the winds are high more than 20 km h the sheen may separate from thicker slicks and move downwind Fingas 2001 The BONN Agreement Oil Appearance Code BAOAC 2003 provides a general classification for the quantification of oil on the sea surface based on its appearance Code Description Layer Thickness Interval um Litres per km2 Appearance Sheen silvery grey 0 04 to 0 30 40 300 Discontinuous true oil colour 50 to 200 50 000 200 000 Continuous tue oil colour Continuous tue oil colour oil colour 20
5. battery x2 O a ida supply for rechargeable NiMH module General power switch Airpax controls general power lead free supply except GPS IELK1 1 72 100 01 module Motor drivers Elechouse Freescale H control the motor from electronics Bridge microcontroller input 12V Battery 12V 10Ah provides power supply for NiMH motors and electronics Skin PANA Foamtec GmbH smooth down the hull neoprene line and protect the articulation system Keel generate lift and provide mainly wood Steel ballast reinforcement VanDoClean 6016 B absorbs the oil polypropylene Central lifting hook point where Protei can be stainless steel lifted from Oil boom fixation point point where oil boom is stainless steel half ring attached at the stern of Protei Protei_006 Qualification Basis v 2011 09 XX CC BY SA 3 0 contact protei org p X X Protei_006 Qualification Basis XBee GPS Puc Microcontroller Potential meter ga E Battery nee Sail Winch Computer eet Hull Winch ae lt wireless transmission Components of Protei_006 for remote control 3 Open source requirements Protei is designed to be open source so that anyone can easily download the design and source code and contribute to its improvement Here are some of the properties that Protei should meet Accessible Protei should be as accessible and DIY as possible Therefore Protei should provide e availability of information documentation
6. codes 1 to 3 on which existing technologies are not efficient currently Protei_006 Qualification Basis v 2011 09 XX CC BY SA 3 0 contact protei org p X X Protei_006 Qualification Basis 6 5 1 Possible scenario discharges from offshore oil installations Motivations One of the possible scenarios is the cleaning of water discharges released by offshore platforms These still contain a fraction of oil and can cover very large surfaces areas in remote places Although they meet the maximum oil content in water recommended by the Oslo Paris convention 30g mL OSPAR 2001 these leaks still represent a sig nificant amount of uncontrolled oil poured into the oceans Protei could provide a cost effective alternative to existing technologies on this particular scenario Static recovery performance calculation Oil films from water produced by the offshore platforms are observed by SINTEF SINTEF 2011 e Up to 40 km from the platform e Sheen rainbow metallic colors corresponding to thicknesses up to 50 microns e Within the recommended limits regarding oil content lt 30 ppm OSPAR 2001 Aerial Estimates Length 1000m Width 30 m Estimated area 0 04 km 50 Sheen e 50 Rainbow Total estimated volume e BAOAC 7 L low 106 L high Releases e 22 000 m day e 25 ppm oil e 600L oil day e 30Loil hour Upwind sailing path to comb the oil slick In a static calculation the discharge is seen at a f
7. device to remove it from the water since it is estimated it will weigh up to 300kg at this point Personal protective equipment will also be required for personnel due to the toxic nature of the substances held within the boom Procedures are required for cleaning the Protei Protei_006 Qualification Basis v 2011 09 XX CC BY SA 3 0 contact protei org p X X Protei_006 Qualification Basis following deployment and prior to returning it to storage 6 3 Deployment Protei will weigh a considerable amount when fully assembled She will require specialist equipment to lift it from the quay or from the deck of a ship in to the water coupled with its oil absorbing boom tail If Protei is being launched from a ship a quick release hook should be attached to the lifting point and Protei lifted clear of the side of the ship and placed in the water Once the weight of the boat is supported by the water the hook can be released At this point the vessel can move away from the boat as the boom is fully payed out in to the water and stand off while the Protei orientates and gets underway 6 4 Oil Collection 6 4 1 Oil characterization Oil is a complex product due to its wide variety of characteristics Since Protei application concerns the collec tion of oil spills at sea we will focus on crude oils and petroleum products derived from crude oils only The main properties of oil are viscosity density flash point and API gravity e Viscosity is a
8. longitudinal spines of the hull Protei_006 s body is nearly cylindrical and very unstable Most righting momentum comes from the ballast to right the vessel The battery and linear actuators which provide most of the weight of the boat are at the bottom of the keel along with a 25kg lead ballast The main electronics the winch and the GPS are housed in the waterproof shockproof pelican cases1 compartments of the hull which make up the separate segments Protei_O06 stores GPS data from its trips 2 Layout list of components Prolimit STX C60 RDM Holds the sail 60 carbon fiber aluminum Turns available wind into propulsive power Bosch 14 4V power drills move the linear actuators fol Protei_006 Qualification Basis v 2011 09 XX CC BY SA 3 0 contact protei org p X X Protei_006 Qualification Basis 12V geared DC motor windshield wiper rotate the winch is Battery tube Contains the battery PVC waterproof Linear actuators tubes Contain the linear PVC actuators waterproof m eee receiver module poms O eee e e OOO o e paan Neilpryde 230 275 X5 Sail Boom control of the angle and aluminum hollow shape of the sail Microcontroller Arduino Mega 2560 Computes the motor electronics commands from RC input RC receiver Xbee Pro 900 Series 1 receive orders from the electronics remote control GPS module MediaTek MT3329 stores the positions of electronics Arduino Mega Protei in a SD card 9V
9. motor boat value in KG 1 set up a large transverse beam across the motor boat of tension and attach Protei on it Position it so that you have as at different little wave interference as possible Observe how the hull speeds naturally deforms without pulling any bending cable Should Does the hull naturally bends when the motorboat turns increase with Is it possible to measure the natural bending by knowing speed the position of the cable position of the cross section Observe respective to each other natural bending of hull Speeds 1 2 and 3 knots to be able to read digital scale PROTEI Camera on top of the mast to observe bending A2 Bending Bend the hull to its maximum and define two intermediate indicative bending positions that can be reached again easily for value in KG example by counting the number of actuator rotations or of tension length of cable pulled Observe how Protei reacts to the at 3 speeds bending 1 2 and 3 moving side ways knots and 3 which side for which bending bendings how much rudder angle do you need in the motorboat to Requirements motor boat camera Walky Talkies spring scales motor boat boat with a mast speedometer to measure boat speed large transverse beam camera set up fixation for transverse beam spring scales motor boat boat speedometer Protei_006 Qualification Basis v 2011 09 XX CC BY SA 3 0 contact protei org p X X
10. oil spills at sea It is using existing technologies in an innovative low cost and open source design that semi autonomously sails upwind intercepting oil sheens going downwind Protei is meant to be seaworthy self righting inflatable unbreakable cheap and easy to manufacture for immediate response Protel 8 Collision safe 5 Remotely controlled ra gt to become autonomous Highly visible Pees 9 Sensors controlled 10 Green Hi Protei_006 Qualification Basis v 2011 09 XX CC BY SA 3 0 contact protei org p X X Protei_006 Qualification Basis Protei_006 is a 3m remote controlled boat controlled over radio by a user within 500m and line of sight It has a segmented shape shifting hull constructed of flexible spines that run lengthwise through cross sectional bulkheads and bend under stress A flexible EPDM Foam skin encases the skeleton There is one 4m tall sail and a large keel that extends downwards 1 2m from the hull The majority of the boat s ballast is housed at the lowest point of the keel which provides most of the stability This also enables Protei_006 to be self righting For steering and control Protei_O06 has three motors The first one spins a winch to control the trim of the sail The other two are attached to linear actuators that each control the articulation of the bow and the stern which curve independently The actuators pull and release cables that run throughout the
11. run the program e Freedom to access the code e Freedom to redistribute the program to anyone under the same license e Documentation should be under Creative Commons BY SA license Attribution ShareAlike meaning that people are free to share and remix Protei work as well as make commercial use of it under the following conditions o Attribution people must clearly state that they use Protei work o Share Alike If people alter transform or build upon Protei work they may distribute the resulting work only under the same or similar license to this one Protei_006 Qualification Basis v 2011 09 XX CC BY SA 3 0 contact protei org p X X Protei_006 Qualification Basis e Design should be under OSHW Open Source Hardware 1 0 license which requires o documentation design files in an open format necessary software to the use of Protei free redistribution allowed no discrimination or restriction in the re use of Protei technology neutrality Oo QO 4 Functionalities This table shows the properties Protei_006 is meant to achieve The criteria column is supposed to be a refinement of the global property and can be associated with a validation protocol in order to determine whether the technical solution is appropriate These validation protocols are designed as pass or fail and intended to check if the solution is suitable for the intended property These tests are opposed to the performance tests which aims
12. 0 3M 30 020 550 65 00 T270GA m 500 020 850 110 00 T280 m 30 020 275 38 00 T4 Pt M mz m 360 o 18 1125 Charateristics of different types of sorbent booms Data provided by manufacturers a gt 8 We have also tested a new material from Aeroclay Inc an American start up company dedicated to commer cializing an advanced material aerogel technology known as AeroClay The following results have been obtained by iterating a saturating and squeezing process ASTM F716 2009 on two samples one of Aeroclay and one of standard polypropylene oil absorbent VanDoClean 6016 B The dry weight of the sample is referred as So So 18g for the AeroClay sample 16g of material 2g for the surrounding pillow So 14g for the polypropylene sample absorbed Os remaining On So fe ws e f AeroClay saturation results Polypropylene saturation results After 3 cycles the polypropylene sample was so damaged by the squeezing process that it was considered to be unusable On the other hand the AeroClay sample remained functional even after the sixth iteration Our conclusion is that AeroClay material seems very promising compared to existing industrial sorbent technology because 1 The global absorbency efficiency of AeroClay measured by the Os So ratio is superior to that of polypropylene 2 It has been shown to be reusable even after a multiple squeezing cycle
13. 0to Morethan200 o 200to Morethan200 o More than 200 200 000 More than 200 000 000 More than 200 000 z Metallic 5 0 to 50 5000 50 000 BONN Agreement Oil Appearance Code es 2003 6 4 3 Sorbent boom expected and tested performance Protei_006 is equipped with standard VanDoClean 6016 B polypropylene booms that can absorb up to 150L of oil according to the manufacturer specifications see Appendix They can absorb any type of oil from light diesel to heavy crude but experience has shown that they are more efficient on light oils since heavy oils get stuck on the outer surface of the booms Fingas 2001 Protei_006 Qualification Basis v 2011 09 XX CC BY SA 3 0 contact protei org p X X Protei_006 Qualification Basis Identification Reference WB410SN B CEE EE AE EE 6018 A_ VandoClean 6 00 0 13 500 30 00 WB520SN SpillTech 6 00 013 5 00 56 80 5220 Ultratech 1 80 0 13 227 37 90 WB510SN _SpillTech_ 3 00 0 13 2 50 28 40 ENV510 SPC Brady 3 00 0 13 220 30 30 6016 8 VandoClean 5 00 0 20 9 00 155 00 SPCB16 E SPC Brady 5 00 0 20 9 10 114 00 SPC810 E SPC Brady 3 00 0 20 525 79 00 WB820SN_ SpillTech 6 00 0 20 7 25 71 90 WB810SN_ _SpillTech_ 3 00 0 20 363 36 00 ENV810_ SPC Brady 3 00 0 20 430 61 50 BOM510 Dage 30 03 7 30 25 BOM820 Dawginc 300 020 6150 BOM820G Dawg Inc 6 00 0 20 7 123 00 T27
14. Protei_ LA nylondiscs_ overview PDF AS Protei_ LA aluminumdiscs_ overview PDF Protei_006 Qualification Basis v 2011 09 XX CC BY SA 3 0 contact protei org p X X
15. Protei_006 Qualification Basis Protei_006 Qualification Basis Table of contents Protei_006 Qualification Basis Table of contents Motivations DISCLAIMER 1 General System Description 2 Layout list of components 3 Open source requirements Accessible Modular Collaborative Licensed 4 Functionalities 5 Authority requirements Lighting 6 Operating principles 6 1 Storage 6 2 Transportation 6 3 Deployment 6 4 Oil Collection 6 4 1 Oil characterization 6 4 2 Oil spill characterization 6 4 3 Sorbent boom expected and tested performance 6 5 Deployment of Protei for oil spill collection 6 5 1 Possible scenario discharges from offshore oil installations Motivations Static recovery performance calculation 6 5 2 Compatibility with existing oil spill contingency plans 6 6 Safety requirements 6 6 1 Collection of oil saturated boom 6 6 2 Cleaning Protei after oil exposure 6 7 Operating phases 6 8 Maintenance 7 Quality assurance and reliability 8 HSE requirements 9 List of abbreviations 10 References 11 Appendixes 11 1 Construction report extract from the Protei Handbook 11 2 Testing protocol for sailing performance 11 3 Reports from testing on Aug 13 2011 11 4 Risk assessment 11 5 VanDoClean sorbent booms datasheets Protei_006 Qualification Basis v 2011 09 XX CC BY SA 3 0 contact protei org p X X Protei_006 Qualification Basis 11 6 Linear actuators technical drawings Protei_006 Qualification Basis v 2011
16. absorption rate of the sorbent boom needs to be measured to see how it compares to this optimal per formance If it compares favorably higher than 37 2 L hour then it is theoretically possible to clean the whole oil slick in one go with one boom However the spill we are looking at is not a static one It is a continuous leak from the platform discharge point at a constant flow rate of 30L hour which represents 85L in 2hrs 50min A dynamic calculation would be necessary Here again the absorption rate of the sorbent boom needs to be measured and compared to the figure of 30L of oil hour If it is more than 30L oil hour then it is possible The challenge with measuring the absorption rate is that the value mostly depends on parameters such as the oil viscosity it is harder to absorb a viscous product and the thickness of the oil slick if the slick is too thin there is nothing to absorb Therefore the measurement is very difficult to replicate and can only be obtained with a fixed set of parameters In the real world the thickness of the oil slick changes from the border of the slick to its center being usually thinner at the border Fingas 2001 6 5 2 Compatibility with existing oil spill contingency plans Existing response plans for oil spills have been thoroughly tested and improved through the past decades in countries where major oil spills happened in the past with specific procedures proper equipment and trained personnel For
17. an example see the American National Oil and Hazardous Substances Pollution Contingency Plan US EPA 2011 Protei is not intended to replace any of the technologies currently in use for such response plans However Protei might provide a good alternative if the conditions make it is too hazardous for human exposure on which the existing contingency plans rely These conditions might include extreme weather hazardous chemicals local terrorism or unstable political situation 6 6 Safety requirements 6 6 1 Collection of oil saturated boom How do we take a soaked boom at of the water for later waste treatment m When transferring an amount Q_A of oil from an spilled area to an amount Q_B Protei_006 Qualification Basis v 2011 09 XX CC BY SA 3 0 contact protei org p X X Protei_006 Qualification Basis 4 gt 6 6 2 Cleaning Protei after oil exposure Protei is still under development and does not provide yet the full procedure from building to end of life including maintenance and instructions for deployment In particular Protei will need adapted cleaning of its hull before storage maybe in a dedicated facility Studies need to be carried out about the impact of oil on the materials that Protei uses currently and the related procedures to ensure that Protei will work reliably for every operation 6 7 Operating phases o Standby o Transit Protei is moving from one place to another without any other action re
18. at assessing the efficiency of Protei over the different properties that are meant to be achieved For example how long does the battery last how fast can we tack etc see Testing protocol for sailing performance in appendix 11 2 The tests that have been carried out so far by the Protei_team are mostly qualitative performance tests see Testing Report from Aug 13 2011 in appendix Property Validation protocol Steerable while towing Front rudder Test 0 Optimised to sail Control of the sail Test 0 upwind Stable Self righting Ballasted Keel Heel Protei manually to 90 and check if it comes back to its position on its own a ae Light superstructure Merge with cell above Unsinkable Puncture proof Immerse Protei in buoyancy material the water only the sail should be above waterline and check if it comes back to floatation Merge with cell above Robust Neoprene skin and use Reliability test needed of robust materials Protei_006 Qualification Basis v 2011 09 XX CC BY SA 3 0 contact protei org p X X Protei_006 Qualification Basis Collision safe COLREGS compliant Check if Protei light is lights visible from 1 mile Towing capable Can tow a sorbent Enough pulling force Attach boom boom check speed gt with normal wind Conditions nominales P Boom hooking point Merge with cell above Autonomous Can be controlled by Xbee module Test check radio up to 500 m a ae remote cont
19. cular letter No 1886 Rev 3 IMO identification number scheme NOAA A Guide for Spill Response Planning in Marine Environments June 2010 joint publication of U S DEPARTMENT OF COMMERCE U S Coast Guard U S Environmental Protection Agency American Petroleum Institute 8 OSPAR Recommendation 2001 1 for the Management of Produced Water from Offshore Installations 2001 9 Aeroclay Inc official website http aeroclayinc com Aug 22nd 2011 10 US EPA National Oil and Hazardous Substances Pollution Contingency Plan 2011 11 Extended Guidelines for the Use of the Bonn Agreement Oil Appearance Code BAOAC Annex 4 2003 N NONRW Protei_006 Qualification Basis v 2011 09 XX CC BY SA 3 0 contact protei org p X X Protei_006 Qualification Basis 11 Appendixes 11 1 Construction report extract from the Protei Handbook 11 2 Testing protocol for sailing performance Test name ma Ke Kolexe 0 Getting Try to maintain a course that oscillates between close Entirely used to hauled and a beam reach a close reach ideally qualitative controlling Then try to sail at other points of sail pictures Protei Keep a count of many times Protei accidentally tack videos etc jibe or get stuck in irons Try to do some tacking jibing jibing not too important Add oil boom and see how everything changes A1 Global Pull rigid hull in straight line and measure the tension with indicative drag the spring behind a
20. d again and it seemed water tight Our next guess is that the water cooling caused the flooding in the actuator tubes and then spread to the battery tube via the Bowden cable openings We will do some testing this coming week to find the exact cause of the problem and fix it Post Testing notes PARTS OF THE BOAT XBee Box DRY Kill Switch DRY Winch WET 1 2 cm water Electronics box WET 1 4 cm water GPS DRY Batteries linear actuators motors Completely SOAKED filled with water Battery still works Water Cooling WET so water effectively flowed through Mast broken Skin one hole from rubbing along the side of the rocks Next Steps Replace motor find more powerful robust motors Redo water proofing we should have ONE compartment pelican case with a bilge pump rather than Protei_006 Qualification Basis v 2011 09 XX CC BY SA 3 0 contact protei org p X X Protei_006 Qualification Basis separate compartments for each item but do we have enough time 10 days Replace the mast Linear Actuators unless we get new industrial ones replace the hall effect rotational sensor on the linear actuator at least but check what works get better couplings for the motor shafts Get New kill switch patch the hole in the skin re wind the winch line test the GPS 11 4 Risk assessment 11 5 VanDoClean sorbent booms datasheets 6016 B pdf 6018 A pdf 11 6 Linear actuators technical drawings AS
21. he linear actuators see technical drawings in appendix has been designed in SolidWorks and the main components were manufactured by a professional dutch machining company Stork Except from these parts for the linear actuators that are supposed to be very reliable the rest of the parts are either standard DIY pieces couplings bolts PVC pipes etc or made out of recycled material such as plastic wood foam or metal with standard tools power drills grinders etc The ease of sourcing for these parts make the maintenance and repair very easy even in remote places where Protei could operate Future versions of Protei would need quality assurance protocols such as processes and tolerances for manufacturing as well as component test procedure The first step towards this quality assurance protocol would be to set up a Quality Management System that would enable the Protei_team to give feedback on processes manufacturing choice of materials Protei_006 Qualification Basis v 2011 09 XX CC BY SA 3 0 contact protei org p X X Protei_006 Qualification Basis etc 8 HSE requirements Manipulating the boom should always be done with proper equipment gloves suit etc Protei will be free of any sharp edge so it can be manipulated by hand The materials used should be recyclable and environmental friendly and prevent from any inner fluid leak Protei will carry an external power switch easily accessible Protei_006 Qua
22. ixed instant the oil slick has a constant volume The objective is to clean this static oil slick in one go with one boom Is that possible Assumptions 1 discharge rate O L oil hour fixed instant 2 initial volume 106 L upper bound of the BAOAC estimated volume ISINTEF is the largest independent research organisation in Scandinavia More information on www sintef no Protei_006 Qualification Basis v 2011 09 XX CC BY SA 3 0 contact protei org p X X Protei_006 Qualification Basis 3 wind coming from the North at a constant speed 4 Protei sailing at 1 5 knots upwind constantly even when tacking for maximum sorbent efficiency 5 Sorbent boom VanDoClean 6016 B with a 150 L capacity Calculation 1 An upwind sailing path combing the whole static oil slick is instructed to Protei see the yellow line on above picture e 82 points 82 tacks e 7920 m long path e trip total duration at 1 5 knots 2hrs 50min 2 This means that Protei needs to collect 106L of oil in 2hrs 50min Since the absorption capacity of the boom is 150L it is sufficient The needed absorption rate is then 106L in 2hrs 50 min 37 2L of oil hour to clean the whole oil slick in one go This performance is considered optimal because of the static discharge assumption and the constant sailing speed assumption When tacking the aver age sail boat slows down With its articulated hull Protei is meant to be able to tack without losing speed The
23. lification Basis v 2011 09 XX CC BY SA 3 0 contact protei org p X X 9 List of abbreviations DIY CAD API CC OSHW UNCLOS HSE EEZ AIS IMO COLREGS GNU GPL BAOAC NiMH Protei_006 Qualification Basis Do It Yourself Computer Aided Design Application Programming Interface on Wikipedia American Petroleum Institute gravity Creative Commons http creativecommons org Open Source Hardware http freedomdefined org OSHW United Nations Convention on the Law of the Sea Health Safety and Environment Exclusive Economic Zone Autonomous Identification System International Maritime Organization International Regulations for Preventing Collisions at sea GNU s Not Unix an open source operating system General Public License BONN Agreement Oil Appearance Code Nickel metal hydride battery Protei_006 Qualification Basis v 2011 09 XX CC BY SA 3 0 contact protei org p X X Protei_006 Qualification Basis 10 References 1 Fingas Mervin F Oil Spill Science and Technology Prevention Response and Cleanup Burlington MA Elsevier Gulf Professional Pub 2011 Print Fingas Mervin F and Jennifer Charles The Basics of Oil Spill Cleanup Boca Raton CRC 2001 Print ASTM F716 09 Standard Test Methods for Sorbent Performance of Absorbents 2009 ASTM F726 06 Standard Test Methods for Sorbent Performance of Adsorbents 2006 SINTEF Oil Weathering and Appearance at Sea May 2011 IMO Cir
24. measure of the resistance of oil to flow expressed in mPaes e Density is the mass of a given volume of oil expressed in g ecm 3 It is the property used by the petroleum industry to define light or heavy crude oils Density is also important because it indicates whether a par ticular oil will float or sink in water As the density of seawater is 1 03 gecm 3 even heavy oils will usually float on it e Flash Point is the temperature at which the liquid gives off sufficient vapors to ignite upon exposure to an open flame A liquid is considered to be flammable if its flash point is less than 60 C e API Gravity is based on the density of pure water which has an arbitrarily assigned API gravity value of 10 10 degrees Oils with high densities have low API gravities and vice versa Oil type Viscosity Density Flash Point API Gravity mPa s at 15 C g cm at 15 C C dimensionless C as os CC Light Crude a eae 78 0 88 a e Heavy Crude Heavy Crude 50 50 000 000 08a O 88 1 30 60 30 60 no 0 30 Intermediate Fuel 0 94 0 99 80 100 10 20 Oil Bunker C 10 000 15 000 0 96 1 04 gt 100 5 15 Marine fuel Heating fuel Crude Oil 20 000 100 000 0 95 1 gt 80 10 15 Emulsion Protei_006 Qualification Basis v 2011 09 XX CC BY SA 3 0 contact protei org p X X Protei_006 Qualification Basis Characteristics of different types of oil Fingas 2001 and Wikipedia Flash
25. quired back to base for example o In Operation containment and or recovery of the oil o Loss of transmission if data transmission is lost with the base Protei_006 will drift on the ocean without doing anything Future versions of Protei will be able to sail autonomously even if transmission is lost 6 8 Maintenance o A full Owners manual will be required to gather all procedures for maintenance and operation in the field with a sufficient amount of technical detail o End of life As explained earlier Protei does not provide full life cycle procedures yet and the Protei_team has no idea yet of how Protei vessels should be treated at the end of their lifes Protei is trying to use environmental friendly and recycled materials such as wood that do not require specific or costly procedures to dispose of However specific procedures need to be designed for the electronics and the materials that could harm the environment 7 Quality assurance and reliability Some of the Protei components have been designed thinking of reliability For instance The limit switches that tell the microcontroller that the linear actuators have reached the end of the threaded rod are connected not only to the microcontroller but also to the main power directly Therefore if the software comes to fail the power will still be switched off when hitting the limit switch preventing the linear actuators or the motors to break down The new version of t
26. rolling from 500m Can navigate between GPS module Not implemented in predetermined way Protei_006 points 5 Authority requirements Protei_006 does not need an immatriculation number because it is part of the International Maritime Organization IMO exceptions list as a Ship engaged on special service Lighting Protei will be a sailing vessel and therefore should comply with the International Regulations for Preventing Collisions at Sea 1972 COLREGS published by IMO Protei should therefore have a green light on the starboard side and a red light on the port side each showing from right ahead to 22 5 degrees abaft the beam on its respective side as well as a white light placed as nearly as practicable at the stern showing 67 5 degrees from right aft on each side of the vessel These lights should be visible from 1 mile at least 6 Operating principles 6 1 Storage Protei should be able to be stored for potentially long periods of time prior to deployment and should be able to be removed from storage and prepared for deployment within 2 hours of notification to do so Protocols will be required for connecting electrical systems charging batteries and otherwise priming the vehicle prior to deployment 6 2 Transportation Protei should be able to be carried by three or four people when it is fully assembled but without its boom attached On return to base with a fully oil saturated boom the boom will require a special handling
27. rotei did on the test was on a beam reach on a port tack 90 degrees from the wind with the wind on the port side The boat was stable under these winds and did not heel over to capsize like when we tested the bare hull in 18 20 knots of wind She made way surprisingly well without a rudder the course was maintained passively and when we trimmed in the sheet Protei would head up turn towards the wind as expected not surprisingly the boat was not able to tack due to the low speeds she reached and the lack of steering After seeing her sail the same path a couple of times we had the visit of a police boat the cops were very interested in Protei and talked to us for a couple of minutes about the project Then we proceeded to make a self righting test by putting the masthead in Open Source Ce Seca the water However as we lowered the mast the mast snapped close to the base and that marked the end of the test We retrieved Protei and fit her in the truck and headed back to the workspace for the diagnosis We opened the battery tube and it was completely full of water However the battery kept functioning even when it was completely submerged thus why Xbee communication was maintained all through the test Then we opened the actuator tubes and saw that they were also completely full of water Our first guess of how this happened was that the battery tube had leaked through a pvc patching we had done However the tube was teste
28. rotei was no joke but it was simpler than expected we put her on the top of the van in one piece and had someone sit next to Protei and making sure we drove slowly After some driving we were able to find a suitable spot for the test We deployed Protei by lowering her into the water with lines We also had one swimmer than helped deploy the boat correctly in the future we hope to have access to a dock so that deployment becomes easier and we do not destroy the skin of the prototype by having it rub against the stone walls when lowering it down Protei s bow bending Protei and local authorities A future collaboration The conditions for the test were actually relatively good We had a steady state of 6 7 knots with gusts up to 10 11kts Waves were not big 10cm absolute max Once in the water we successfully established XBee communication and tested both the winch and bow Protei_006 Qualification Basis v 2011 09 XX CC BY SA 3 0 contact protei org p X X Protei_006 Qualification Basis actuation and they seemed to work fine After a minute of water time the actuator stopped responding but the winch continued to respond throughout the whole test Because of this failure we could not really observe if the steering by articulation worked We had a line attached to Protei s stern in order to retrieve her By holding this line we also had slight control of how she sailed Because of the actuation problems most of the sailing that P
29. s unlike polypropylene 3 From the preliminary results it seems that the squeezed oil can be reused whereas the current sorbent technologies usually end up burned or buried in landfills Fingas 2001 Protei_006 Qualification Basis v 2011 09 XX CC BY SA 3 0 contact protei org p X X Protei_006 Qualification Basis However no large scale test results are available yet so we cannot guarantee the performance of AeroClay over a full scale recovery operation Nevertheless tests indicate that AeroClay might represent a good solution for Protei s oil absorbing system an AeroClay boom could last much longer than a traditional one 6 5 Deployment of Protei for oil spill collection Protei_006 is designed to tow a sorbent boom that can collect light oils with the following typical characteristics Density between 0 7 and 0 9 g cm meaning API between 25 and 70 flash point above 60 C Protei cannot handle flammable products viscosity under 50 mPa s Protei_006 is completely remote controlled and cannot stay at sea for long due to its battery limitations Future versions of Protei should be able to sail autonomously for long periods of time maybe weeks and will therefore be able to collect oil on large areas Furthermore existing technologies such as skimmers are already very efficient on thick slicks codes 4 and 5 see BAOAC table and Protei is not intended to replace them Instead Protei is aimed at thin slicks
30. x weight For all tests follow Protei on another sailing vessel to RC it Wind measurement measure as often as possible the wind speed and direction from the mother sailing vessel Camera and GPS make sure they are time synchronized Protei_006 Qualification Basis Polar diagram sailing speed at different wind speeds and courses Polar diagram heeling angle at differend wind speeds and courses videos of track time it takes to complete the track GPS logger Protei speed course anemometer GPS logger Protei speed course anemometer anemometer GPS logger Protei speed and course stopwatch 3 buoys motor boat camera with video or time laps tide currents prevision as a function of time detailed wind forecast optimally with speed and direction Protei_006 Qualification Basis v 2011 09 XX CC BY SA 3 0 contact protei org p X X Protei_006 Qualification Basis 11 3 Reports from testing on Aug 13 2011 Saturday 13 August the Protei team tested Protei_006 fully assembled in the water for the first time The morning was spent preparing the boat for deployment running dry tests water proofing and assembling During one of the dry tests one of the linear actuators stopped responding and after some diagnosis it was decided that it was a problem with the motor and to fix it would make it impossible to test on time Thus we decided to test with only the bow articulating Transporting P
Download Pdf Manuals
Related Search
20110913Protei6