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20810270-1 -
SISTEMI DI PRODUZIONE - MODULO I
(objectives)
This module provides the fundamental knowledge to plan, design and manage industrial facilities and process plants for offshore applications, including the execution of a technical-economic feasibility study. Emphasis is placed in oil & gas production systems or renewable marine energy conversion plants.
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CAPUTO ANTONIO CASIMIRO
( syllabus)
Introduction to production systems. concepts ofprocess, indstrial plant, production system, industrial company. Classification of industrial plants and production systems. Make to stok and make to order production. main performance measures of industrial plants.
Introduction to decision making techniques (single and multiobjective, decisions in deterministic unacertainty and risk conditions). Linear programming method and application to optimal production mix definition.
Classification and quantification of industrial costs (fixed vs variable, investment vs operational, direct vs indirect, unit, average and marginal costs). Economic balance of a production system. Break even point, optimal production volume, make or buy decisions.
Design steps of an industrial facility. Technical and economic feasibility study (estimation of capital investment, operating cost and revenues), financial analysis, with emphasis on offshore oil and gas initiatives.
Profitability analysis of industial investments in both deterministic and probabilistic environment. Decision analysis about replacement and choice between alternative equipment.
Project management techniques: activities planning and representation (work breackdown structure, Gantt diagrams, graphs). PERT and CPM techniques for project control. Management of project costs. Anaysis of the phases of an oil and gas offshore project.
Aalysis of oil & gas offshore systems.
a) Types and characterization of hydrocarbons reservoirs. Estimation of reservoir size. Drive mechanisms and primary, secondary and tertiary recovery processes. Causes of reservoir productivity decline over time.
b) Physical characterization of reservoir fluids (phase diagrams, volume factors, density, viscosity, gas solubility in oil).
c) Technologies for wells drilling and hydrocarbon recovery (plants architectures and components, safety equipment, wells completion, characteristic curves of reservoir and tubing in stationary, transient and pseudotransient states, working point estimation, pressure losses for single and multi-phase flows, trubing sizing and nodal analysis procedure, gas lft suystems, forecast of reservoir productivity over time.
d) Offhsore oil and gas drilling and extraction infrastructures: types and classification (fixed and floating platforms, subsea systems) main components and selection criteria.
( reference books)
Lecture notes provided by instructor and uploaded on Moodle web site.
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6
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ING-IND/17
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48
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Core compulsory activities
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ITA |
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20810182 -
MARINE MEASUREMENTS
(objectives)
The overall aim of the course of Marine Measurements is providing the students with basic knowledge and skills about the design and use of measurement systems in dependance of the needs of the experiment and/or the user of the instrumentation within marine applications and testing. In particular, students will be provided with criteria for selecting specific components of the measuring system in dependance on main measuring characteristics and their working principles. The present subject also consists of experimental laboratory activities, that represent a fundamental part of the course.
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SCORZA ANDREA
( syllabus)
Basic concepts of measurement methods and systems. physical quantities, dimensional analysis and systems of units of measurement.
Classification of measurement devices, static and dynamic characteristics of instrumentation. measurement system behavior: first and second order systems.
Fundamentals of probability and statistics, uncertainty analysis and measurement error estimation. national and international standard.
Quality assurance and metrological traceability of measurements. Calibration of measuring devices and interpolation methods. Adjustment of instruments and methods of interpolation.
Fundamentals of analog electrical measurements and devices: current, voltage and resistance measurements, voltmeters and oscilloscopes. loading errors and impedance matching.
Analog signal conditioning: Amplifiers, Wheatstone Bridge Circuits.
Fundamentals of signal analysis, Fourier Transform and the frequency spectrum, systems frequency response. Data Sampling. Digital devices and data acquisition: sampling concepts, data acquisition systems and components. Aliasing. Fundamentals of virtual instrumentation programming and application.
Sensors and transducers. Measurements of length and displacement: mechanical optical and electric instrumentation. potentiometers, linear variable differential transformers and contactless transducers.
Level Measurements. Fundamentals of ultrasound systems for length and profile measurements.
Fundamentals of conductivity measurements. Salinity.
Strain measurement: load classification, stress and strain, mechanical extensometers, resistance and optical strain gauges.
Mass and force measurements. torque and power measurements.
Pressure measurements: pressure concepts and sensing principles, piezometer, u-tube and bourdon tube manometers, pressure transducers and their calibration.
Velocity measurements. measurements inmoving fluids: pitot tube, fan and hot wire anemometers. Ultrasound systems for velocity measurements: fundamentals of doppler velocimetry.
Flow measurements.
Temperature measurements: temperature standards and definition, primary thermometers. gas, liquid-in-glass and metal thermometers, saturated vapor thermometers. Electrical resistance thermometry: concepts, resistance temperature detectors and thermistors, circuits and applications. Thermoelectric temperature measurement: thermocouples, concepts and applications. Fundamentals of radiative temperature measurements and pyrometers.
Acceleration, vibration, and shock measurement. Piezoelectric transducers: concepts, measurement set up and calibration.
Fundamentals of sea state measurements.
( reference books)
• Francesco Paolo Branca "Misure Meccaniche" E.S.A. Editrice.
• Marc Le Menn, Instrumentation and Metrology in Oceanography, ISTE Ltd and John Wiley & Sons, Inc. 2012.
• Rinaldo Vallascas "Fondamenti di Misure Meccaniche e Termiche. Grandezze statiche e sistemi" Hoepli 2008.
• Rinaldo Vallascas e Federico Patané "Misure Meccaniche e Termiche. Grandezze tempo-varianti" Hoepli 2007.
• W. Navidi, Statistics for Engineers and Scientists, 3rd edition, Mc Graw Hill,2010.
• Beckwith T.G., Marangoni R.D. & LienhardJ.H, Mechanical Measurements, Pearson Prentice Hall, 2007.
• R. S. Figliola, D. E. Beasley, Theory and Design for Mechanical Measurements, 6th Edition, Wiley, 2015.
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9
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ING-IND/12
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72
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Core compulsory activities
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ITA |
Optional group:
AD OPZIONALE CARATTERIZZANTI/AFFINI- INTEGRATIVE - (show)
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15
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20810557 -
METODI DI PROGETTAZIONE DEI SISTEMI OFFSHORE- MODELLAZIONE NUMERICA
(objectives)
• Knowledge of the theoretical basis and functionality of 3D modeling of mechanical elements, structures, and piping systems;
• Ability to set up the structural design of off-shore components and systems;
• Ability to use 3D modeling and structural analysis software.
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CICCONI PAOLO
( syllabus)
• Knowledge of the theoretical basis and functionality of 3D modeling of mechanical elements, structures, and piping systems;
• Ability to set up the structural design of offshore components and systems;
• Ability to use 3D modeling and structural analysis software.
Detailed program:
1. Engineering Design
• Phases of the Engineering Design
• Product Configuration and modularity. Differences between Configure-to-Order e Engineer-to-Order.
2. Product Lifecycle Management – PLM
• Introduction to Product Life Cycle Management (PLM), tools and methods.
3. Geometrical Modeling and CAD tools
• CAD feature-based modeling, parameters management.
• Annotations on 3D models – Product and Manufacturing Information (PMI).
• Basic concepts on surface modeling.
4. Application Programming Interface
• Programming languages for CAD integration.
• Development examples.
5. Computer-Aided Engineering tools
• CAE systems and applications.
• CAD/CAE interoperability.
• Finite Element Methods (FEM) and numerical tools.
• Structural simulations.
6. Design Optimization tools
• Parametrical optimization: tools and methods.
• Multi-Objective Optimization.
• Topological Optimization in FEM analysis.
• Examples.
7. Reverse Engineering
• Optical instruments for 3D survey.
• 3D scanner: a test case.
8. Offshore structures modeling
• System engineering.
• Introduction to BIM modeling.
• Basic concepts of structural modeling.
• Mechanical assemblies in offshore project.
• Software and tools.
9. Design for X
• Design for X: definition. Examples of Design for Assembly and Design for Disassembly, etc.
• Concepts of Life Cycle Assessment for the industrial sector.
• Ecodesign methods based on Life Cycle Assessment analysis (Design for Sustainability).
10. 3D Piping modeling for offshore applications
• Design of 3D piping models using CAD software.
• Normative, standard code, and components for the piping representation, symbols and schemes.
• Pipe representation, air ventilation, gas piping, marine applications.
• Piping and regulation: pipes, valves, flanges, pipe connections, pipe joints, boilers, tanks, pumps, gaskets.
( reference books)
Online documentation on the Moodle site of the course.
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6
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ING-IND/15
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48
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Core compulsory activities
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ITA |
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20810271 -
MECHANICS AND DESIGN OF UNDERWATER ROBOTS
(objectives)
The aim of this course is to provide the student with the fundamental elements of robot mechanics with particular reference to remotely controlled underwater articulated systems operating in the marine environment. For this purpose, a wide range of methodologies will be first provided for the functional design, kinematic, static generalized force and dynamic analysis of mobile marine articulated systems and their implementation with remote control. The first theoretical part will be completed with the dynamic analysis of oscillating articulated systems in the marine environment. Secondly, elements of design and use of Underwater Vehicle-Manipulator System UVMS, Remotely Guided and Autonomous Underwater Robotic Vehicles (ROV and AUV) will be introduced, including classification, types and uses. The student will be able to understand the static and dynamic behavior of UVMS, ROV and AUV, the main on-board systems of UVMS, ROV and AUV. The course will also provide elements on mission profile, design criteria and methods, dedicated manipulators and sensors for submarine vehicles, as well as on guidance, control and autonomous navigation principles, on-board and shore support systems of UVMS, ROV and AUV. The practical part of the course is based on the practical construction of a marine UVMS, ROV or AUV to be used in undergraduate student competitions.
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BELFIORE NICOLA PIO
( syllabus)
Part One Characteristics of Industrial Robots. Classification. Examples of industrial and service robots from major companies: Unimation, ASEA, Cincinnati Milacron, SCARA, Puma, General Motors' wrist, COMAU, KUKA, FANUC, ABB, da Vinci Surgical System. Characteristics of underwater robots. Classification. Manned vs unmanned. Submarines, submersibles, atmospheric diving suits. Military, research, and tourist applications of submarines. Fundamental distinction between ROV and AUV. Free swimming, Bottom crawling, structurally reliant. Gliders and hybrid vehicles. General architecture of an ROV and AUV, actuators, sensors, and control. Examples: Hercules and Argus. Drifters. Instrumentation, actuation, and control of drifters. Main applications and issues. Inertial navigation systems.
Challenges of the marine environment. Characteristics of the water column. Acoustics, sonar. Optical properties. Column properties: thermocline, metalimnion, pycnocline, halocline, chemocline, lutocline, oceanic mixed layer. Other properties and quantities of interest: Temperature (°C), Salinity (unitless), Density (kg/m3), Conductivity (S/m), Mixed Layer Depth (m), Dissolved Oxygen (µmol/kg), Percent Oxygen Saturation (%), Apparent Oxygen Utilization (µmol/kg), Silicate (µmol/kg), Phosphate (µmol/kg), Nitrate (µmol/kg). Basic laws and principles: surface tension, wettability, pressure inside a droplet, capillary rise, Pascal's principle, Stevin's Law, Archimedes' Principle. Marine currents, tides. Marine animals, algae, and plants.
Part Two Introduction to Rotations in SO(3). Elementary attitude matrices. Parameterization methods of attitude matrices. Euler and Cardano parameterizations. Examples and exercises. Mathematica software exercise (first part). Introduction to transformation matrices in homogeneous coordinates. Properties of displacement matrices in homogeneous coordinates. Mathematica software exercise (second part). Exercise: Attitude matrices in Mathematica. Introduction to Denavit and Hartemberg parameters. Calculation of the transformation matrix in homogeneous coordinates as a function of Denavit Hartenberg parameters. Exercise - Transformation matrices in homogeneous coordinates in Wolfram Mathematica. Exercise: writing a Wolfram Mathematica code for the representation of an RRR robot.
Part Three. First-order Kinematic Analysis. General architecture of a robot, single-axis control. General architecture of a robot general control. Inverse kinematic problem: numerical methods - Newton Raphson. Inverse kinematic problem: analytical methods according to Pieper. Introduction to kinetostatic duality. Calculation of the geometric Jacobian for the general case, introduction to screw theory (twist and wrench). Calculation of the Jacobian in the Denavit and Hartenberg parameterization. Kinetostatic duality in E(3) and SE(3). Control methods for trajectory tracking in E(3) and SE(3).
Part Four. Construction of an Underwater ROV Activities related to the practical construction of a marine ROV. ROV structure. Frame. Use of CAD tools and mechanical design. Propulsion and buoyancy. Choice of materials. Overview of the control system, software and hardware, control boards, and codes. Actuation system, motors, and power. Overview of drifters. Overview of the arms equipped on the ROV. Safety. Logistics. Mission. Main applications. Technological demonstrator - digital twin - acquisition of attitude experimentally - architecture and measurement chain.
Part Five. Direct dynamic problem. Dynamic simulation of multibody systems in space. Introduction to rigid body dynamics in space using Euler parameters. General formula for the step-by-step integration procedure of the equations of dynamics of constrained systems in space. Methods for deducing the motion equation based on the principle of virtual work in dynamics and variational principles: Lagrange's equations. Application of Lagrange's equation to deduce the general equation of motion of the manipulator under dynamic conditions. Inverse dynamic problem. Static equilibrium of a manipulator using the recursive method. Dynamics of Serial Robots using recursive methods.
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9
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ING-IND/13
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72
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Core compulsory activities
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ITA |
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20810273 -
MARITIME TRANSPORTATION AND INFRASTRUCTURES
(objectives)
The problem of intermediate reloading between shipping and terrestrial transport is typically affected by many constraints given by many factors among them the limited spaces of the seaports certainly prevailing. Horizontal and vertical alignment (slopes, curves, clothoids) as well manoeuvres or design speeds must take into account any constraints in a not ordinary framework.
The overall objective is here to give to the students all the information and technical tools to design and manage the transportation infrastructure at the terrestrial-maritime interface.
Design and construction as well as maintenance of parking lots, roads, motorways, rail stations and railways at the land/sea interface are discussed, in particular focusing on geometry standards, safety and efficiency of transport. Moreover the main concepts of selection criteria and acceptance standards for construction and building materials are explained under a perspective of sustainability.
The main concepts of construction management and building sites or work zones safety and efficiency are also accurately presented, mainly considering the aspects related to the environmental impacts during construction.
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6
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ICAR/05
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48
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Related or supplementary learning activities
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ITA |
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Università Roma Tre