Applications to Marine Disaster Prevention (eBook)

Preface 6
Contents 10
1 Introduction 12
References 17
2 Lessons from Marine-Based Oil Spill and Gas Leak Accidents 19
2.1 Major Marine-Based Oil Spill and Gas Leak Accidents 19
2.2 Subsea Environmental Effects by the DWH Oil Spill Accident 20
2.3 Surface Oil Slick Behavior After the DWH Oil Spill Accident 22
2.4 Impact of the DWH Oil Spill Accident on Contingency Plan, Preparedness, and Regulations 23
References 24
3 Development and Operation of Underwater Robot for Autonomous Tracking and Monitoring of Subsea Plumes After Oil Spill and Gas Leak from Seabed and Analyses of Measured Data 26
3.1 Introduction 27
3.2 SOTAB-I Overview 29
3.2.1 Outlines of SOTAB-I 29
3.2.2 Hardware Description 30
3.2.2.1 Power Supply 30
3.2.2.2 Processing and Control Unit 32
3.2.2.3 Actuators 34
3.2.2.4 Tracking 36
3.2.2.5 Orientation 37
3.2.2.6 Communication 37
3.2.2.7 Surveying Sensors 38
3.2.2.8 Emergency 40
3.2.3 Software Description 40
3.2.3.1 Ship Computer 41
3.2.3.2 SOTAB-I Computer 42
3.2.3.3 Acoustic Communication 44
3.3 SOTAB-I Guidance and Control 45
3.3.1 General Description 45
3.3.1.1 Operating Modes 45
3.3.1.2 Operating Zones 46
3.3.1.3 Control Priorities 47
3.3.2 Equations of Motion 48
3.3.3 Depth Control 51
3.3.3.1 PID Depth Control 51
3.3.3.2 Depth Control with Time Estimation 51
3.3.3.3 Progressive Depth Control 55
3.3.3.4 Heading Control 57
3.3.4 Experimental Result 58
3.3.4.1 Field Test in Toyama Bay on the 28th of November 2014 58
3.3.4.2 Field Test in Toyama Bay on the 20th of March 2015 59
3.3.4.3 Field Test in Toyama Bay on the 11th of June 2015 61
3.3.4.4 Towing Tank Test at Osaka University on the 26th of August 2015 63
3.3.4.5 Field Test off Joetsu, Niigata, on the 3rd of September 2015 64
3.3.5 Simulation 66
3.3.5.1 Depth Control 67
3.3.5.2 Heading Control 68
3.3.5.3 Simulation of Path Planning 71
3.4 Water Surveying 73
3.4.1 Sensors Configuration and Calculation Process 73
3.4.1.1 CTD Data 73
3.4.1.2 Water Current Measurements 74
3.4.1.3 Dissolution of Substances 83
3.4.2 Vertical Water Column Survey in the Gulf of Mexico 85
3.4.2.1 Temperature, Salinity, and Density 85
3.4.2.2 Water Currents 87
3.4.2.3 Dissolution of Substances 87
3.4.3 Vertical Water Column Survey in Komatsushima 89
3.4.3.1 Vertical Distributions of Temperature, Salinity, and Density 90
3.4.3.2 Comparison of Vertical Water Currents Profile 90
3.4.4 Vertical Water Column Survey in Toyama Bay 92
3.4.4.1 Temperature, Salinity, and Density 92
3.4.4.2 Vertical Profile of Water Currents 93
3.5 Conclusions 94
Appendix 97
References 101
4 Development of a Robotic Floating Buoy for Autonomously Tracking Oil Slicks Drifting on the Sea Surface (SOTAB-II): Experimental Results 103
4.1 Introduction 104
4.2 SOTAB-II 108
4.2.1 Mechanical Design 108
4.2.1.1 Hull Design 108
4.2.1.2 Mainsail and Jib Sail 110
4.2.1.3 Keel Design 110
4.2.1.4 Brake Board 110
4.2.1.5 Rudder 111
4.3 Hardware Description 111
4.3.1 Power Supply 111
4.3.2 Onboard Computer 111
4.3.3 Actuators 111
4.3.4 Sensors 112
4.3.4.1 Guidance and Navigational Sensors 113
4.3.4.2 Oceanographic Sensors 113
4.3.5 Communication 114
4.4 Software Module 114
4.4.1 Data Acquisition Module 114
4.4.2 Guidance, Navigation, and Control Module 115
4.5 Guidance, Navigation, and Control 115
4.5.1 Coordinate System and Sensor Configuration Description 115
4.5.2 Decision-Making Algorithm 116
4.5.2.1 Case A (Target Heading and Target Speed Derivation if SOTAB-II Is Surrounded by Oil) 119
4.5.2.2 Case B (Target Heading and Target Speed Derivation if SOTAB-II Is Out of Oil Slick) 119
4.5.2.3 Case C (Target Heading and Target Speed Derivation if SOTAB-II Is Tracking the Edge of the Oil Slick) 119
4.5.3 Guidance and Navigation 121
4.5.4 Control 122
4.5.4.1 Sail Control 122
4.5.4.2 Rudder Control 124
4.5.4.3 Brake Board Control 125
4.6 Experimental Results 125
4.6.1 Experimental Results on Free Drift and Controlled Drift 125
4.6.2 Simulated Oil Spill Tracking Results 127
4.6.2.1 Experimental Results at Pond 128
4.6.2.2 Sea Experiment Results 131
4.7 Conclusions 133
References 133
5 Numerical Simulation of Oil and Gas Blowout from Seabed in Deep Water 136
5.1 Introduction 136
5.2 Numerical Model 139
5.2.1 Simple Oil-Tracking Model 139
5.2.2 Hybrid Plume/Lagrangian Model 141
5.2.2.1 Plume Model: Lagrangian Control Volume Method 141
5.2.2.2 Conservation Equation in Plume Structure 142
5.2.2.3 Kinetics of Methane Hydrate 144
5.2.2.4 Dissolution of Methane Gas into Seawater 147
5.2.2.5 Lagrangian Tracking Model of Gas Bubble at the Far Field 148
5.3 Field Simulation 148
5.3.1 Deepspill Experiment 148
5.3.2 Crude Oil Spill Behavior Without Phase Change 151
5.3.3 Gas Spill Behavior with Phase Change 152
5.4 Summary 157
References 158
6 Effect of Liquid-Gas Interaction on Plume Structure in Blowout Flow 160
6.1 Introduction 160
6.2 Numerical Method 162
6.2.1 Governing Equations 162
6.2.2 Description of the Interphase Interaction 163
6.2.3 Numerical Procedure 165
6.3 Results and Discussion 166
6.3.1 Validation of the Numerical Code: Three-Phase Bubble Column 166
6.3.2 Effect of the Interaction Between Gas and Oil Phases on the Plume Structure: Oil-Gas-Water Three-Phase Flow Behavior 168
6.4 Conclusions 173
References 174
7 Numerical Simulation of Spilled Oil Drifting with DataAssimilation 176
7.1 Introduction 176
7.2 Nakhodka Oil Spill Accident 177
7.3 Simulation of Oil Drift 181
7.3.1 Velocity Configuration of Spilled Oil 181
7.3.2 Treatment of Oil 182
7.3.3 Numerical Models of Ocean and Atmospheres 183
7.3.4 Selection of DA Scheme 184
7.4 Efficacy of DA for Estimation of Oil Drift 189
7.4.1 Prediction of Amount of Oil Drifted Ashore at a Certain Time Using POM and WRF (Tsustukawa et al. 2012) 189
7.4.2 DA for Estimation of Oil Drifts Using ROMS and WRF (Suzuki et al. 2015) 193
7.4.3 Computational Results 195
7.5 Efficacy of Data Assimilation with SOTAB-II 197
7.5.1 SOTAB-II 197
7.5.2 DA Using Data from SOTAB-II 197
7.5.3 Computational Results 198
7.6 Effect of Number of SOTAB-IIs 201
7.6.1 Computational Results 201
7.7 Conclusion 203
References 204
8 Conclusions 205
References 207