Overdue, General, and OMAE paper Updates

COMMENTED OUT CODE IN IRMA.PY

- Many updates revolve around 1) getting the load anchor action to work with the existing example and 2) getting the RM3 ontology example to run. There's still some bugs to catch/verify, but now things should run (where they didn't previously)

OntologySample_RM3.yaml = NEW

Irma.py
- display inputs, optional yaml inputs
- new visualize actions function
- adding the load anchor actions to the task creation function
- organizing a lot of the run code at the bottom of Irma.py (adding anchor mass calculations

- actions.yaml: added a load_anchor action, which has a new requirements called "anchor_onboarding" (station_keeping is still unused as of now)
- requirements.yaml: right now, only a crane capability can perform the anchor_onboarding requirements (could use a windlass later)
- - (added the windlass to the capabilities yaml just in case)
- action.py - added the anchor_onboarding requirements update; as well as the duration to onboard the anchor that is just hard-coded for right now
- - updated the bollard pull requirements for DEAs to be 200 (to match the current AHTS vessel capabilities), since this wasn't working whenever a DEA was specified

Author: shousner

examples/OntologySample_RM3.yaml

@@ -0,0 +1,145 @@
+type: RM3 WEC example
+name: 
+comments: 
+# Site condition information
+site:
+    general:
+        water_depth : 70        # [m]      uniform water depth
+        rho_water   : 1025.0     # [kg/m^3] water density
+        rho_air     : 1.225      # [kg/m^3] air density
+        mu_air      : 1.81e-05   #          air dynamic viscosity
+        
+# ----- Array-level inputs -----
+
+# Wind turbine array layout
+array:
+    keys : [ID, topsideID, platformID, mooringID,   x_location,     y_location,   heading_adjust]
+    data : #    ID#        ID#        ID#          [m]             [m]           [deg]
+        -  [RM3,     1,         1,         ms1,          0,         0,          00   ]    # 2 array, shared moorings
+
+# ----- topsides and platforms -----
+
+topsides:
+  
+  - type: WEC
+
+
+
+platform:
+
+  type         :  WEC
+  potModMaster :  1      # [int] master switch for potMod variables; 0=keeps all member potMod vars the same, 1=turns all potMod vars to False (no HAMS), 2=turns all potMod vars to True (no strip)
+  rFair        :  0
+  zFair        :  -10
+
+  members:   # list all members here
+
+    - name      :  top                       # [-]    an identifier (no longer has to be number)       
+      type      :  rigid                     # [-]    
+      rA        :  [ 0, 0, -2.7]             # [m]    end A coordinates
+      rB        :  [ 0, 0,  2.5]             # [m]    and B coordinates
+      # --- outer shell including hydro---
+      stations  :  [ -2.7, -1.5, 2.5]        # [-]    location of stations along axis. Will be normalized such that start value maps to rA and end value to rB
+      d         :  [ 6, 20, 20]              # [m]    diameters if circular or side lengths if rectangular (can be pairs)
+      t         :  0.025                     # [m]    wall thicknesses (scalar or list of same length as stations)
+      rho_shell :  7850                      # [kg/m3] 
+      # --- handling of end caps or any internal structures if we need them ---
+      cap_stations :  [ 2.5   ]              # [m]  location along member of any inner structures (in same scaling as set by 'stations')
+      cap_t        :  [ 0.025 ]              # [m]  thickness of any internal structures
+      cap_d_in     :  [ 6     ]              # [m]  inner diameter of internal structures (0 for full cap/bulkhead, >0 for a ring shape)
+      
+    - name      :  center_column             # [-]    an identifier (no longer has to be number)       
+      type      :  rigid                     # [-]    
+      rA        :  [ 0, 0, -35.0]            # [m]    end A coordinates
+      rB        :  [ 0, 0,   7.0]            # [m]    and B coordinates
+      # --- outer shell including hydro---
+      stations  :  [0, 1]                    # [-]    location of stations along axis. Will be normalized such that start value maps to rA and end value to rB
+      d         :  6.0                       # [m]    diameters if circular or side lengths if rectangular (can be pairs)
+      t         :  0.025                     # [m]    wall thicknesses (scalar or list of same length as stations)
+      rho_shell :  7850                      # [kg/m3] 
+      # --- handling of end caps or any internal structures if we need them ---
+      cap_stations :  [ 1    ]               # [m]  location along member of any inner structures (in same scaling as set by 'stations')
+      cap_t        :  [ 0.025  ]             # [m]  thickness of any internal structures
+      cap_d_in     :  [ 0    ]               # [m]  inner diameter of internal structures (0 for full cap/bulkhead, >0 for a ring shape)
+    
+    - name      :  heave_plate               # [-]    an identifier (no longer has to be number)       
+      type      :  rigid                     # [-]    
+      rA        :  [ 0, 0, -35.0]            # [m]    end A coordinates
+      rB        :  [ 0, 0, -34.5]            # [m]    and B coordinates
+      # --- outer shell including hydro---
+      stations  :  [0, 1]                    # [-]    location of stations along axis. Will be normalized such that start value maps to rA and end value to rB
+      d         :  30                        # [m]    diameters if circular or side lengths if rectangular (can be pairs)
+      t         :  0.025                     # [m]    wall thicknesses (scalar or list of same length as stations)
+      rho_shell :  7850                      # [kg/m3] 
+      # --- handling of end caps or any internal structures if we need them ---
+      cap_stations :  [ 0, 1 ]               # [m]  location along member of any inner structures (in same scaling as set by 'stations')
+      cap_t        :  [ 0.025, 0.025 ]       # [m]  thickness of any internal structures
+      cap_d_in     :  [ 0, 6 ]               # [m]  inner diameter of internal structures (0 for full cap/bulkhead, >0 for a ring shape)
+
+
+
+# ----- Mooring system -----
+
+# Mooring system descriptions (each for an individual FOWT with no sharing)
+mooring_systems:
+ 
+    ms1:
+        name: RM3
+        
+        keys: [MooringConfigID,  heading, anchorType, lengthAdjust] 
+        data:
+          - [  rm3-nylon,   60 ,    dea1,   0 ]
+          - [  rm3-nylon,  180 ,    dea1,   0 ]
+          - [  rm3-nylon,  300 ,    dea1,   0 ]
+
+
+# Mooring line configurations
+mooring_line_configs:
+
+    rm3-nylon:  # mooring line configuration identifier
+    
+        name: rm3-nylon  # descriptive name
+        
+        span: 300
+        
+        sections:                   # in order from anchor to fairlead
+          #- connectorType: shackle
+          #- mooringFamily: chain    # ID of a mooring line section type
+          #  d_nom: .089
+          #  length: 30              # [m] usntretched length of line section
+          #- connectorType: clump_weight_10_t  
+          - mooringFamily: nylon    # ID of a mooring line section type
+            d_nom: .146
+            length: 267             # [m] usntretched length of line section
+          #- connectorType: buoy_55_kN
+          #- mooringFamily: wire
+          #  d_nom: 0.1
+          #  length: 25
+
+mooring_connector_types:
+    
+    h_link_shackle:
+        m   : 140    # [kg]  component mass
+        v   : 0.13   # [m^3] component volumetric displacement
+        
+    clump_weight_10_t:
+        m   : 10000  # [kg]  component mass
+        v   :  0.0   # [m^3] component volumetric displacement
+
+    buoy_55_kN:
+        m   :  100   # [kg]  component mass
+        v   :  5.6   # [m^3] component volumetric displacement
+    
+    shackle:
+        m   : 200    # [kg]  component mass
+        v   : .2     # [m^3] component volumetric displacement
+
+anchor_types:
+
+    dea1:
+        type   :  DEA   # type of anchor
+        A      :  5.46  # net area of anchor's fluke [m^2] - taken as 0.5*D*F - C*D
+        zlug   : 10     # embedded depth of padeye [m]
+        mass   : 9000   # [kg]
+        L      :  5.46
+        D      :  5.46

famodel/irma/action.py

@@ -93,7 +93,7 @@ class Action():
     subclasses.
     '''
 
-    def __init__(self, actionType, name, **kwargs): # allReq, **kwargs):
+    def __init__(self, actionType, name, display=0, **kwargs): # allReq, **kwargs):
         '''Create an action object...
         It must be given a name.
         The remaining parameters should correspond to items in the actionType dict...
@@ -138,6 +138,8 @@ def __init__(self, actionType, name, **kwargs): # allReq, **kwargs):
         self.tf = 0  # action end time [h?]
 
         self.supported_objects = [] # list of FAModel object types supported by the action
+
+        self.display = display
 
         '''
         # Create a dictionary of supported object types (with empty entries)
@@ -316,9 +318,29 @@ def printNotSupported(st):
                             A = (obj.dd['design']['L']+(10/3.28084)) * (obj.dd['design']['D']+(10/3.28084))
                             # if the suction piles are to be standing up    # <<<<<< how to implement this? Depends on the asset assignment
                             # A = (obj.dd['design']['D']+(10/3.28084))**2
+                        elif 'dea' in obj.dd['type'].lower() or 'drag' in obj.dd['type'].lower():
+                            A = obj.dd['design']['A']
 
                         req['deck_space']['area'] += A
 
+
+            elif reqname == 'anchor_onboarding':
+
+                for obj in self.objectList:
+                    if isinstance(obj, Anchor):
+
+                        if obj.mass:
+                            mass = obj.mass  # [kg]
+                        else:  # rough estimate based on size
+                            wall_thickness = (6.35 + obj.dd['design']['D']*20)/1e3  # Suction pile wall thickness (m), API RP2A-WSD. It changes for different anchor concepts
+                            mass = (np.pi * ((obj.dd['design']['D']/2)**2 - (obj.dd['design']['D']/2 - wall_thickness)**2) * obj.dd['design']['L'] * 7850)  # rough mass estimate [kg]
+
+                        req['crane']['capacity'] = mass * 1.2
+                        req['crane']['hook_height'] = obj.dd['design']['L'] * 1.2  # <<< replace with proper estimate
+
+                        #req['windlass']['capacity'] = mass * 1.2
+                        #req['windlass']['speed'] = 0.3
+
             elif reqname == 'anchor_overboarding' or reqname == 'anchor_lowering':
                 for obj in self.objectList:
                     if isinstance(obj, Anchor):
@@ -351,7 +373,7 @@ def printNotSupported(st):
 
                         if obj.dd['type'] == 'DEA':
 
-                            req['bollard_pull']['max_force'] = 270*t2N  # <<< replace with proper estimate
+                            req['bollard_pull']['max_force'] = 200*t2N  # <<< replace with proper estimate
 
                         elif obj.dd['type'] == 'suction':
 
@@ -376,7 +398,10 @@ def printNotSupported(st):
                             req['divers']['max_depth'] = depth  # 
 
             else:
-                printNotSupported(f"Requirement {reqname}")
+                if self.display > 0:
+                    printNotSupported(f"Requirement {reqname}")
+                else:
+                    pass
 
         # Make a copy of the requirements dict that only keeps entries > 0
         new_reqs = {}
@@ -1603,7 +1628,18 @@ def calcDurationAndCost(self):
                 # temporarily estimate 1h per crane loading <<<
                 self.durations['load mooring by crane'] = 1.0 * len(moorings)
 
+
+        elif self.type == 'load_anchor':
+
+            req = self.requirements['anchor_onboarding']
+
+            if 'crane' in req['selected_capability']:
+                self.durations['load anchor by crane'] = 0.25
+            
+            #elif 'windlass' in req['selected_capability']:
+                #self.durations['load anchor by windlass'] = 2.0
 
+
         elif self.type == 'install_anchor':
             # YAML override (no model if present)
             default_duration = None

famodel/irma/actions.yaml

@@ -143,6 +143,17 @@ retrieve_anchor:
   description: "Anchor retrieval, including break-out and recovery to deck."
 
 
+load_anchor:
+  objects: [anchor, component]
+  requirements:
+    - storage-in
+    - anchor_onboarding
+    - station_keeping
+  duration_h:
+  Hs_m:
+  description: "Load-out of anchors from port or vessel onto vessel." 
+
+
 load_mooring:
   objects: [mooring, component]
   requirements:

famodel/irma/capabilities.yaml

@@ -66,6 +66,12 @@ crane:
    hook_height: normal       # max hook height [m]
    speed: normal             # crane speed [m/s]
 
+windlass:
+  # description: another way an anchor can be loaded onto a vessel?
+  # fields:
+    capacity: normal  # take the maximum capacity windlass
+    speed: normal     # take the maximum winding speed
+
 station_keeping_by_dynamic_positioning:
   # description: DP vessel capability for station keeping
   # fields: