Introducing IRMA installation logistics capabilities

examples/OntologySample200m_1turb.yaml

@@ -1295,8 +1295,7 @@ anchor_types:
         zlug   :    10 # embedded depth of padeye [m]
 
     suction1:
-        type   :  suction_pile
+        type   :  suction
         L      :     16.4  # length of pile [m]
         D      :     5.45  # diameter of pile [m]
         zlug   :     9.32  # embedded depth of padeye [m]
-

famodel/anchors/anchors_famodel/capacity_suction.py

@@ -40,7 +40,7 @@ def getCapacitySuction(D, L, zlug, H, V, soil_type, gamma, Su0=None, k=None, phi
         Maximum vertical capacity [kN]
     '''  
 
-    lambdap = L/D; m = 2/3;         # Suction pile slenderness ratio
+    lambdap = L/D; m = 2/3;          # Suction pile slenderness ratio
     t = (6.35 + D*20)/1e3            # Suction pile wall thickness (m), API RP2A-WSD
     rlug = D/2                       # Radial position of the lug
     thetalug = 5                     # Angle of tilt misaligment, default is 5. (deg)

famodel/irma/actions.yaml

@@ -0,0 +1,338 @@
+# ======================================================================
+# actions.yaml
+# ----------------------------------------------------------------------
+# This file defines standardized marine operations actions.
+# Each entry needs numeric values per specific asset in vessels.yaml.
+# Action requirements will be checked against vessel capabilities for evaluation and assignment.
+#
+#  Old format: roles, which lists asset roles, each with associated required capabilities
+#  New format: list of requirements, with optional -in/-out suffix
+
+# The code that models and checks these actions is action.calcDurationAndCost(). Structural changes here will not be reflected in the code unless changes are made there as well
+
+### Example action ###
+
+# example_action:
+#   objects: [] "The FAModel object types that are expected for this action"
+#   requirements: [] "List of capability requirements that assets must meet to perform this action"
+#   duration_h: 0.0 "Duration in hours"
+#   Hs_m: 0.0 "Wave height constraints in meters"
+#   description: <text> "A description"
+
+# --- Mobilization ---
+
+mobilize:
+  objects: []
+  requirements:
+    - storage
+  duration_h:
+  Hs_m:
+  description: "Mobilization of vessel in homeport"
+
+demobilize:
+  objects: []
+  requirements:
+    - storage
+  capabilities: []
+  duration_h: 1.0
+  description: "Demobilization of vessel in homeport"
+
+load_cargo:
+  objects: [anchor, mooring, cable, platform, component]
+  # still have to figure out the aspect of loading from a port
+  requirements:
+    - chain_storage-in
+    - rope_storage-in
+    - line_handling
+    - lifting
+    - storage-in
+    - station_keeping
+    - cable_storage-in
+    - cable_handling
+  duration_h:
+  Hs_m:
+  description: "Load-out of generic components from port or vessel onto vessel." 
+
+
+# --- Towing & Transport ---
+
+transit_linehaul_self:
+  objects: [anchor]
+  requirements:
+    - propulsion
+  duration_h:
+  description: "Self-propelled line-haul between port and site"
+
+transit_linehaul_tug:
+  objects: [anchor]
+  requirements:
+    - propulsion
+  duration_h: 
+  description: "Tugged line-haul convoy (tug + barge) between port and site"
+
+transit_onsite_self:
+  objects: [anchor]
+  requirements:
+    - propulsion
+  duration_h:
+  description: "Self-propelled in-field move between site locations"
+
+transit_onsite_tug:
+  objects: [anchor]
+  requirements:
+    - propulsion
+    - towing
+  duration_h: 
+  description: "Tug + barge in-field move between site locations"
+
+
+tow:
+  objects: [platform]
+  requirements:
+    - propulsion
+    - towing
+    - station_keeping
+  duration_h:
+  Hs_m:
+  description: "Towing floating structures (e.g., floaters, barges) to site; includes station-keeping."
+
+transport_components:
+  objects: [component]
+  requirements:
+    - propulsion
+    - storage
+    - lifting
+    - station_keeping
+  duration_h:
+  Hs_m:
+  description: "Transport of large components such as towers, nacelles, blades, or jackets."
+
+at_site_support:
+  objects: []
+  requirements:
+    - propulsion
+  duration_h:
+  Hs_m:
+  description: "Transport of vessel around the site to provide support."
+
+# --- Mooring & Anchors ---
+
+install_anchor:
+  objects: [anchor, component]
+  requirements:
+    - storage-out
+    - anchor_overboarding
+    - anchor_lowering
+    - anchor_orienting
+    - anchor_embedding
+    - station_keeping
+    - monitoring_system
+    # - survey  <-- typically done before installation?
+  duration_h:
+  Hs_m:
+  description: "Anchor installation (suction, driven, helical, DEA, SEPLA) with tensioning and verification."
+
+retrieve_anchor:
+  objects: [anchor, component]
+  requirements:
+    - storage-in
+    - anchor_removal
+    - station_keeping
+  duration_h:
+  Hs_m:
+  description: "Anchor retrieval, including break-out and recovery to deck."
+
+
+load_mooring:
+  objects: [mooring, component]
+  requirements:
+    - chain_storage-in
+    - rope_storage-in
+    - line_handling
+    - station_keeping
+  duration_h:
+  Hs_m:
+  description: "Load-out of mooring lines and components from port or vessel onto vessel." 
+
+
+lay_mooring:
+  objects: [mooring, component]
+  requirements:
+    - propulsion
+    - chain_storage-out
+    - rope_storage-out
+    - line_handling
+    - station_keeping
+    - subsea_connection
+  duration_h:
+  Hs_m:
+  description: "Laying mooring lines and connection to anchors."
+
+
+mooring_hookup:
+  objects: [mooring, component, platform]
+  requirements:
+    - chain_storage   # <-- what is this for?
+    - rope_storage   # <-- what is this for?
+    - line_handling
+    - towing   #   <-- may want to tweak this to be a more generic term that includes bollard pull
+    - mooring_work
+    - station_keeping
+    - monitoring_system
+  duration_h:
+  Hs_m:
+  description: "Hook-up of mooring lines to floating platforms, including pretensioning."
+
+# --- Heavy Lift & Installation ---
+
+install_wec:
+  objects: [platform]
+  requirements:
+    - storage
+    - platform_handling
+    - station_keeping
+    - monitoring_system
+  duration_h:
+  Hs_m:
+  description: "Lifting, placement and securement of wave energy converters (WECs) onto moorings, including alignment, connection of power/data umbilicals and verification via ROV."
+
+install_semisub:
+  objects: [platform]
+  requirements:
+    - storage
+    - lifting
+    #- pumping
+    - towing
+    - station_keeping
+    - monitoring_system
+  duration_h:
+  Hs_m:
+  description: "Wet tow arrival, station-keeping, ballasting/trim, mooring hookup and pretensioning, ROV verification and umbilical connections as needed."
+
+install_spar:
+  objects: [platform]
+  requirements:
+    - storage
+    - lifting
+    #- pumping
+    - towing
+    - station_keeping
+    - monitoring_system
+  duration_h:
+  Hs_m:
+  description: "Arrival and upending via controlled ballasting, station-keeping, fairlead/messenger handling, mooring hookup and pretensioning with ROV confirmation. Heavy-lift support may be used during port integration."
+
+install_tlp:
+  objects: [platform]
+  requirements:
+    - storage
+    - lifting
+    #- pumping
+    - towing
+    - station_keeping
+    - monitoring_system
+  duration_h:
+  Hs_m:
+  description: "Tendon porch alignment, tendon hookup, sequential tensioning to target pretension, verification of offsets/RAOs and ROV checks."
+
+install_wtg:
+  objects: [turbine]
+  requirements:
+    - storage
+    - lifting
+    - station_keeping
+    - monitoring_system
+  duration_h:
+  Hs_m:
+  description: "Installation of wind turbine generator including tower, nacelle and blades."
+# --- Cable Operations ---
+
+lay_cable:
+  objects: [cable]
+  requirements:
+    - cable_storage-out
+    - cable_laying
+    - station_keeping
+    - monitoring_system
+  duration_h:
+  Hs_m:
+  description: "Laying static/dynamic power cables, including burial where required."
+
+cable_hookup:
+  objects: [cable, component, platform]
+  requirements:
+    - cable_storage
+    - cable_handling
+    - towing
+    - station_keeping
+    - monitoring_system
+  duration_h:
+  Hs_m:
+  description: "Hook-up of cable to floating platforms, including pretensioning."
+
+retrieve_cable:
+  objects: [cable]
+  requirements:
+    - cable_storage-in
+    - cable_handling
+    - station_keeping
+    - monitoring_system
+  duration_h:
+  Hs_m:
+  description: "Cable recovery operations, including cutting, grappling and retrieval."
+
+ # Lay and bury in a single pass using a plough 
+lay_and_bury_cable:
+  objects: [cable]
+  requirements:
+    - propulsion
+    - cable_storage
+    - station_keeping
+    - monitoring_system
+  duration_h:
+  Hs_m:
+  description: "Simultaneous lay and plough burial; continuous QA via positioning + MBES/SSS, with post-pass verification."
+
+# Backfill trench or stabilize cable route using rock placement
+backfill_rockdump:
+  objects: [cable]
+  requirements:
+    - storage
+    - propulsion
+    - station_keeping
+    - monitoring_system
+    - rock_placement
+  duration_h:
+  Hs_m:
+  description: "Localized rock placement to stabilize exposed cables, infill trenches or provide scour protection. Includes real-time positioning and sonar verification of rock placement."
+
+# --- Survey & Monitoring ---
+
+site_survey:
+  objects: []
+  requirements:
+    - survey
+    - station_keeping
+    - monitoring_system
+  duration_h:
+  Hs_m:
+  description: "Pre-installation site survey including bathymetry, sub-bottom profiling and positioning."
+
+monitor_installation:
+  objects: [anchor, mooring, component, platform, cable]
+  requirements:
+    - station_keeping
+    - monitoring_system
+  duration_h:
+  Hs_m:
+  description: "Real-time monitoring of installation operations using ROV and sensor packages."
+
+diver_support:
+  objects: []
+  requirements:
+    - survey
+    - station_keeping
+    - monitoring_system
+  duration_h:
+  Hs_m:
+  description: "Divers site survey including monitoring and positioning."