Hard copy + PDF available Intelligent control of ROV's and manipulators This report summarises the work of three

research projects directed towards increasing the autonomy of underwater vehicles through the use of intelligent control systems: Distributed knowledge based system architecture for subsea sensor interpretation and manipulator coordination, Co-operation and planning for collaborating subsea manipulators using a distributed KBS architecture (Heriot-Watt University) and Intelligent adaptive contol of subsea vehicles (University of Liverpool). Potential applications identified for some of the control methods and software extend beyond the underwater industry. 1993 Order ref: MRRVOL4 15.00 REF: MRR4 New design methods for offshore piles Developed from an extended programme of research at Imperial College, aimed towards achieving a more fundamental and thorough understanding of pile behaviour and practical, simple design methodology that captures the basic mechanics of driven piles. This document provides a description of new methods developed, and full validation of the methods for offshore conditions, showing that they are far more reliable and accurate than existing methods. 1996 ISBN 978 1 87055 331 5 55.00 REF: 96/103 Structural integrity monitoring for the offshore industry some developments with industrial potential A review of seven projects that developed potential products for offshore inspection. The projects are an eddy current instrument, a twin eddy current/ACFM probe, 3D radiological imaging of structural sections, hall effect probes for inspection and monitoring, low cost sonar TV, a handy hydrogen sensor for detecting corrosion or cathodic over-protection under water, and a device utilizing leaky Rayleigh waves to find defects under a surface layer. 1993 Order ref: MRRVOL1 15.00 REF: MRR1 Titanium alloys in offshore subsea production systems This report results from a survey, predominantly of oil companies, to assess the industrys attitude to the use of titanium in offshore applications, and to identify whether research and development work is needed to address uncertainties relevant to its use in this area. The report includes a brief history of titanium and some of the main factors to be considered when using it in offshore oil and gas systems. It considers in more detail, applications where titanium offers advantages and presents the results of a survey amongst oil companies on their opinions of the future use of the material. The main grades are briefly reviewed and various potential applications, along with research requirements are identified. 1996 ISBN 978 1 87055 325 4 45.00 REF: 96/100 Vision systems for subsea robotic tasks Describes an investigation into 3D vision, undertaken at University of Liverpool. Two range finding systems were developed, based on time of flight estimations and triangulation. This project was part of the MTD Enhancement technologies for underwater vehicles managed programme. 1993 Order ref: MRRVOL3 15.00 REF: MRR3

PDF only A management approach to weight engineering This report reviews the working practices of some 30 companies which have a particular concern in the control of weight in structures on or offshore, and records their views on the origins and solutions of the problems involved. It is evident that, although effective management of weight is possible, it is not always achieved. Apparent causes of poor weight control are identified, and a scheme of weight management is described which can overcome defects in the existing systems of control. Emphasis is given to the view that weight control, to be effective, must always be treated as an independent engineering discipline, and given due importance and authority within the overall project. The use of computers in weight control and existing weighing techniques are discussed in the appendices. 1984 ISBN 978 0 86017 220 8 40.00 REF: UR24 Controlling the damaging effects of sulphate-reducing bacteria A review of two research projects carried out at Cranfield University as part of the Managed programme on the influence of welding on the performance of high steels. The projects generated information that will enable cathodic protection designers to select the best criteria to balance effective corrosion protection against an increased risk of embrittlement in the presence of SRB. 1997 ISBN 978 1 87055 328 5 15.00 REF: MRR10 Current and potential use of high strength steels in offshore structures Part of the managed programme of research on High strength steels in offshore engineering, undertaken by Cranfield University. Includes a section on design with high strength steels and highlights areas for concern. Also includes sections on the performance of modern high strength steel, special design requirements and a summary of current steel performance. 1995 ISBN 978 1 87055 324 7 55.00 REF: 95/102 Defect assessment in offshore structures This review provides an assessment methodology procedure for defects in offshore structures, to supplement the procedure given in BS 7910:1998, Guidance on methods for assessing the acceptability of flaws in fusion welded structures. The procedure is a set of routines for establishing the structural integrity of welded joints in steel offshore structures, based on current research and best industry practice. It is offshore specific in that it deals with the special characteristics of such structures in terms of detailed design and the nature of the loading in such applications. Routines for assessment of individual joints are combined into system reliability assessments and an overall scheme for inspection and repair. The procedure is supported by a commentary that gives the background to sections of the methodology. 1998 ISBN 978 1 87055 333 9 40.00 REF: 98/100 Design and operational guidance on cathodic protection of offshore structures, subsea installations and pipelines Practical guidance for designers, engineers and operational staff on the design, installation and operation of cathodic protection systems offshore. This book details the principles of corrosion and cathodic protection, design requirements for different types of offshore structures and details of monitoring and surveying systems for CP systems. It makes reference to legislation standards and also includes a review of recent experience in the North Sea. 1990 ISBN 978 1 87055 304 9 95.00 REF: 90/102

Drag and inertia coefficient data for cylinders An appraisal of measurements of drag and inertia coefficients for large scale circular cylinders, carried out by researchers at Imperial College, as part of the Behaviour of fixed and compliant offshore structures managed programme. The coefficients were measured under a range of experimental conditions including planar oscillatory flow, laboratory tests with vertical cylinders in regular and random waves and experiments on vertical cylinders in the sea. 1997 Order ref: MRRVOL11 15.00 REF: MRR11 Guidelines for the safe use of explosives under water Produced under consultation with key practitioners and regulators, these Guidelines provides specialist guidance when explosives are used in support of underwater operations. The document covers all the factors that have to be considered when planning and mobilizing an operation, including security during storage, environmental precautions, what to do after a misfire and first aid and management of blast injuries. The advice contained in this document is generally international in its scope, but the legislative requirements (such as those relating to packaging, classification, labeling and transport and storage) are framed specifically to UK regulations. 1996 ISBN 978 1 87055 323 0 85.00 REF: 96/101 High strength steels the significance of yield ratio and work hardening for structural performances This review summarises the findings of a study carried out a Cranfield University during 199294 to evaluate the significance of yield ratio and changes in work hardening capacity in relation to structural performance. The reasons behind these changes in steel behaviour are identified and the impact on design approach and suitability of current code provisions is assessed. New information is presented that supports the specification of higher strength steels and provides grounds for a re-appraisal and broadening of the scope of current codes and design rules, which would ensure their safe, efficient and cost effective use in future offshore construction. The study also identifies areas where further work is required in order to provide the necessary supporting information to carry out a revision of design codes. 1997 ISBN 978 1 87055 327 8 15.00 REF: MRR9 Influence of methods and materials on the durability of repairs to concrete coastal and offshore structures This report examines the arguments for and against durability testing of repairs to concrete in a marine environment. Current techniques and materials used for the repair of concrete are reviewed. The need for repair and the factors that will influence the subsequent durability are discussed. The choice of materials, type of testing and costs of research in relation to the repair market are examined. The report considers the durability of repairs to concrete in the marine environment both above and below water in the area of the North West Continental Shelf. Possible research projects covering main research strategies are defined and a minimum viable research programme is suggested. 1986 ISBN 978 0 86017 267 3 25.00 REF: UR36 Node flexibility and its effect on jacket structures a pilot study on two-dimensional frames This report presents an investigation of the commonly ignored effect of chord wall flexibility at brace connections on the behaviour of oil production jacket structures. It considers the effects on the in-plane deflections, axial forces, bending moments, brace buckling and natural frequencies of three 100 m tall vertical plane frames. Results from conventional analysis, in which the braces are extended to connect rigidly with the chords at their centre line intersection points, are compared with other analyses in which the joints are represented by a stiffness matrix. Approximate hand methods for assessing the effect of joint flexibility on other structures are suggested. 1984 ISBN 978 0 86017 213 0 40.00 REF: UR22

On site checks for underwater video picture quality This document sets the standard for testing picture quality for underwater picture cameras. It describes tests to be used on site to check whether specific equipment will produce video of acceptable quality. Based on a test kit originally prepared at Shell, these procedures were tested on a wide selection of cameras at various underwater contractors and suppliers. 1992 ISBN 978 1 87055 311 7 45.00 REF: 92/103 Probability-based fatigue inspection planning Details the developments in probability-based fatigue inspection planning following the publication of Underwater inspection of steel offshore installations: implementation of a new approach (ISBN 1 870553 03 9). Contents include an introduction to the probabilistic approach, a review of current data on the reliability of inspection methods, a case study (deterministic and probabilistic S-N fatigue analysis) and an appraisal of the limitations of the analysis. 1992 ISBN 978 1 87055 308 7 40.00 REF: 92/100 Review of repairs to offshore structures and pipelines This review is a comprehensive study, with 172 repairs recorded, and it builds on an earlier 1982 review. It covers repairs on fixed steel platforms, concrete gravity platforms, articulated or compliant structures, floating production facilities, sub-sea structures, pipelines and flowlines. The data is analysed in various ways including cumulative total of platforms by construction material per installation year, cumulative repairs per national sector population, frequency of repairs per structure year versus water depth, causes of damage, repair types, number of repairs versus structure age and reported costs. The report also contains conclusions and makes recommendations based on the findings. 1994 ISBN 978 1 87055 318 6 45.00 REF: 94/102 Underwater inspection of steel offshore structures: implementation of a new approach This report is the outcome of a major joint industry sponsored project initiated by UEG. Its overall aim is to improve the effectiveness of underwater inspection of offshore installations, particularly through the use of a more rational method of planning inspection operations. In addition to outlining this methodology, the document reviews and discusses types of damage and detioration, applying the proposed inspection planning method to existing installations, the management of inspection operations offshore and the assessment of any damage found. 1989 ISBN 978 1 87055 303 2 105.00 REF: 89/104 Effect of temperature variation on creep of concrete This Technical Note contains the results of tests carried out on six sealed concrete cylinders to measure the effect of temperature variation on the creep of concrete. Mature concrete specimens of different ages (up to 9 years) were selected to represent concrete in an offshore oil storage vessel and a stress level of 13.8 N/mm2 was imposed, this being the magnitude of stress expected to result from combined thermal and pre-stress loads. The results show that there is a component of load deformation other than that attributable to elastic strain, delayed eleastic strain or flow, which occurs when an already loaded specimen is heated to a temperature to which it was never before subjected. 1980 ISBN 978 0 86017 147 8 40.00 REF: UT19 Fatigue crack growth research Based on more than 10 years of research into fatigue crack growth in offshore structures, this report provides an overview of experimental work in the variable amplitude corrosion fatigue of T, Y and K joints fabricated from Grade 50D Steel, and the influence of biological fouling on fatigue crack growth. It details the work that was required to incorporate the findings of these tests into a commercial software package to predict fatigue crack growth and includes research on high-strength steels subjected to cathodic protection. 1997 ISBN 978 0 94781 778 7 15.00

REF: MRR8 Aseptic bone necrosis in commercial divers A report prepared by the Decompression Sickness Central Registry's Department of Occupational Health and Hygiene at the University of Newcastle Upon Tyne, and its Radiological Panel. The report analyses medical data and records of diving experience from 4980 divers, for the period 1972-1980, for the prevalence of bone damage/lesions and provides recommendations regarding the need for regular skeletal surveys by conventional radiology. 1981 ISBN 978 0 86017 179 9 25.00 REF: UTN25 Disposal of nuclear waste at sea This report was prepared to review current developments, and to identify industrial opportunities in the UK in the field of disposal of nuclear waste at sea. The study was carried out by the University of Manchester and was funded by the Science and Engineering Research Council Marine Technology Directorate, the Department of Trade and Industry and six industrial organisations. 1986 ISBN 978 0 86017 244 4 40.00 REF: UR29 Hard copy only Acoustic communications for ROVs A review of two research projects, carried out at the University of Birmingham and the University of Newcastle, as part of the Automation of subsea tasks and the Enhancement technologies for underwater vehicles managed programmes. The results obtained from this research represents a significant advance in the performance of subsea acoustic communication systems (both for fixed systems and moving AUVs) and open up a new range of potential applications. 1994 Order ref: MRRVOL5 15.00 REF: MRR5 Offshore structures: Design/fabrication interface This report presents the results of a study into the ways in which fabricators of offshore structures might have a greater involvement during the design process. It is based on extensive fact finding interviews, in the offshore industry primarily, but also in the construction and aerospace industries. The main points arising from interviews are summarized, and conclusions and recommendations are presented for changes in contractual and managerial philosophy and procedures, aimed at minimizing the problems traditionally associated with the design/fabrication interface. 1988 ISBN 978 0 86017 292 5 30.00 REF: UR37 Treatment of water offshore. A managed programme of research 1988 1995 A summary document of the achievements for the Treatment of water offshore programme of research, set up to examine problem areas related to offshore water treatment and develop new technology to benefit the oil and gas industry. 1996 ISBN 978 1 87055 329 2 25.00 Floating structures: A guide for design and analysis A comprehensive reference text for the design and analysis of floating structures, intended for engineers, supervisors and academics working for the offshore industry. The book also provides an overview chapter for engineers entering the offshore structures industry. Topics covered include: concept selection and basic design principles, the environment, loading, statics and stability, dynamic response characteristics, structural analysis techniques, steel, concrete, mooring systems, dynamic positioning, tether systems for TLPs, rigid risers, flexible riser and umbilicals, and construction. It also includes a number of working examples, from a defined environmental condition through to strength and fatigue checking of components. 2 volume set

1998 ISBN 978 1 87055 335 3 245.00 REF: 98/101 Guide to quantitative risk assessment for offshore installations The intention of the guide is to provide an introduction to QRA specifically for the offshore industry. It aims to introduce all major aspects of the subject and to describe good modern practice in offshore QRA. It includes a selection of data and relatively simple analytical techniques that may be used in performing QRAs, and gives references to more sophisticated databases and computational methods. It also presents some example risk results. It is intended to serve partly as a training manual and partly as a reference book, and should be useful for engineers involved in commissioning, performing and evaluating risk assessments. 1999 ISBN 978 1 87055 336 0 155.00 REF: 99/100a OUT OF PRINT TITLES Design of tubular joints for offshore structures A comprehensive three volume reference guide. It reviews existing design methods for tubular joints and recommends a uniform and rational design approach for tubular joints. It also provides a framework by which results from current and future research may be more readily applied to tubular joint design and it enables designers to gain an appreciation of the practical requirements of material selection, fabrication and non-destructive examination. 3 volume set 1985 ISBN 0 86017 231 7 REF: UR33 The principles of safe diving practice 2nd edition This document is intended to provide guidance on the principles of safe diving and may be used as a basis for diving rules in the commercial sector. It covers all forms of ambientpressure diving, from shallow water operations at inland sites to saturation diving and diving from lock-out submersibles. It is not intended that it be used as a mandatory or contractual document. 1984 ISBN 0 86017 214 7 REF: UR23 Marine technology research and education in a changing world A paper presented by Gordon Higginson for the 4th Mike Adye Lecture. It explores the relationships between universities, national agencies and industry in research and education. 1993 ISBN 1 870553 15 2 REF: 93/102 Automated scene interpretation for ROVs This report outlines the work from two projects that aimed to improve the interpretation of underwater scenes by combining information from more than one sensor mounted on an ROV. At Heriot-Watt University, researchers examined the possibility of combining sonar data with video images. Researchers at Strathclyde University outlined an artificial intelligence approach to data fusion. 1993 Order ref: MRRVOL2 REF: MRR2 Control and monitoring of carbon dioxide in diving bells This report reviews current practice and design considerations for carbon dioxide scrubbing in diving bells. The rate of production of CO2, its physiological effects and acceptable levels are discussed. Current operational practice in carbon dioxide monitoring and control within a diving bell is reviewed. This report highlights current problem areas and recommendations for future research. 1986 ISBN 0 86017 258 9 REF: UR34

Exclusive economic zones: British dependencies and non-living resources Commissioned by MTD in order to determine the range of non-living resources which might be available in those areas of Britains remaining dependencies which might be incorporated into what are defined in the Law of Sea Convention as Exclusive Economic Zones. 1989 ISBN 0 947711 58 9 REF: 89/100 Tables for saturation and excursion diving on nitrogen and oxygen mixtures The work leading to these tables and procedures was initiated because it was recognised that the air saturation tables previously available were unsatisfactory in a number of respects. A computational model was therefore developed at the Admiralty Research Establishment Physiological Laboratory and a structured programme of chamber dives was undertaken to develop the model and to determine its sensitivity. The resulting tables have been based upon information from the experimental data and from a comparison with limited field data from the other sources. 1985 ISBN 0 86017 241 4 REF: UR31 Applications for concrete offshore This report summarises the various proposals for development offshore which have in common the use of concrete as the main structural material, and, where possible, indicates their relative feasibility. Part 1 contains descriptions of and conclusions about categories of generally similar structures. Part 2 tabulates existing and projected major structures in the various categories considered. Part 3 gives details of individual proposals within the groups. 1982 ISBN 0 86017 180 9 Underwater Power Sources a review of current needs and availability The aims of this study were to review the autonomous power sources which are available or under development for use underwater, establish and categorise the present and future needs for underwater power supplies not connected by umbilical to the surface or shore and indicate where gaps may exist between future power requirements. 1985 ISBN 0 86017 243 0 Subsea well re-entry profiles A study determining the feasibility of producing standards for re-entry profiles on subsea wells. 1984 ISBN 0 86017 239 2 REF: UR28 Research needs for the application of lightweight aggregate concrete in seawater Following a recommendation from the Department of Energy that a research programme be instigated into the durability, and relationship with permeability and compressive strength, for lightweight-aggregate concrete be carried out, this report contains a literature review about the behaviour of lightweight-aggregate concrete in sea water and documents what gaps designers felt existed in the information available. It defines the objectives and methods for future research into the subject. 1981 ISSN 0305-4063 REF: UTN22 Design of advanced fast marine vehicles A series of lecturers notes from a short course, held in Glasgow, September 1995 (Coordinated by the University of Glasgow and part funded by the EU COMETT Programme). 1995 ISBN 1 870553 26 8