SH-438-PE83-Integrated Bridge System Regulatory Submittal Package Mechanical.pdf

DYNAMIC POSITIONING SYSTEM

IVCS 2003

DPS-1 Class

FRV-40

Sea Trials Procedure

Submitted by Frank L. BEIER RADIO Inc.

1990 Industrial Blvd.

Harley, LA 70058

Phone (504) 341-0123 Fax (504) 348-2007

DOCUMENT REVISIONS

Revision Date Contents By Company

A July 25, 2003 Original revision EAL Beier Radio

DOCUMENT HISTORY

Rev. A This version describes operation of the IVCS 2003 at IVCS basis software Release 1.0

Revision A1.0-030725

© 2003

Sea Trials Procedure IVCS 2003 DYNAMIC POSITIONING SYSTEM

CONTENTS

1 INTRODUCTION

1.1 SYSTEM COMPONENTS

1.2 SYSTEM ARCHITECTURE

2 IVCS 2003 DOCKSIDE TESTS

2.1 ACTUATOR INTERFACE TESTS

2.1.1 IVCS 2003 on line

2.1.2 Actuator “Motor Running” Signals

2.1.3 Actuator “Ready” Signals

2.1.4 Actuator Commands and Feedbacks

2.2 CONTROL TRANSFER TESTS

2.2.1 Control Transfer between Operator Stations

2.2.2 Control Transfer between Main and Portable Control Panels of the Operator Stations

2.2.3 Control Transfer between Operator Station and Joystick Control Station (Backup System)

2.3 POWER SUPPLY TEST

2.4 DOCKSIDE TESTS ACCEPTANCE AND APPROVAL

3 IVCS 2003 MANUAL JOYSTICK CONTROL SEA TRIALS

3.1 SENSOR INTERFACE TESTS

3.1.1 Gyro Compass

3.1.1.1 Compass Heading Transmission

3.1.1.2 Heading Transmission Alarm

3.1.2 Wind Sensor

3.1.2.1 Wind Sensor Alignment

3.1.2.2 Wind Speed Comparison

3.1.2.3 Wind Sensor Alarms

3.1.3 Vertical Reference Sensor (VRS)

3.1.3.1 Orthogonal Mount

3.1.3.2 Zero Pitch / Roll Alignment

3.1.3.3 Roll and Pitch Comparison

3.1.3.4 Pitch and Roll Polarities

3.1.3.5 VRS Alarms

3.1.4 Differential Global Positioning System (DGPS)

3.1.4.1 DGPS

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IVCS 2003 DYNAMIC POSITIONING SYSTEM Sea Trials Procedure

3.1.4.2 GPS / DGPS Modes

3.1.4.3 DGPS Alarms

3.1.5 Hydro Acoustic Sensor

3.1.5.1 Hydro Acoustic Data Input

3.1.5.2 Hydro Acoustic Data Input Loss

3.2 MANUAL CONTROLS

3.2.1 Joystick Control Levers

3.2.2 Heading Control Knobs

3.2.3 Maximum Heading Moment

3.2.4 Surge Force

3.2.5 Sway Force

3.2.6 Hold Heading Control Panel Pushbutton

3.2.7 Hold Position Control Panel Pushbutton

3.2.8 Alarm Acknowledge Control Panel Pushbutton

3.3 FUNCTIONS

3.3.1 Hold Heading

3.3.2 Heading Setpoint

3.3.3 Deviation Alarm

3.3.4 Rate of Turn Adjustment

3.3.5 Automatic Wind Compensation (AWC)

3.3.5.1 Performance without AWC

3.3.5.2 Performance with AWC

3.4 BASIC SEA TRIALS ACCEPTANCE AND APPROVAL

4 IVCS 2003 DYNAMIC POSITIONING TRIALS

4.1 DYNAMIC POSITIONING SYSTEM SEA TRIALS

4.1.1 Hold Position

4.1.2 Position Setpoint

4.1.3 Deviation Alarm

4.1.4 Semi-automatic Positioning

4.1.4.1 Manual Speed Vector

4.1.4.2 Manual Surge

4.1.4.3 Manual Sway

4.2 DYNAMIC POSITIONING SEA TRIALS ACCEPTANCE AND APPROVAL

5 IVCS 2003 OPTIONAL CONTROL MODES

5.1 ROV FOLLOW

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5.1.1 Hydro Acoustic Sensor Offline

5.1.2 ROV Beacon Selection

5.1.3 ROV Follow Operation

5.1.4 ROV Follow Sea Trials Acceptance and Approval

5.2 TRACK CONTROL

5.2.1 Route Selection

5.2.2 Track Control (Low speed) Operation

5.2.3 Off-track Limit

5.2.4 Heading Offset Change – Hold Heading Mode

5.2.5 Heading Offset Change – Manual Mode

5.2.6 Heading Offset Change – Auto Heading Mode

5.2.7 Pause Tracking

5.2.8 Track Follow Termination

5.2.9 Track Control Sea Trials Acceptance and Approval

5.3 AUTOPILOT OPERATION

5.3.1 Hold Course

5.3.2 Changing Course

5.3.3 Course Alarm

5.3.4 Rate of Turn Adjustment

5.3.5 Autopilot Sea Trials Acceptance and Approval

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1 INTRODUCTION

The objective of the tests described in this procedure is verification that the IVCS 2003 conforms to the Frank L. BEIER RADIO Inc. standard specifications and meets agreed requirements.

A Trials Comment section is included at the end of each section for incorporation of related data.

For the purpose of this test procedure, it is assumed that all installation test procedures for power-up and cabling interconnections have been successfully completed.

The following test procedures verify correct operation of the IVCS 2003.

Section 2 describes the dockside IVCS 2003 tests, such as actuator interface tests, control transfer and power supply tests. Section 3 provides the necessary test for only the base model of joystick system, which offers the following functionality: Manual joystick control and Hold Heading.

Additional features will be addressed in Section 4 (IVCS 2003 Dynamic Positioning Trials) and Section 5 (IVCS 2003 Optional Control Modes).

1.1 SYSTEM COMPONENTS

The IVCS 2003 architecture is presented in the #040-8001-01 – IVCS 2003 System Architecture.

The system includes:

1. Control Computer

2. 4 Operator Station Computers

3. Joystick Control Station Computer

4. I/O Control Unit (PLC)

5. Ethernet LAN

6. CAN Bus

7. 5 Control Panels and 5 LCDs with Touch Screens

8. 2 Portable Control Panels

9. 2 Vertical Reference Sensors (VRS)

10. UPS

11. 5 Alarm Speakers

12. Some other additional components

The Control Computer, the PLC, and electronic components are assembled into the bulkhead mounted Processor Unit. The VRSs are separately housed for ease of mounting and alignment.

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The main IVCS 2003 component links are presented in the 040-8002-01 – IVCS 2003 System Diagram, where the ship subsystem interface is also shown.

The Computer provides the main control in various modes, graphic information generation, operator interface and communication with the external sensors.

The Programmable Logic Controller (PLC) provides analog and digital signal input/output and conditioning, and power system control and monitoring.

Processor UnitIntended for:

Sensors Data Input Data Exchange with actuators and PMS Follow-Up Monitoring Systems Implementation Interaction with Operator Station Power Supply System Control Data output to Alarm Printer DP System Mathematical Algorithms Implementation Warning Alarm Implementation

Operator Station Computer is intended for:

Operator-interaction with the system via LCD and TouchScreen, control panel with joystick, knob, LED indicators; sound alarm generation.

Connection of portable control panel Communication with Processor Unit Implementation of Control Transfer Procedure between Operator

Stations Control Panels, LCDs and Touchscreens are combined into the Forward, Aft, Port and Stbd Operator Stations and provide the IVCS 2003 Operator Interface. Joystick Control Station Computer, Control Panel and LCD with Touchscreen constitute the Joystick Control Station. This station differs from any Operator Station by an additional CAN Bus link to the Control Computer.

The Portable Control Panels are connected to the Port and Stbd Operator Stations.

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1.2 SYSTEM ARCHITECTURE

Figure 1-1 IVCS 2003 Structure Diagram

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2 IVCS 2003 DOCKSIDE TESTS

The following dockside tests verify the calibration of adjusted parameters and correct interface of the IVCS 2003 to all external equipment, and the ability to transfer control.

All Operator Stations should be powered up before testing.

2.1 ACTUATOR INTERFACE TESTS

This procedure verifies the integrity of the actuator interface and documents the response to DP system commands.

2.1.1 IVCS 2003 ON LINE

Verify that ship’s controls are inoperable when the Steering Selector is activated and one of the IVCS 2003 modes (Stand By, J/DP, Autopilot) is selected.

Verification ____________________

2.1.2 ACTUATOR “MOTOR RUNNING” SIGNALS

Verify that “Motor running” signals, provided for actuator(s), are properly received by the IVCS 2003 when equipment is online and functioning correctly.

Bow Thruster Verification ____________________ Main Engine Verification ____________________

2.1.3 ACTUATOR “READY” SIGNALS

Verify that “Ready” signals, provided for actuator(s), are properly received by the IVCS 2003 when equipment is online and functioning correctly.

Bow Thruster Verification ____________________ Main Engine Verification ____________________ Steering System Verification ____________________

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2.1.4 ACTUATOR COMMANDS AND FEEDBACKS

With the IVCS 2003 selected on-line, run up the actuator commands (separately for every actuator), recording the feedback percents for various actuator command (where available).

Bow Thruster

Thrust % RPM Azimuth Verification

Goal Actual Goal Actual Goal Actual

Main Engine

Command % RPM Verification

Goal Actual Goal Actual

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Steering System

Command ° Verification

Goal Actual

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2.2 CONTROL TRANSFER TESTS

This section describes the tests of IVCS 2003 ability to transfer control between the Bridge and the Main Control Panel of the active Operator Station between the active Operator Station and non-active Operator Stations between the active Operator Station and Joystick Control Station (Backup System) and between the Main Control Panel of an Operator Station and the Portable Control Panel.

2.2.1 CONTROL TRANSFER BETWEEN OPERATOR STATIONS

1. Switch the IVCS 2003 on and verify that all functions are operated correctly from the Forward Operator Station.

Verification _______________________

2. Transfer control from the Forward Operator Station to the Aft Operator Station by pressing “Take Control” pushbutton on the Aft Operator Station Control Panel. Verify that the transferring is bumpless and set modes are continuously operated

Verification _______________________

3. Transfer control from the Aft Operator Station to the Port Operator

Station by pressing “Take Control” pushbutton on the Port Operator Station Control Panel. Verify that the transferring is bumpless and set modes are continuously operated

Verification _______________________

4. Transfer control from the Port Operator Station to the Stbd Operator

Station by pressing “Take Control” pushbutton on the Stbd Operator Station Control Panel. Verify that the transferring is bumpless and set modes are continuously operated

Verification _______________________

5. Transfer control from the Stbd Operator Station to the Forward

Operator Station by pressing “Take Control” pushbutton on the Forward Operator Station Control Panel. Verify that the transferring is bumpless and set modes are continuously operated

Verification _______________________

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2.2.2 CONTROL TRANSFER BETWEEN MAIN AND PORTABLE

CONTROL PANELS OF THE OPERATOR STATIONS

1. Switch the IVCS 2003 on and verify that all functions are operated correctly, using Port Operator Station.

Verification _______________________

2. Transfer control from the Main Control Panel to the Portable Control Panel by pressing “Take Control” pushbutton on the PCP. Verify that the transferring is bumpless and set modes are continuously operated

Verification _______________________

3. Transfer control from the Portable Control Panel to the Main Control

Panel by pressing “Take Control” pushbutton on the MCP. Verify that the transferring is bumpless and set modes are continuously operated

Verification _______________________

4. Transfer control to the Stbd Operator Station. Transfer control from the

Main Control Panel to the Portable Control Panel by pressing “Take Control” pushbutton on the PCP. Verify that the transferring is bumpless and set modes are continuously operated.

Verification _______________________

5. Transfer control from the Portable Control Panel to the Main Control

Panel by pressing “Take Control” pushbutton on the MCP. Verify that the transferring is bumpless and set modes are continuously operated

Verification _______________________

2.2.3 CONTROL TRANSFER BETWEEN OPERATOR STATION

AND JOYSTICK CONTROL STATION (BACKUP SYSTEM)

1. Switch the IVCS 2003 on and verify that all functions are operated correctly from the Forward Operator Station.

Verification _______________________

2. Set the Main/Backup Switch to “Backup” position. Verify that all functions are performed correctly from the Joystick Control Station Verify that the transferring is bumpless and set modes are continuously operated.

Verification _______________________

3. Set the Main/Backup Switch to “Main” position. Verify that all functions are performed correctly from the Forward Operator Station Verify that the transferring is bumpless and set modes are continuously operated.

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2.3 POWER SUPPLY TEST

1. Switch on the IVCS 2003.

1 Disconnect the UPS the 115VAC Ship Power. Using the IVCS 2003 System Monitor Window verify that the system diagnoses UPS failure (the Line Failure indicator of AC-DC Monitor is red) and respective alarm appears (“Line Failure”).

2 Verify that the IVCS 2003 continues operation in the same mode.

3 Disconnect 115 VAC Ship Power for a quite long time (5-30 minutes depending on battery status). Using the IVCS 2003 System Monitor Window verify that the system diagnoses UPS battery discharging (the Low Battery indicator of AC-DC Monitor is red) and respective alarm appears (“Low Battery”).

4 If the system diagnoses UPS battery discharging, verify that it will be automatically shut down and power will be switched off in 1-2 minutes.

Verification _________________

2.4 DOCKSIDE TESTS ACCEPTANCE AND APPROVAL

The following signing signifies completion of Redundancy portion of Sea Trials and acceptance of that portion of the system as fully operational.

This date marks the beginning of the warranty period. Please, note any discrepancies in the comment space provided.

Frank L. BEIER Radio Inc.:

DATE:

Customer:

Title:

Date:

Sea Trials Comments:

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3 IVCS 2003 MANUAL JOYSTICK

CONTROL SEA TRIALS

The following sections document the sea trials procedures, which establish execution of the design performance requirements.

3.1 SENSOR INTERFACE TESTS

This procedure verifies the integrity of the sensor interface and documents sensor data receiving by the IVCS 2003.

Also, additional sensors are necessary for the IVCS 2003 to maintain position accurately. This section verifies that these required sensors are operating correctly.

3.1.1 GYRO COMPASS

Two gyrocompasses are interfaced with the IVCS 2003 unit. This testing verifies correct transmittal of heading information and alarm conditions for every sensor.

3.1.1.1 COMPASS HEADING TRANSMISSION

Start the IVCS 2003 program and verify the correct heading is displayed in the IVCS 2003 Sensors Window. Also, verify that the gyro compass heading reflected on the IVCS 2003 remains correct when the course is changed.

GYRO 1 Verification ____________________ GYRO 2 Verification ____________________

3.1.1.2 HEADING TRANSMISSION ALARM

Disconnect the gyro compass input and verify that the alarm “GYRO – No data received” is activated.

GYRO 1 Verification ____________________ GYRO 2 Verification ____________________

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3.1.2 WIND SENSOR

Two R.M. Young wind sensors are provided. Sensors electrical interfacing to the IVCS 2003 is verified in this section.

3.1.2.1 WIND SENSOR ALIGNMENT

Point wind sensor body at each cardinal point (0, 90, 180 and 270 degrees). At the IVCS 2000 display (Sensors Window) verify that indicated value is within 5 degrees of selected sensor azimuth.

Wind Sensor 1 Verification ____________________ Wind Sensor 2 Verification ____________________

3.1.2.2 WIND SPEED COMPARISON

Compare wind speed value indication of the current wind sensor with reported values from other available wind sensors. Verify velocities agree within 5 knots.

Wind Sensor 1 Verification ____________________ Wind Sensor 2 Verification ____________________

3.1.2.3 WIND SENSOR ALARMS

Disconnect the wind sensor input and verify that the alarm “Wind sensor– No data received” is activated.

Wind Sensor 1 Verification ____________________ Wind Sensor 2 Verification ____________________

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3.1.3 VERTICAL REFERENCE SENSOR (VRS)

Two vertical reference sensors are interfaced with the IVCS 2003 and compensate the position data from the DGPS and Hydro Acoustics. This section verifies correct pitch and roll data are being received and that appropriate corrections are being made.

3.1.3.1 ORTHOGONAL MOUNT

Verify that VRS has been mounted squarely to the vessel’s axes.

VRS 1 Verification ____________________ VRS 2 Verification ____________________

3.1.3.2 ZERO PITCH / ROLL ALIGNMENT

Verify that VRS reading from the unit matches independent trim and list measurements.

VRS 1 Verification ____________________ VRS 2 Verification ____________________

3.1.3.3 ROLL AND PITCH COMPARISON

Compare Roll and Pitch indications of the current VRS with reported values from other available sensors.

VRS 1 Verification ____________________ VRS 2 Verification ____________________

3.1.3.4 PITCH AND ROLL POLARITIES

Pitch the vessel bow up or simulate by tilting the sensor. Verify that pitch measurements are correct and positive values represent bow up motions.

Roll the vessel starboard down or simulate by tilting the sensor. Verify that pitch measurements are correct and positive values represent starboard down motions.

VRS 1 Verification ____________________ VRS 2 Verification ____________________

3.1.3.5 VRS ALARMS

Verify that an alarm is generated when the VRS reports its extreme values (+-45°).

VRS 1 Verification ____________________ VRS 2 Verification ____________________

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3.1.4 DIFFERENTIAL GLOBAL POSITIONING SYSTEM (DGPS)

Two DGPS are interfaced with the IVCS 2003. This procedure verifies the integrity of communication interface between the DGPS and the IVCS 2003. Make sure all required startup procedures for the DGPS unit have been completed.

3.1.4.1 DGPS

On the IVCS 2003 console (Ref Window) select the DGPS online and offline by using the control keys.

DGPS 1 Verification_____________________ DGPS 2 Verification_____________________

3.1.4.2 GPS / DGPS MODES

Switch GPS and DGPS modes on the GPS receiver. Verify that this switching is indicated in the Reference Systems Window of the IVCS 2003.

DGPS 1 Verification_____________________ DGPS 2 Verification_____________________

3.1.4.3 DGPS ALARMS

With DGPS input online, terminate input of the DGPS signal. Verify appropriate alarms are raised and then cleared when the signal is reestablished.

DGPS 1 Verification_____________________ DGPS 2 Verification_____________________

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3.1.5 HYDRO ACOUSTIC SENSOR

One Hydro Acoustic Sensor is interfaced with the IVCS 2003. This procedure verifies the integrity of communication interface between the Hydro Acoustic Sensor and the IVCS 2003. Make sure all required startup procedures for the Hydro Acoustic unit have been completed.

3.1.5.1 HYDRO ACOUSTIC DATA INPUT

Verify that position information from the Hydro Acoustic sensor is being provided on the IVCS 2003 station.

Hydro Acoustic Verification _______________

3.1.5.2 HYDRO ACOUSTIC DATA INPUT LOSS

Set the Hydro Acoustic sensor on-line. Then terminate the input data stream and verify an alarm ”Hydro – No Data received” is generated.

Hydro Acoustic Verification _______________

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3.2 MANUAL CONTROLS

This testing ensures the correctness of manual (joystick) commands from the IVCS 2003 station.

Ensure that console-mounted joysticks are calibrated prior to execution of the following test procedure. Also, deselect Active Wind Compensation (AWC). Head the vessel into the wind.

3.2.1 JOYSTICK CONTROL LEVERS

Verify that the AWC mode is inactive, all joystick levers are in zero position and that there are no thruster force commands.

Deflect each joystick lever and verify response values and directions for surge (Fore/Aft) and sway (Port/Stbd) axes.

Forward Operator Station CP Verification _______________ Aft Operator Station CP Verification _______________ Port Operator Station CP Verification _______________ Stbd Operator Station CP Verification _______________ Joystick Control Station CP Verification _______________ Port Operator Station Portable CP Verification _______________ Stbd Operator Station Portable CP Verification _______________

3.2.2 HEADING CONTROL KNOBS

Rotate the heading control knob to 25 percent positive command clockwise. Verify that thrusters are commanded for vessel bow rotation to starboard. Confirm thruster feedback signals agree with command values.

Forward Operator Station CP Verification _______________ Aft Operator Station CP Verification _______________ Port Operator Station CP Verification _______________ Stbd Operator Station CP Verification _______________ Joystick Control Station CP Verification _______________ Port Operator Station Portable CP Verification _______________ Stbd Operator Station Portable CP Verification _______________

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3.2.3 MAXIMUM HEADING MOMENT

Slowly approach 100 percent positive moment command. Verify that at least one thruster reaches maximum thrust level. Repeat process for vessel bow rotation to port (negative).

Forward Operator Station CP Verification _______________ Aft Operator Station CP Verification _______________ Port Operator Station CP Verification _______________ Stbd Operator Station CP Verification _______________ Joystick Control Station CP Verification _______________ Port Operator Station Portable CP Verification _______________ Stbd Operator Station Portable CP Verification _______________

3.2.4 SURGE FORCE

Reset moment command to zero. Reset joystick command to zero. With vessel rotation rate at zero, command forward thrust of 50 percent. Verify that the Main Engines respond with forward thrust and that vessel rotation rate is approximately zero. Repeat procedure for 50 percent reverse command.

Forward Operator Station CP Verification _______________ Aft Operator Station CP Verification _______________ Port Operator Station CP Verification _______________ Stbd Operator Station CP Verification _______________ Joystick Control Station CP Verification _______________ Port Operator Station Portable CP Verification _______________ Stbd Operator Station Portable CP Verification _______________

3.2.5 SWAY FORCE

Reset moment command to zero. Reset joystick command to zero. With vessel rotation rate at zero, select lateral joystick command starboard of 50 percent. Verify that thrusters respond with starboard lateral thrust and that vessel rotation rate is approximately zero. Repeat procedure for 50 percent port lateral command.

Forward Operator Station CP Verification _______________ Aft Operator Station CP Verification _______________ Port Operator Station CP Verification _______________ Stbd Operator Station CP Verification _______________ Joystick Control Station CP Verification _______________ Port Operator Station Portable CP Verification _______________

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3.2.6 HOLD HEADING CONTROL PANEL PUSHBUTTON

Press the “Hold HDG” pushbutton on the CP. Verify that its LED indicator lights solidly and that the system switches to the Hold Heading Mode.

Forward Operator Station CP Verification _______________ Aft Operator Station CP Verification _______________ Port Operator Station CP Verification _______________ Stbd Operator Station CP Verification _______________ Joystick Control Station CP Verification _______________ Port Operator Station Portable CP Verification _______________ Stbd Operator Station Portable CP Verification _______________

3.2.7 HOLD POSITION CONTROL PANEL PUSHBUTTON

Press the “Hold POS” pushbutton at the CP. Verify that its LED indicator lights solidly and that the system switches to the Hold Position Mode.

Forward Operator Station CP Verification _______________ Aft Operator Station CP Verification _______________ Port Operator Station CP Verification _______________ Stbd Operator Station CP Verification _______________ Joystick Control Station CP Verification _______________ Port Operator Station Portable CP Verification _______________ Stbd Operator Station Portable CP Verification _______________

3.2.8 ALARM ACKNOWLEDGE CONTROL PANEL PUSHBUTTON

Simulate an alarm condition which will cause the “Alarm ACK” LED indicator to blink. Verify that the Alarm lamp flashes until the button is pressed to acknowledge the alarm.

Forward Operator Station CP Verification _______________ Aft Operator Station CP Verification _______________ Port Operator Station CP Verification _______________ Stbd Operator Station CP Verification _______________ Joystick Control Station CP Verification _______________ Port Operator Station Portable CP Verification _______________

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3.3 FUNCTIONS

3.3.1 HOLD HEADING

Select the “Hold Heading” mode of the IVCS 2003. Verify that the “Hold heading” LED indicator lights solidly and that the system switches to the “Hold Heading” mode.

Verification _______________________

3.3.2 HEADING SETPOINT

Set desirable Heading Setpoint as 90 degrees from current vessel heading (use set and offset functions). Verify that the vessel moves in the direction of set heading.

Verification _______________________

3.3.3 DEVIATION ALARM

Verify alarm conditions (red colour of the heading error and alarm message) activate when vessel deviates from heading Setpoint in the Auto Heading Mode, steady state.

Verification _______________________

3.3.4 RATE OF TURN ADJUSTMENT

This setting allows the operator to adjust how quickly the vessel will attempt to change heading. The maximum setting is 60 deg/min and average value of 24-30 deg/min is recommended.

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3.3.5 AUTOMATIC WIND COMPENSATION (AWC)

The system provides feed-forward compensation for wind drag effect. This testing allows adjustment and verification of performance improvement with this function activated. Ideally, no ocean current or waves should exist, with a steady 10 to 20 knots of wind.

3.3.5.1 PERFORMANCE WITHOUT AWC

Select the “Hold Heading” mode and set joystick lever to zero position.

Record ship SOG in prevailing wind conditions without AWC activated.

Verify using the Hold Plot that athwartships control force does not compensate athwartships disturbance force.

Verification _______________________

3.3.5.2 PERFORMANCE WITH AWC

Activate AWC function and wait for transient effects to dissipate. Verify using the Hold Plot that athwartships control force compensates athwartships disturbance force. Verify that ship SOG decreases.

Verification _______________________

3.4 BASIC SEA TRIALS ACCEPTANCE AND APPROVAL

The following signing signifies completion of basic portion of Sea Trials and acceptance of that portion of the system as fully operational. This date marks the beginning of the warranty period. Please, note any discrepancies in the comment space provided.

Frank L. BEIER Radio Inc.:

Title:

Date:

Sea Trials Comments:

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4 IVCS 2003 DYNAMIC

POSITIONING TRIALS

4.1 DYNAMIC POSITIONING SYSTEM SEA TRIALS

The following tests verify correct operation of the dynamic positioning capabilities of the IVCS 2003 by evaluating different positioning functions.

4.1.1 HOLD POSITION

Select the “Hold Position” mode of the IVCS 2003. Verify that the “Hold position” LED indicator lights solidly and that the system switches to the “Hold Position” mode.

Verification _______________________

4.1.2 POSITION SETPOINT

Set a new desirable point of positioning (use set and offset functions).

Verify that the vessel moves to the new location and is positioned in desirable point.

Verification _______________________

4.1.3 DEVIATION ALARM

Verify alarm conditions activate when thrusters are taken offline and vessel deviates from set position, Auto Positioning Mode, steady state.

Verification _______________________

4.1.4 SEMI-AUTOMATIC POSITIONING

4.1.4.1 MANUAL SPEED VECTOR

Select the Speed vector submode of the J/DP Mode. Using joystick, set desirable ship speed vector. Verify that ship is moving in accordance with speed vector setting.

Verification _______________________

4.1.4.2 MANUAL SURGE

Select the Auto Heading submode of the J/DP Mode, and then select Relative View. Reset joystick command to zero. Select the Manual Surge mode. Using joystick command forward thrust of 50 percent. Verify that the Main Engines respond with forward thrust and that vessel moves forward (athwartships deviation is approximately zero). Repeat procedure for 50 percent reverse command.

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4.1.4.3 MANUAL SWAY

Select the Auto Heading submode of the J/DP Mode, and then select Relative View. Reset joystick command to zero. Select the Manual Sway mode. Using joystick command Stbd thrust of 50 percent. Verify that thrusters respond with starboard lateral thrust and that and that vessel moves Stbd (alongship deviation is approximately zero). Repeat procedure for 50 percent port lateral command.

Verification _______________________

4.2 DYNAMIC POSITIONING SEA TRIALS ACCEPTANCE

AND APPROVAL

The following signing signifies completion of dynamic portion of Sea Trials and acceptance of that portion of the system as fully operational. This date marks the beginning of the warranty period. Please, note any discrepancies in the comment space provided.

Frank L. BEIER Radio Inc.:

Title:

Date:

Sea Trials Comments:

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5 IVCS 2003 OPTIONAL

CONTROL MODES

This section verifies proper operation of additional control modes and optional equipment supplied with the IVCS 2003 system. A single section is dedicated to each of the options available as listed below:

ROV Follow Track Control Low Speed Autopilot Operation

5.1 ROV FOLLOW

ROV Follow provides the ability for the vessel to automatically follow a moving target (ROV) and keeps the vessel at a constant position relative to the target. A Hydro Acoustic sensor provides information regarding the ROV location. Then the IVCS 2003 analyses it with respect to a circle of operation and maneuvers the vessel accordingly.

5.1.1 HYDRO ACOUSTIC SENSOR OFFLINE

Switch the Hydro Acoustic sensor off from the IVCS 2003 operation. Verify that it is impossible to enter the ROV Following Mode (the “ROV” control button of the Position Group is not active).

Verification _______________________

5.1.2 ROV BEACON SELECTION

With no ROV Beacon selected, try to enter the ROV Following Mode.

Verify that the “ROV” control button (Position Group) is not active.

Select one of active beacons in the ROV Follow Window of the IVCS 2003 as ROV Beacon. Verify that it is possible to load the ROV Follow Mode.

Verification _______________________

5.1.3 ROV FOLLOW OPERATION

Load the ROV Following Mode of the IVCS 2003. With different selected heading modes, verify that the vessel begins to follow the ROV movements when they exceeded the Stop Circle.

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5.1.4 ROV FOLLOW SEA TRIALS ACCEPTANCE AND

APPROVAL

The following signing signifies completion of ROV portion of Sea Trials and acceptance of that portion of the system as fully operational. This date marks the beginning of the warranty period. Please, note any discrepancies in the comment space provided.

Frank L. BEIER Radio Inc.:

DATE:________________

Title: __________________

Date: __________________

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5.2 TRACK CONTROL

Track Control Mode provides the ability for the vessel to automatically follow the route (track), described by a set of waypoints with automatic or manual holding of heading.

The following test procedure verifies correct IVCS 2003 operation in the Track Control (Low speed) Mode.

5.2.1 ROUTE SELECTION

With no Active Route (Low status) selected try to enter the Track Control (Low speed) Mode. Verify that the “Track” control button (Position Group) is not active.

Select one of low speed tracks in the Route Window of the IVCS 2003 as active Route. Verify that it is possible to load the Track Control (Low speed) Mode.

Verification _______________________

5.2.2 TRACK CONTROL (LOW SPEED) OPERATION

Position the vessel near the selected active route. Load the Track Control (Low speed) Mode with System selected heading. Verify that the vessel follows the route with heading directed to the next waypoint at every moment.

Verification _______________________

5.2.3 OFF-TRACK LIMIT

Simulate or generate a cross-track error value bigger than respective parameter setting. Verify that Off-track limit alarm is generated by the IVCS 2003.

Verification _______________________

5.2.4 HEADING OFFSET CHANGE – HOLD HEADING MODE

Run the IVCS 2003 in the Track Control (Low Speed) Mode with System Selected Heading. Select the Hold Heading Mode. Verify that the vessel heading is not changed at transferring to the next route leg.

Verification _______________________

5.2.5 HEADING OFFSET CHANGE – MANUAL MODE

Select the Manual Heading Mode. Rotate the vessel to 10 degrees using the heading control knob. Select the Hold heading Mode to re-engage it with the new heading. Verify the vessel maintains the newly specified heading.

29 Rev. 0 M279-438-PE83

5.2.6 HEADING OFFSET CHANGE – AUTO HEADING MODE

Select the Auto Heading Mode and set new heading setpoint. Verify the vessel maintains the newly specified heading.

Verification _______________________

5.2.7 PAUSE TRACKING

Pause the track control (low speed) process and verify that the vessel is slowing down and stops in the one of route points. Verify that the vessel hold its position until tracking is resumed.

Verification _______________________

5.2.8 TRACK FOLLOW TERMINATION

Terminate the Track Control (Low Speed) mode of the IVCS 2003 by selection any other position mode. Verify that the system keeps heading mode (except of system selected heading) and resumes normal joystick operation.

Verification _______________________

5.2.9 TRACK CONTROL SEA TRIALS ACCEPTANCE AND

APPROVAL

The following signing signifies completion of Track Control portion of Sea Trials and acceptance of that portion of the system as fully operational.

This date marks the beginning of the warranty period. Please, note any discrepancies in the comment space provided.

Frank L. BEIER Radio Inc.:

30 Rev. 0 M279-438-PE83

5.3 AUTOPILOT OPERATION

The system provides a simple autopilot feature, which allows easy vessel moving with desirable heading. Select the Autopilot Mode on one of Operator Stations (Forward, Aft, Port or Stbd) of the IVCS 2003.

5.3.1 HOLD COURSE

Select the “Hold Heading” submode. Verify that the “Hold heading” LED indicator lights solidly. Apply a small amount of forward thrust using the Engine Telegraph levers and verify that the ship moves forward operating the rudders to maintain set course.

Verification _______________________

5.3.2 CHANGING COURSE

Using the Heading Setpoint Editor enter a new course for auto keeping in the Autopilot Mode (use set and offset functions). Verify that the vessel reacts to follow the new course specified.

Verification _______________________

5.3.3 COURSE ALARM

This setting allows the operator to adjust the course deviation allowed before an alarm is activated. The recommended setting is 5 degrees, but should be verified with onboard operation.

Verification _______________________

5.3.4 RATE OF TURN ADJUSTMENT

This setting allows the operator to adjust how quickly the vessel will attempt to change course. The maximum setting is 60 deg/min and average value of 24-30 deg/min is recommended.

31 Rev. 0 M279-438-PE83

5.3.5 AUTOPILOT SEA TRIALS ACCEPTANCE AND APPROVAL

The following signing signifies completion of Autopilot portion of Sea Trials and acceptance of that portion of the system as fully operational. This date marks the beginning of the warranty period. Please, note any discrepancies in the comment space provided.

Frank L. BEIER Radio Inc.:

32 Rev. 0 M279-438-PE83

3.4 Basic Sea Trials Acceptance and Approval

4.2 Dynamic Positioning Sea Trials Acceptance and Approval