Mooring Dynamics and Design
               Program Version 0.94 (Beta), January 21, 1998
						    For MATLAB v5.1
							
                Richard K. Dewey, University of Victoria
                           RDewey@UVic.ca

This file provides simple documentation for R.Dewey's Mooring Dynamics and
Design program. Any program/data bugs, improvements, suggestions, or user
tested code that adds value or functionality to this set of programs can be
forwarded to rdewey@uvic.ca (250-472-4009). I reserve the right to include only
those improvements which I deem are valuable. The latest version should be
available at: ftp://canuck.seos.uvic.ca/mooring/

Tested under: Windows 95 and NT (4.0), and HP-UNIX. Screen Size should be >= 800X600.
If smaller screen sizes are used, not all menus will be legible.

Disclaimer. The user takes full responsability for designing and building a safe and
reliable mooring that will allow safe and easy deployment, and safe and easy recovery.
The product is only an aide in evaluating different mooring designs and configurations
forced by varying 3D currents.

I strongly recommend reading and referring to: Berteaux, H.O., Buoy Engineering, New
York, Wiley & Sons, 1976 There are helpful hints to mooring designs and deplyment and
recovery techniques. There are also discusions on materials and various component
combinations. I however, did not use or follow his mooring position solutions.

The "Package" (mooringv###.zip), where ### is the latest version, includes:

1  moordesign.m         Main program to design a mooring
2  moordyn.m            Main mooring dynamics code
3  modmoor.m            Menu to modify mooring elements
4  loadmd.m             Menu to load previously saved mooring
5  savemd.m             Menu to save a mooring
6  getvelocity.m        Menu to input/load velocity profiles
7  getwirel.m           Menu to input wire/chain length
8  mdplot.m             Routine to plot mooring in 3D
9  addelement.m         Menu to add and element to an existing mooring
10 dismoor.m            Display mooring elements, positions, and tensions
11 mdcodes.mat          Mat file containing mooring element information
12 moor001.mat          An example (simple) sub-surface mooring
13 moor002.mat          A more complicated "S" surface float mooring
14 CDMSUM1.mat          CDMS User Manual example ssmoor 1
15 vel001.mat           Example velocity profiles (UVW)
16 moordesign.txt       This document
17 addelehelp.mat       Help file available for adding/deleting elements
18 velhelp.mat          Help file available for inputing velocity profiles
19 Contents.m           Contents of the mooring directory
20 moordyn.html         HTML documentation describing dynamics solution
21 texture.bmp          HTML background texture
22 mdeq01.gif           Equation gifs needed by "moordyn.html"
23 mdeq02.gif           "
24 mdeq03.gif           "
25 mdeq04.gif           "

Store these files in a directory that can/should be added to your MATLAB path
list (i.e. .../matlab/ml/mooring/*.*).

0) INTRODUCTION

The programs can be used to construct and evaluate surface and subsurface oceanographic
moorings with components selected from a preliminary database of typical mooring
components/instruments. The database can be added to or modified by the user using the
supplied routines. The mooring is assumed to be a single sequential string of
components with at least some floatation. 3-dimensional (U,V,W) currents can be entered
or read in and used to displace the mooring components. The velocity profile must be
defined at heights that exceed the slack mooring height for subsurface solutions, and
defined to the water depth(<height of slack currents mooring) for surface float
moorings. z=0 is the bottom, all z's are positive upward from the bottom. The mooring
dynamics program "engine" (moordyn.m) can be run separately once a mooring has been
built to predict the vertical and horizontal displacements of each mooring element
under various current conditions. Simple mooring examples and current profiles are
included (moor001.mat and vel001.mat).

1) MOORDESIGN

Moordesign.m is the main menu/program. It displays the following options:

	1.1	Design New Mooring
			Initialize mooring design.
	1.2	Load Existing Mooring
			Load a previously saved mooring.
	1.3	Add/Modify Mooring Elements
			Modify a loaded/working mooring.
	1.4	Set/Load Currents
			Enter or load a mat file with velocities.
	1.5	Plot Mooring
			Plot the dynamically forced mooring.
	1.6	Save Mooring
			Save the present mooring design and velocities.
	1.7	Display Elements
			Display the present mooring elements in the MATLAB window
	1.8 Clear All
	        Clears all variables in memory, and all open windows, 
			then starts MOORDESIGN.M again.
	1.9	Close
			Close all figure/menu windows, but variables are not cleared.

1.1) Design New Mooring and 1.3) Add/Modify Mooring Elements

Before building a new mooring, is it recommended that you make a draft list of all
mooring elements and their anticipated lengths before running MOORDESIGN.M . "Design
New Mooring" calls MODMOOR(-1) and "Add/Modify mooring Elements" calls MODMOOR(0),
respectively, to initialize most mooring elements arrays. If the user has previously
set/read/loaded mooring or velocity data (U,z,V,W), and set these as global variables,
or run moordesign previously, then U,Z,V,W may already be assigned values and not
re-initialized. Click "Clear All" to make sure all variables are initialized. A simple
120m uniform velocity profile is the default starting profile. If one wishes weaker
currents, or the mooring is in deep water, the default velocity profile must be edited.
This may be as simple as changing just the top depth (height).

As the CDMSUM2.mat example shows, certain materials (i.e. Nylon) stretch, and this is
now included in the code. Also, when two different wire/chain/rope sections are joined
together, they must be separated by a "joiner" , like a shackle. If they are not, the
the "Display Positin and Tensions" option will not distinguish between wire/rope
sections and may crash.

An anchor should be added to the bottom of the mooring for completeness, although it
doesn't enter into the present solution [see future features below (4.0)]. The output
of the "Display Positions and Tension" option may not display the "last" element
correctly, as it assumes an anchor is at the bottom of the mooring..

It is common and the solution assumes that floatation is at the top element of all
moorings. Unrealistic mooring designs, with anchors at the top for example, may cause
the program to crash, or give un-meaningful results. Use common sense when entering
mooring designs. These routines are not idiot proof: they assume a kind and sensible
user. MODMOOR.M displays it's own menu set:

MODMOOR.M

	1.1.1 Element to Add/Insert # Once a mooring has elements, a user can add or
			insert a new element by typing the "new" element number. For
			example, if the mooring has 8 elements, the default display will
			show "9" as the next element to add. If the user edits this field
			and sets it to "3" , then a new element can be added at position 3,
			and elements 3 to 8 become elements 4 to 9. 
	1.1.2 Delete Element Once a mooring has elements, any single element can be 
	        deleted by editing this field and entering the element # to be deleted. 
	1.1.3 Element Type (i.e. Floatation) Select the type of mooring component
			to be added. The present options include: Floatation, Wire, Chain,
			Current Meter, Acoustic Release, Anchor, Misc Instrument. 
	1.1.4 Element Name (i.e. 61 in ORE) Select the element to add. This list
			is updated automatically when a new Element Type is selected
			(above). For wire and chain elements, the user will be requested to
			enter the vertical length of wire/chain in meters. 
	1.1.5 Update Plot Once a mooring has been built, it may be tested and plotted
			(MDPLOT.M). The default current profile is zero (0) everywhere.
			Errors may be generated if there is only one mooring element. Since
			the mooring displacements will occur in 3-dimensions, the plot is a
			3D plot, and simple 3D plot manipulations are provided. 
	1.1.6 Display Elements A list of the present mooring elements and their
			vertical lengths are displayed/listed in the main MATLAB window. One
			should always take a look at the elements before adding/inserting or
			deleting any elements. 
	1.1.7 Close Closes this (Mooring Add/Modify)window. Mooring elements and 
			velocity profiles will still exist in global variables. 
			They should be saved (1.6) in the event	of a system/program crash.

1.2) Load Existing Mooring

This routine (LOADMD.M) opens the "Operating System" file menu window to enter a
previously saved mooring file. It is assumed that this is a *.mat file, and was
generated using the "Save" (1.6) feature. Please do not read in dumb and
inappropriate files/data.

1.4) Set/Load Currents

The user may enter velocity profiles manually (z=0 at bottom, +z upwards), or load a
previously saved mat file containing user specified velocity values U(z) z [V(z) W(z)].
Calls GETVELOCITY.M. Optional 2D and 3D currents can be set, or are assumed to be zero
(0). Currents are all in m/s. For subsurface mooring solutions, velocities MUST be
entered for depths that exceed the height for which there will be mooring elements,
including a velocity value at the bottom. For surface float moorings, the top (highest)
velocity defines the water depth, and should be less that the length of the slack
current mooring. A zero velocity value at the bottom is always a good idea, but is not
necessary. If you are reading in real velocities from a set of measurements (i.e. an
ADCP or previous current meter array), then one MUST enter a bottom value (i.e. U=0 at
z=0).

1.5) Plot Mooring

MDPLOT.M runs MOORDYN.M (if it hasn't been run yet) and then plots the resulting tilted
mooring in a 3-dimensional plot. The view angle about the z-axis and the vertical
elevation [m] can be modified, and a plot title can be entered. The velocity profiles
can be plotted against the back walls of the 3D plot. The MATLAB routine "rotate3d.m"
can be clicked, and then the figure axes can be moved using the mouse to obtain
different views of the mooring. Try it and see. The "print" button sends Figure(3) to
the default printer. If your system is not setup with a printer, don't use this button.
To save the figure in different formats or to a file (i.e. postscript), one must enter
appropriate commands (i.e. "figure(3);print -dps test.ps") in the MATLAB window at the
command prompt. Similarly, more detailed plot modifications can be made from the MATLAB
window (i.e. modify the axes labels, of add labels for the displayed elements).

1.6) Save Mooring

Calls SAVEMD.M to save the present mooring elements and velocity profiles into a
mooring mat file. This routine uses Operating System specific calls, so different
environments (i.e. Windows or UNIX) will have slightly different file/directory
structures and options. The routine is not idiot proof, and it is possible, by entering
hostile filenames or trying to create a directory, to crash MATLAB. Save early, save
often (courtesy LSL).

1.7) Display Elements, Heights, Tensions,...

This simply displays a list of the present mooring elements and their vertical lengths
on the mooring in the MATLAB command window, and if a solution has been evaluated, then
the 3D positions of the mooring elements, and the wire/rope/chain tensions and angles.
To print this information, and the required/recommended anchor weights, cut and paste
the text in the MATLAB command window and print from your favourite text editor.

1.8) Clear All

As the name implies, this button clears all variables from memory, including global
values. Then it closes all open figure windows, and restarts MOORDESIGN.M again. This
is useful when trying different things, and one wants to start afresh without any
previous values/elements.

1.9) Close

Closes all open figure windows. Global variables, including the mooring elements and
velocity profiles are not clear. However, by typing MOORDESIGN.M may re-initialize some
or all variables.

Also see "http://canuck.seos.uvic.ca/rkd/mooring/moordyn.html" in a web browser for
documentation on the solution to the mooring dynamics.

2.0 Examples

I have included several example moorings, and may continue to add new and interesting
examles. You are welcome to submit interesting and informative mooring designs to me
(RDewey@UVic.ca), they may identify limitations and required improvements.

MOOR001.MAT contains a simple sub-surface moring and velocity profiles. This mooring
contains a single 37 inch float at the top, 80 metres of wire rope, a triple set of
viny floats, a single Aanderaa RCM-7 current meter, an EG&G acoustic release, and a
double railway wheel anchor. The velocity profile is a depth uniform 1 m/s current to
the East (U). The "evaluate and plot" execution should not take long (less than a few
seconds), after which the mooring should be plotted. The top of the mooring should be
at 86.9 m above the bottom.

MOOR002.MAT contains a more complicated "S" mooring, with a weaker, shallow velocity
profile (100m) that will force the mooring to be surface float configuration. This
mooring was build by simply adding some wire rope and an extra set of floatation about
40 m below the top float. When searching for a solution, the algorithm tries to figure
out (to within 0.01%) how much of the surface float is needed in the specified current
to converge the height of the top float to within 5 cm of the true height. The bottom
chain is heavy, and will "lie" on the bottom, which is assumed in the present programs
to be flat. The programs will NOT handle multiple surface float moorings, i.e. it will
not find a solution if more than one float sits at the surface. If this occurs, the top
section(s) of the mooring is(are) removed (deleted), down to the last floating
floatation.	If one really wants to figure out the positions of multiple surface floats,
then one can try to get the second floats near to the surface and estimte the relative
positions of the compnents. For MOOR002.MAT, try setting the water depth (top velocity
height) to 90 m. The solution will still converge, and the second float wil be just
(3m) below the surface. However, if ou try to set the water depth to 88 m, the solution
may never converge (at least I didn't wait long enough!).

CDMSUM1.mat contains an approximation to the sub-surface mooring given in Berteaux's
Users Manual for his SSMOOR.EXE program. The results are certainly within the error or
difference limits, due to slight differences in the component characteristics. The
velocity profile stored in CDMSUM1.mat is the current profile case, setting the U
velocities to zero, get the exact solution he gives for the zero current case.
Differences in element heights are mostly due to slight differences in component
lengths, and the fact that his heights/depths do not include an anchor ehight, while
I've placed a 3 Railway wheel anchor at the bottom, which has a nominal height of about
0.6 m. When such height differences are taken into account, the difference between this
code and Berteaux's are small for weak current cases. They become larger for strong
current cases because I calculate my drags slightly differently, ignoring tangential
drag.

3.0 Revisions:

0.9	 The first (public) release. Limited to "clean" sub-surface, minor bug in solution.
0.91 The first working release. Also works with "clean" surface float designs. 
0.92 Improved capability for surface solutions. Can do "S" moorings, where 
     sub-surface floats DON'T reach the surface. If a second floatation device 
	 reaches the surface, and the upper floatation device(s) are not supporting 
	 the mooring, the upper "links" (wire, joiners, float) are "removed" so that 
	 a single surface float mooring, with a true "single float" solution can be 
	 calculated. 
0.93 Fixed a bug which did not allow negative current values. Improved printing 
     of mooring elements, positinos, tensions, etc. 
0.94 Added modulus of elasticity for wire/chain/rope elements so that, under
     tension, they can stretch. See CDMSUM2.mat, which has 1950 m of mooring, 
	 in 2000m of water. Compared this code against CDMS SSMOOR and SFMOOR, and found
	 good agreement on all aspects, except drag. I have formulated the drag 
	 D=0.5*rho*Cd*A*|U|Uj, so that even vertical drag (Uj=W) is proportional 
	 to the total speed! 

4.0 Components/features coming soon....(check back, or email me)

"Make a Movie": If you have, or generate a time series of current profiles, then the
mooring dynamics code can solve for the time dependant mooring shape/positions, which
are then plotted on fixed axes and made into a movie, with mpeg export option.

Tensile characteristics of "stretching" ropes and cords. I have assumed that the amount
of stretching is minimal, or that one can run the programs once to find the tensions on
the rope, and then make appropriate calculations as to the approximate extended length
of the cord, after which the new "stretched" length can be entered after deleting the
original segment. Building in this capability add another degree of freedom to the
convergence, but will allow solutions for moorings with "bungy" components.

"Lifted" moorings ==> drifters. If a mooring originally designed or tested as a surface
mooring is subjected to deep water, or such strong currents that it might "lift" the
anchor off the bottom, then the mooring will become a drifter. Predicting these
conditins shouldn't be difficult. This "drifter" solution, is also a variant of the
hanging wire/package from a moving/stationary ship/surface platform.

=================================================================

DEFAULT AVAILABLE MOORING ELEMENTS

FLOATATION:

Description        Buoy  Length Width Diameter Cd
[inches]            [kg]  [cm]   [cm]  [cm] 

61in ORE          999.000 165.0   0.0 165.0 0.65
48in ORE          620.000 123.4   0.0 123.4 0.65
41in ORE          433.000 104.0   0.0 104.0 0.65
37in ORE          300.000  94.0   0.0  94.0 0.65
28in ORE          133.000  71.0   0.0  71.0 0.65
30in float        160.000  76.0   0.0  76.0 0.65
Kiel SFS40in      320.000 100.0   0.0 100.0 0.65
Torp. flt, 3-28   364.000  83.0   0.0  83.0 0.75
17 in glass        23.000  57.0   0.0  57.0 0.95
ORE 17in           23.000  60.0   0.0  60.0 0.95
Billings-12in      10.000  34.3   0.0  34.3 0.95
BENTHOS 17in       23.000  51.0   0.0  51.0 0.95
16in Viny          19.000  40.0   0.0  40.0 0.60
double 17in        48.000 100.0   0.0 100.0 0.95
Double 16inViny    38.000  60.0   0.0  60.0 0.60
Trpl 16 in Viny    56.000 150.0   0.0  60.0 0.60
Trpl 12in glass    30.000  62.0   0.0  62.0 1.00

WIRES:

Description        Buoy  Length Width Diameter Cd
[inches]            [kg]  [cm]   [cm]  [cm] 

1/4 Kevlar         -0.009 100.0   0.7   0.0 1.30
5/16 Kevlar        -0.014 100.0   0.8   0.0 1.30
3/8 Kevlar         -0.023 100.0   0.9   0.0 1.30
7/16 Kevlar        -0.026 100.0   1.1   0.0 1.30
1/2 Kevlar         -0.032 100.0   1.3   0.0 1.30
9/16 Kevlar        -0.043 100.0   1.4   0.0 1.30
5/8 Kevlar         -0.054 100.0   1.6   0.0 1.30
1/4 wire rope      -0.140 100.0   0.6   0.0 1.30
5/16 wire rope     -0.190 100.0   0.8   0.0 1.30
3/8 wire rope      -0.330 100.0   0.9   0.0 1.30
1/4 wire/jack      -0.130 100.0   0.8   0.0 1.30
5/16 wire/jack     -0.186 100.0   1.1   0.0 1.30
3/8 wire/jack      -0.318 100.0   1.3   0.0 1.30
1/2 wire/jack      -0.547 100.0   1.7   0.0 1.30
7/16 VLS           -0.023 100.0   1.1   0.0 1.30
1/2 VLS            -0.041 100.0   1.3   0.0 1.30
11mm Perlon        -0.005 100.0   1.1   0.0 1.30
7/16 Dacron        -0.032 100.0   1.1   0.0 1.30
1/2 Dacron         -0.041 100.0   1.3   0.0 1.30
9/16 Dacron        -0.058 100.0   1.4   0.0 1.30
3/4 Dacron         -0.099 100.0   1.9   0.0 1.30
5/8 Nylon          -0.022 100.0   1.6   0.0 1.30
3/4 Nylon          -0.030 100.0   1.9   0.0 1.30

CHAINS:

Description        Buoy  Length Width Diameter Cd
[inches]            [kg]  [cm]   [cm]  [cm] 

shac-ring-shac     -0.750  30.0   2.5   0.0 1.30
shac-3link-shac    -1.000  40.0   2.0   0.0 1.30
1/4 chain SL       -2.690 100.0   1.5   0.0 1.30
3/8 chain SL       -2.330 100.0   2.2   0.0 1.30
1/2 chain SL       -4.120 100.0   3.0   0.0 1.30
1 chain SL        -13.000 100.0   4.0   0.0 1.30
1/2 chain LL       -3.100 100.0   3.0   0.0 1.30
1/2 SS link        -0.200  10.0   2.5   0.0 1.30
1/2 galv link      -0.200  10.0   2.5   0.0 1.30
1/2 shackle        -0.300   8.0   2.5   0.0 1.30
3/8 shackle        -0.125   4.0   2.5   0.0 1.30
5/8 shackle        -0.650   6.5   5.0   0.0 1.30
1 shackle          -2.200   8.0   3.0   0.0 1.30
1/2 swivel         -0.650  14.0   5.0   0.0 1.30
3/4 swivel         -1.500  14.0   4.0   0.0 1.30
1/2 shac+3/8shac   -0.425  12.0   2.5   0.0 1.30

CURRENT METERS

Description        Buoy  Length Width Diameter Cd
[inches]            [kg]  [cm]   [cm]  [cm] 

Aanderaa RCM-4    -17.300  55.0  12.8   0.0 1.30
Aanderaa RCM-5    -19.500  57.0  12.8   0.0 1.30
Aanderaa RCM-7    -18.300  55.0  12.8   0.0 1.30
Aanderaa RCM-8    -22.700  57.0  12.8   0.0 1.30
OEI Expend. CM     -3.600  66.0  12.8   0.0 1.30
FSI-3DACM coast   -10.000  38.0  13.0   0.0 1.30
EG&G VACM         -35.000 198.0  25.0   0.0 1.30
EG&G VMCM         -30.000 170.0  25.0   0.0 1.30
NBIS ACM-2        -13.000 120.0  20.0   0.0 1.30
InterOcn S4 CM    -15.000  80.0   0.0  30.0 0.60
RD ADCP           -12.000 141.0  22.0   0.0 1.30

ACOUSTIC RELEASES

Description        Buoy  Length Width Diameter Cd
[inches]            [kg]  [cm]   [cm]  [cm] 

Oceano RT-121     -30.000  89.0  12.4   0.0 1.30
Oceano RT-161     -35.000  89.0  12.4   0.0 1.30
Oceano AR191      -26.000  85.0  11.2   0.0 1.30
Oceano AR261      -21.000  82.0  12.4   0.0 1.30
EG&G 8242         -28.000  94.0  13.0   0.0 1.30
double 8242       -68.000  95.0  26.0   0.0 1.30
double RT-161     -70.000  89.0  25.0   0.0 1.30
double AR-191     -60.000  85.0  23.0   0.0 1.30
double AR/EG&G    -64.000  95.0  25.0   0.0 1.30

ANCHORS

Description        Buoy  Length Width Diameter Cd
[inches]            [kg]  [cm]   [cm]  [cm] 

1 Railway Wheel   454.550  15.0 100.0   0.0 1.30
2 Railway Wheels  915.000  35.0 100.0   0.0 1.30
3 Railway Wheels  1350.00  55.0 100.0   0.0 1.30
4 Railway Wheels  1830.00  70.0 100.0   0.0 1.30
1 Concrete Block  200.000  50.0  80.0   0.0 1.30
2 Concrete Blocks 400.000  70.0 100.0   0.0 1.30
3 Concrete Blocks 600.000 100.0 100.0   0.0 1.30

MISC INSTRUMENTS

Description        Buoy  Length Width Diameter Cd
[inches]            [kg]  [cm]   [cm]  [cm] 

AanderaaT.chain   -12.000  55.0  12.8   0.0 1.30
SBE-16            -10.000  45.0   8.0   0.0 1.30
A. tide gauge     -12.000  55.0  12.8   0.0 1.30
Keil sedmt trap   -80.000 250.0  99.9   0.0 1.30
ULS#2/APL          15.000   0.0   0.0  65.0 1.00
DataSonics Xpdr   -10.000  70.0  13.0   0.0 1.30
Benthos Xpdr       -5.000   0.0   0.0  30.0 1.00
Brancker TR1000    -0.448  26.7   5.1   0.0 1.30
Brancker XL-200    -0.430  53.7   6.0   0.0 1.30
Brancker XL-210     0.714  83.8   7.6   0.0 1.30

==end==