| Preface to the Second Edition |
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xxi | |
| Preface to the First Edition |
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xxiii | |
| Nomenclature |
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xxv | |
| SI Unit Equivalents |
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xxvii | |
| 1 Introduction |
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1 | (18) |
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1 | (9) |
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Low-pressure drilling risers |
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2 | (2) |
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High-pressure drilling risers |
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4 | (1) |
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Completion/Workover risers |
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5 | (1) |
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5 | (2) |
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7 | (2) |
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Individual top-tensioned risers (TTRs) |
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9 | (1) |
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Steel catenary risers (SCRs) |
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10 | (1) |
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10 | (1) |
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10 | (4) |
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Excel File SCR-Example.xls |
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14 | (2) |
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16 | (1) |
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17 | (2) |
| 2 Pipe and Riser Deflections and Global Stability: The Effective Tension Concept |
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19 | (18) |
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19 | (2) |
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Archimedes' Law-Proof by Superposition |
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21 | (1) |
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Internal Forces in a Submerged Body |
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22 | (1) |
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Curvature, Deflections, and Stability of Pipes and Risers under Pressure |
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23 | (3) |
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Effective Tension-a Physical Interpretation/Definition |
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26 | (1) |
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Effective Tension-a Mathematical Approach |
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27 | (2) |
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Comparisons with Analogous Engineering Concepts |
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29 | (3) |
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Requirements of Codes of Practice |
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32 | (2) |
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Excel File Riser-Tensions.xls |
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34 | (1) |
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34 | (1) |
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35 | (2) |
| 3 Application of Effective Tension: Frequent Difficulties and Particular Cases |
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37 | (20) |
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End Loads and End Effects |
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37 | (3) |
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38 | (1) |
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39 | (1) |
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40 | (2) |
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Recurrent Questions and Problems |
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42 | (6) |
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Lateral loads resulting from axial forces in fluid columns |
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42 | (1) |
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Buckling of suspended rods, pipes, and cables |
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43 | (2) |
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Buckling of pressurized pipes |
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45 | (1) |
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Influence of pressure end load on stability |
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45 | (1) |
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Buckling of pipes with expansion joints |
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46 | (1) |
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46 | (2) |
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Multi-tube Risers: Components of Effective Tension and Apparent Weight |
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48 | (3) |
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Risers composed of separate tubes |
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48 | (1) |
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Risers composed of tubes within tubes |
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48 | (3) |
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Effective Tension and Riser Dynamics |
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51 | (2) |
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Influence of internal flow |
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51 | (1) |
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52 | (1) |
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Principle Reasons for Confusion about Effective Tension |
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53 | (1) |
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54 | (1) |
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55 | (2) |
| 4 Pipe and Riser Stresses |
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57 | (14) |
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Stresses in Thick-Walled Elastic Pipes |
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57 | (4) |
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Effective Stress and Excess Stress |
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61 | (1) |
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Von Mises' Equivalent Stress |
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62 | (1) |
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Position of Codes of Practice with Respect to Stresses |
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63 | (2) |
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63 | (2) |
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Two Particular Yield Problems |
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65 | (2) |
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Yield of tubes under pressure with and without end effect |
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65 | (1) |
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Yield of tubes under pressure with axial load |
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66 | (1) |
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Numerical Example and Use of Excel File Riser-Stresses.xls |
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67 | (2) |
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69 | (1) |
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70 | (1) |
| 5 Pipe and Riser Strains |
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71 | (20) |
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Axial Strains of Thick-Walled Elastic Isotropic Pipes |
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71 | (2) |
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Axial Strains of Anisotropic Pipes |
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73 | (1) |
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Determination of Equivalent Poisson's Ratios for Anisotropic Pipes |
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74 | (1) |
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Pressure-Induced Buckling of Pipes Fixed at Both Extremities |
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75 | (3) |
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76 | (1) |
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77 | (1) |
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Pipe Stretch Following Upending |
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78 | (2) |
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Riser Tension and Stretch Resulting from Internal Changes |
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80 | (8) |
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Single-tube uniform risers |
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80 | (1) |
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Single-tube segmented risers |
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81 | (2) |
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83 | (3) |
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86 | (2) |
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88 | (1) |
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88 | (3) |
| 6 Tensioned-Beam Behavior |
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91 | (12) |
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Excel File Tensioned-Beam.xls |
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92 | (1) |
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Influence of Bending Stiffness for Beams with Uniform Load |
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92 | (2) |
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Influence of Bending Stiffness for Beams with Parabolic Load |
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94 | (3) |
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97 | (1) |
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98 | (1) |
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99 | (1) |
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Beam Angles Deduced from Cable Angles |
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100 | (2) |
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102 | (1) |
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102 | (1) |
| 7 Statics of Near-Vertical Cables |
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103 | (8) |
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Uniform Cable with Current Load |
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103 | (2) |
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Uniform Cable with Zero Current Load |
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105 | (2) |
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Segmented Cable with Current Load |
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107 | (1) |
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Segmented Cable with Zero Current Load |
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107 | (1) |
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Simple Approximate Solutions for Near-Vertical Cables |
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108 | (2) |
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Uniform cable with zero current |
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109 | (1) |
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Segmented cable with zero current |
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109 | (1) |
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110 | (1) |
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110 | (1) |
| 8 Near-Vertical Riser Static Behavior |
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111 | (12) |
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111 | (1) |
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Excel Files Uniform-Riser.xls and Segmented-Riser.xls |
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112 | (1) |
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112 | (4) |
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116 | (2) |
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118 | (1) |
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Riser Angles Deduced from Cable Angles |
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118 | (3) |
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121 | (1) |
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121 | (2) |
| 9 Stress Joint Design |
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123 | (12) |
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SJ Forces and Design Requirements |
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124 | (2) |
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SJ with Constant Curvature |
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126 | (2) |
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SJ with Constant Maximum Bending Stress |
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128 | (3) |
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131 | (1) |
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131 | (1) |
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Simulation and Verification Using Excel File SJ-Design.xls |
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131 | (2) |
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133 | (1) |
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134 | (1) |
| 10 Riser Bundles: Local Bending between Guides |
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135 | (10) |
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135 | (4) |
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Distribution of Moments According to Load Type |
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139 | (2) |
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Apparent weight loads normal to pipe axis |
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140 | (1) |
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140 | (1) |
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141 | (1) |
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Numerical Application Using Excel File Bundle-Moments.xls |
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141 | (2) |
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Decomposition and Recomposition of Moments |
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143 | (1) |
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144 | (1) |
| 11 Near-Vertical Risers Associated with Floating Platforms with Stiff Tensioners |
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145 | (18) |
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TLP Riser Stretch and Setdown Due to Platform Offset |
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146 | (3) |
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148 | (1) |
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Influence of third-order effects |
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149 | (1) |
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TLP Riser Tension and Sag Due to Offset: A Simplified Calculation |
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149 | (2) |
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Numerical Example Using Excel File TLP-Risers.xls |
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151 | (2) |
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Floating Platform Riser Tension and Sag Due to Offset: A Simplified Calculation |
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153 | (1) |
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Numerical Example Using Excel File Floater-Risers.xls |
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154 | (2) |
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Influence of Internal Changes on Riser Tension and Profile |
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156 | (2) |
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Application to Composite Riser with Steel Tubings |
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158 | (3) |
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Tubing with balanced expansion joint |
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159 | (1) |
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Influence of tubing pressure on riser profile |
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160 | (1) |
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161 | (1) |
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162 | (1) |
| 12 Steel Catenary Risers |
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163 | (16) |
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Basic Differential Equation |
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163 | (1) |
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164 | (1) |
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TDP Shift Due to Top-End Movement Using Excel File TDP-Shift.xls |
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165 | (2) |
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Catenary and Flow-Line Stretch |
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167 | (2) |
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Estimate of total stretch (Δs + Δf) |
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168 | (1) |
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Global Influence of Bending Stiffness |
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169 | (2) |
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Details of Numerical Analyses |
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171 | (2) |
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Influence of Bending Stiffness on TDP Position |
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173 | (3) |
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Top Tension, TDP Shear Force, and Soil Reaction |
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176 | (1) |
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177 | (1) |
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178 | (1) |
| 13 Axial Vibrations of Fixed Risers |
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179 | (10) |
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179 | (1) |
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180 | (2) |
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Axial Displacement-Tension Relationships for a Uniform Riser |
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182 | (1) |
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Responses of a Uniform Riser, Using Excel File Fixed-Axial-Vibrations.xls |
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182 | (3) |
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Dynamic Stiffness of a Uniform Riser |
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185 | (1) |
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Axial Vibration of a Segmented Riser |
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186 | (1) |
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187 | (1) |
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188 | (1) |
| 14 Axial Vibrations of Hung-Off Risers |
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189 | (22) |
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190 | (1) |
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Uniform Riser with Concentrated Mass at Lower End |
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191 | (2) |
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Simulations Using Excel File Hungoff-Free-Vibrations.xls |
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193 | (2) |
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Segmented Riser with Concentrated Mass at Lower End |
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195 | (2) |
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Riser Comprising Multiple Repeated Joints |
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197 | (2) |
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Uniform Riser with Distributed Damping |
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199 | (1) |
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Uniform Riser with Equivalent Damping |
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200 | (1) |
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Simulations Using Excel File Hungoff-Damped-Vibrations.xls |
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201 | (4) |
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Hung-Off Riser Experience and Research Campaigns |
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205 | (2) |
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207 | (1) |
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208 | (3) |
| 15 Transverse Modal Vibrations of Near-Vertical Risers |
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211 | (32) |
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Physics of Undamped Transverse Vibrations |
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211 | (2) |
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Vortex-Induced Modal Vibrations |
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213 | (1) |
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Basic Equations for Vibration of a Beam under Constant Tension |
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214 | (1) |
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Bessel Cable Analysis of a Riser without Bending Stiffness (EI=0) |
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215 | (1) |
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Simple Cable Analysis of a Riser without Bending Stiffness (EI=0) |
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216 | (3) |
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Resonant frequencies, periods, and riser mean celerity |
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219 | (1) |
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Evaluation of parameter zx |
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220 | (1) |
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Positions of nodes and antinodes |
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220 | (1) |
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Mean celerities between adjacent nodes |
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221 | (1) |
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222 | (2) |
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Riser curvature (1/R) at the antinodes |
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224 | (1) |
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Maximum riser curvature (1/R) |
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224 | (1) |
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Simple Beam Analysis of a Riser with Bending Stiffness (EI does not equal 0) |
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225 | (3) |
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Approximate Beam Analysis of a Riser with Bending Stiffness (EI does not equal 0) |
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228 | (1) |
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Validation Using Excel File Uniform-Transverse-Modal.xls |
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229 | (5) |
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Segmented Risers-Modal Responses |
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234 | (2) |
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Validation Using Excel File Segmented-Transverse-Modal.xls |
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236 | (2) |
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Extension to Catenary Risers |
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238 | (2) |
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240 | (2) |
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242 | (1) |
| 16 Effective Tension and Buoyancy-Additional Arguments |
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243 | (14) |
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A Persuasive Objection to the Concept of Effective Tension: The Flawed Argument |
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244 | (1) |
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The Euler Buckling Comparison |
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245 | (1) |
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Bending and Buckling of a Pipe Segment between Horizontal Sections |
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246 | (6) |
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Case 1: Weightless pipe and contents, with internal pressure |
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247 | (2) |
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Case 2: Pipe and contents with weight and internal pressure |
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249 | (2) |
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Case 3: Influence of external pressure |
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251 | (1) |
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Buoyancy, Buoyancy Effects, and Apparent Weight |
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252 | (3) |
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Equilibrium of a submerged test cube |
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253 | (1) |
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Apparent weight and buoyancy effect |
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254 | (1) |
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254 | (1) |
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255 | (1) |
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255 | (1) |
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255 | (2) |
| 17 Introduction to Helical Buckling |
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257 | (10) |
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257 | (1) |
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258 | (1) |
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259 | (1) |
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259 | (1) |
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Relationships between Helix Forces |
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260 | (1) |
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Relationships between Helix Moments |
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261 | (1) |
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Helix Curvature and Moment about the Normal Axis |
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262 | (2) |
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The Moment Equation about the Radial Axis |
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264 | (2) |
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Moment equation about the radial axis OD, for the regular helix |
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265 | (1) |
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Moment equation about the radial axis OD for an irregular helix |
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265 | (1) |
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266 | (1) |
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266 | (1) |
| 18 Exact Analysis of a Regular Helix |
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267 | (12) |
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267 | (3) |
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267 | (1) |
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Vertical force (P) and wall force per unit length (wr ) |
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268 | (1) |
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Horizontal-tangential force (Fh) |
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269 | (1) |
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269 | (1) |
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Verification of Regular Helix Forces by Use of the Concept of Virtual Work |
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270 | (5) |
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270 | (1) |
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Shear force (Fs) by virtual work |
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271 | (2) |
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Vertical force (P) by virtual work |
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273 | (1) |
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Horizontal-tangential force (Fh) by virtual work |
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273 | (1) |
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Wall force per unit length (wr) by virtual work |
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274 | (1) |
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Pipe axial force (Fa) by virtual work |
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274 | (1) |
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Concise Review of Regular Helix Exact Force and Moment Equations |
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275 | (2) |
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Comparison with published expressions for regular helix forces |
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276 | (1) |
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277 | (1) |
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277 | (2) |
| 19 Analysis of Helix End Sections |
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279 | (22) |
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Geometry of the Helix End Section |
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280 | (3) |
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Continuity between the Transition Section and the Free-Wall Section |
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283 | (1) |
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Transition Section Parameters |
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284 | (4) |
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The horizontal force (Fh) |
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285 | (1) |
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286 | (1) |
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Curvature about the radial axis (Cr) |
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286 | (1) |
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Relationship between curvature about the radial axis (Cr) and angle (Φ) |
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287 | (1) |
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Free-Wall Section Parameters |
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288 | (3) |
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Analysis of the free-wall section |
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289 | (1) |
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Contact point-continuity requirements |
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290 | (1) |
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End-Section Parameters, as a Function of Fixity Factor Q |
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291 | (3) |
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Helix End Section with a Disturbing End Moment |
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294 | (3) |
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297 | (1) |
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297 | (1) |
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Length and Angle Turned Through by the Transition Section |
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298 | (1) |
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Excel File Helix-Plus-End-Sections.xls |
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299 | (1) |
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300 | (1) |
| 20 Drill-Pipe Deflection within a Seabed Blowout Preventer Induced by Helical Buckling in the Riser |
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301 | (22) |
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The Macondo Accident Scenario |
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302 | (2) |
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Effective Tension and Effective Compression in the Drill Pipe |
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304 | (1) |
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304 | (1) |
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304 | (1) |
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305 | (1) |
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Modeling the Drill Pipe below the VBR |
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306 | (4) |
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The moment/angle ratio (Mv/ΦV) at the VBR, before down-hole wall contact |
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306 | (1) |
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The moment/angle ratio (MC/ΦC) at the down-hole contact point |
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306 | (1) |
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The relationship between moment MV and Φv angle at the VBR, following down-hole wall contact |
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307 | (1) |
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Excel file Down-Hole-Pipe.xls |
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308 | (2) |
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Procedure for Assuring Continuity at the VBR and Annular |
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310 | (1) |
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Analysis of the Drill Pipe within the BOP |
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311 | (2) |
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Helix End Fixity Factor at the Annular |
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313 | (1) |
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Moments and Angles at Junctions.Final Iterations.Deflection Calculations |
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314 | (1) |
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Excel File Complete-Drill-Pipe.xls |
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314 | (2) |
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Application to the Macondo Drill Pipe |
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316 | (4) |
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320 | (1) |
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320 | (1) |
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321 | (2) |
| 21 Transition from Planar to Helical Buckling |
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323 | (10) |
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Initial Out-of-Straightness |
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323 | (1) |
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Description of Planar Buckling inside a Casing |
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324 | (2) |
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Analysis of the Development of the Planar Buckle |
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326 | (1) |
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Initiation of Helical Buckling |
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326 | (2) |
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Growth of the Helical Buckle |
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328 | (1) |
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329 | (1) |
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330 | (1) |
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Extension to Pipes with Other End Fixities |
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331 | (1) |
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332 | (1) |
| Appendix A: Tensioned-Beam Equations |
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333 | (6) |
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333 | (2) |
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335 | (1) |
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336 | (2) |
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Convergence between Small-and Large-Angle Deflection Equations |
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338 | (1) |
| Appendix B: Tension Calculations for Simple Riser Cases |
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339 | (3) |
| Appendix C: Application of the Morison Equation to Risers |
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342 | (7) |
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344 | (1) |
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344 | (1) |
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345 | (1) |
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Decrease of Wave-Induced Drag and Inertia Forces with Depth |
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346 | (1) |
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Complicated Riser Geometries |
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347 | (1) |
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Influence of Vortex-Induced Vibrations |
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347 | (1) |
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348 | (1) |
| Appendix D: Stress and Strain Relationships in a Thick-Walled Pipe |
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349 | (6) |
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General Stress Relationships |
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349 | (2) |
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Strain Relationships for Thick-Walled Pipes |
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351 | (1) |
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Stress-Strain Equations for Thick-Walled Pipes |
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352 | (2) |
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Axial Stress for Thick-Walled Pipes |
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354 | (1) |
| Appendix E: Equivalent Poisson's Ratios for Anisotropic Pipes |
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355 | (4) |
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Ratios Deduced from Material Characteristics |
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355 | (2) |
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Determination of from an Axial Load Test |
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357 | (2) |
| Appendix F: Curvature of ve Tensioned Beam Subject to Generalized Load |
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359 | (4) |
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Application to Parabolic Load |
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361 | (2) |
| Appendix G: Riser Bundle Pipe Moments between Guides |
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363 | (6) |
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364 | (2) |
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Pipe under Compression (F) |
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366 | (1) |
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Pipe under Zero Axial Load (T=F=0) |
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367 | (2) |
| Appendix H: Catenary Equations |
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369 | (10) |
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369 | (2) |
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Extensible Catenary Equations |
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371 | (5) |
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Change in the horizontal projection Δx, resulting from pipe stretch |
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373 | (1) |
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Change in the vertical projection Δy, resulting from pipe stretch |
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374 | (1) |
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|
|
374 | (1) |
|
|
|
375 | (1) |
|
|
|
376 | (3) |
| Appendix I: Damped Axial Vibrations |
|
379 | (6) |
|
Riser with Distributed Damping |
|
|
379 | (2) |
|
Response with Damping at Equivalent End (x = L') |
|
|
381 | (2) |
|
Equivalent Damping: Energy Dissipated per Cycle |
|
|
383 | (2) |
| Appendix J: Notes on Excel Files |
|
385 | (6) |
|
|
|
385 | (1) |
|
File Formats and Color Codes |
|
|
386 | (1) |
|
|
|
387 | (4) |
| Appendix K: Detailed Analysis of a Helix Transition Section |
|
391 | (6) |
|
Distance (s) along Pipe Axis as a Function of Helix Angle (Φ) |
|
|
392 | (1) |
|
Helix Angle (Φ) as a Function of Distance (s) from the Contact Point |
|
|
393 | (1) |
|
Angle (theta) Turned through in Plan View |
|
|
394 | (2) |
|
Angle Precision Ratio (ΦJ/ΦR) at the Junction with the Regular Helix |
|
|
396 | (1) |
| Appendix L: Helix Free-Wall End Section |
|
397 | (8) |
|
Force-Moment Relationship at the Contact Point |
|
|
397 | (1) |
|
Analysis of the Free-Wall Section |
|
|
398 | (1) |
|
|
|
399 | (2) |
|
|
|
401 | (1) |
|
|
|
401 | (1) |
|
Partially-fixed-top-end case, with fixity factor Q |
|
|
402 | (3) |
| Appendix M: Analysis of Blowout Preventer Section of Drill Pipe |
|
405 | (6) |
|
Derivation of Relationship between Moment/Angle Ratios MA/ΦV and Mv/ΦV |
|
|
405 | (2) |
|
Deduction of Planar Buckling Loads |
|
|
407 | (4) |
|
|
|
407 | (1) |
|
|
|
408 | (1) |
|
|
|
408 | (1) |
|
Pinned-partially-fixed case |
|
|
409 | (1) |
|
|
|
409 | (2) |
| Appendix N: Analysis of Down-Hole Pipe Deflection |
|
411 | (6) |
|
Pipe Deflection between the VBR and the Down-Hole Contact Point |
|
|
412 | (1) |
|
Relationships between Moments and Angles at the VBR and the Contact Point |
|
|
413 | (2) |
|
Deflections below the Down-Hole Contact Point |
|
|
415 | (1) |
|
Pipe Deflections below the VBR, before Wall Contact |
|
|
416 | (1) |
| Appendix O: Influence of Pipe Torque on Regular Helix Forces |
|
417 | (6) |
|
|
|
418 | (1) |
|
Vertical Force (P) and Wall Force per Unit Length (wr) |
|
|
418 | (2) |
|
|
|
420 | (1) |
|
|
|
420 | (1) |
|
Relationship between Regular Helix Parameters |
|
|
421 | (2) |
| Index |
|
423 | |
