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3D Online Display

Catenary requirements
Jesper Knudsen, Brian J.O. Justesen

3D Online Display - Catenary

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Contents
1

Basic requirements.............................................................................................................4
1.1
iSURVEY requirements.............................................................................................4
1.1.1
Interface .............................................................................................................4
1.1.2
Distribution to tug ..............................................................................................5
1.1.3
Correction of chain length .................................................................................6
1.1.4
Manual input ......................................................................................................6
1.1.5
Rig Display ........................................................................................................6
1.1.6
Calculations........................................................................................................6
1.1.7
Horizontal view..................................................................................................7
1.1.8
Vertical view......................................................................................................7
1.1.9
Cable lay view....................................................................................................7
1.1.10
Numeric data......................................................................................................7
1.1.11
Audio and visual alarms.....................................................................................8
1.2
Deep Ocean requirements ........................................................................................13
1.3
C&C requirements ...................................................................................................13
2
Accommodated requirements ..........................................................................................15
2.1
General setup ...........................................................................................................15
2.2
Catenary setup..........................................................................................................15
2.2.1
Physical line assembly .....................................................................................16
2.2.2
Physical cable properties..................................................................................16
2.2.3
Midline buoys properties .................................................................................16
2.3
Catenary calculations ...............................................................................................16
3
Design ..............................................................................................................................18
3.1
General setup ...........................................................................................................18
3.2
NaviPac ....................................................................................................................18
3.2.1
New Input Instruments.....................................................................................19
3.2.2
Navigation Data to Catenary............................................................................20
3.3
RigMon ....................................................................................................................20
3.4
Scene server .............................................................................................................21
3.5
Catenary Module......................................................................................................21
3.5.1
New Project......................................................................................................21
3.5.2
Calculate ..........................................................................................................22
3.6
3D display ................................................................................................................23
4
Workload..........................................................................................................................24

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Revision table
Date
30.05.2007
30.05.2007
31.05.2007
01.06.2007

Who
JUS
OKR
JEK
JUS

05.06.2007
07.06.2007

OKR
OKR

07.06.2007
08.06.2007
15.06.2007
15.06.2007
19.06.2007

OKR
OKR
JEK
JUS
OKR

Comment
First version (spawn of 3D Online Display.doc)
Added chapter Anchor Monitoring System by AS STEINCO
Added chapter Catenary setup
Added chapters Accommodated requirements and Design;
revised chapter Catenary setup
Version 1 reviewed internally
No comments received from clients (C&C, iSurvey, Deep Ocean)
so version 1 is defined OK
Version 1.1 Section 3 expanded with design elements
Added definition of NaviPac and RigMon
Filled chapter 3D Display
Filled chapter Catenary module
Reviewed internally OK

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1 Basic requirements
After having implemented and released the first version of EIVAs new 3D online/real time
monitoring application, were progressing to phase 2 implementing the basic catenary. This
document covers the requirements of setting up a catenary project, catenary computations, 2D
profiling and 3D monitoring. However, only TMS and anchor handling (Rig and Barge
move) is covered in this first version of catenary handling later on well include pipe- and
flexible cable lay as well.
It is important to note that the following parts will be based on the 3D platform implemented
in phase 1. Also notice that the listed client requirements are used as inspiration for the
suggested design, not a commitment to what will be implemented in the Catenary module.

1.1

iSURVEY requirements

The following requirements from iSURVEY must be covered by the solution.

1.1.1 Interface
A serial interface should be created for anchor monitoring system. The format should
be:
<anchor id>, <length[metre]>, <tension[metric ton], <speed[metre/min]>CRLF
- also a user defined format should be considered.
Where:
<anchor id> - anchor number
<length[metre]> - chain length
<tension[metric ton]> - total tension in winch
<speed[metre/min]> - winch speed while running anchor
<workwire[metre]> - work wire out on Tug as a manual input on rig
Also an angular meter input for cable lay operations could be considered.

1.1.1.1 Anchor Monitoring System by AS STEINCO


Protocol
This is an ASCII protocol with a cyclic transmission of tension and length for the different anchors with
a total amount of 67 characters in the telegram. This communication will send a telegram once each
second and receving no telegrams from the EMP system.
STX (02 hex)
MSB Tension 1
(byte 2) Tension 1
(LSB) Tension 1
(MSB) Length 1
(byte 4) Length 1
(byte 3) Length 1
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(byte 2) Length 1
(LSB) Length 1

then anchor 2 to 7

MSB Tension 8
(byte 2) Tension 8
(LSB) Tension 8
(MSB) Length 8
(byte 4) Length 8
(byte 3) Length 8
(byte 2) Length 8
(LSB) Length 8
ETB (17 hex)
Checksum

STX:
This is the character used to identify the start of the telegram.
Tension:
The anchor tension information is scaled in Tonne and sent with the most significant byte first.
Length:
The anchor length information is scaled in decimeters and sent with the most significant byte first
ETB:
This is the character used to identify the end of the telegram.
Checksum:
This is a left shifted XOR sum. The checksum is calculated for all the bytes in the telegram excluding
the checksum. The calculation is performed in accordance with the procedure below:
1. Checksum = byte 1
2. Checksum = Checksum XOR Byte 2
3. Shift left Checksum
4. Checksum = Checksum XOR Byte 3
5. Shift left Checksum
6. .. and so on ..

We recive this signal as: N-8-1 Baud 4800

1.1.2 Distribution to tug


The data should be transmitted to Tugs trough telemetry in an intelligent way.
Anchors that do not run (Speed = 0) should be transmitted on a lower user defined
update rate (multiplier), or manually updated on tug by operator on rig (After a tug
restart).
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The data should be received and visible in anchor handling display on Tug/Rig.
In addition the touchdown position calculated in part 2 should be distributed and
displayed on Tug

1.1.3 Correction of chain length


There should be an online option to correct each chain length with a positive or
negative value if the anchor monitoring system is outputting erratic values.

1.1.4 Manual input


There should be an online option to switch between <data input> or <manually
input>. The reason for this is to be able to manually calculate touch down and/or
anchor position etc. when anchor interface are not available.

1.1.5 Rig Display


All the data should be visible in NaviPac either in Rigmon or a separate module.
(With possibility to show/hide values and change fonts. See 1.1.10)

1.1.6 Calculations
Internationally accepted catenary algorithms should be used to compute the straight
line profiles of each mooring line.
The reference will be the rig fairlead or a dynamic offset point. The end point should
be a:

Tug (with anchor on deck)

Anchor on seabed

Tug laying an anchor with specified work wire

ROV/Transponder (Cable lay)

There should be an option for:

At least 3 chain segments with different air/subsea weight should be included.

At least 2 lift up boys with specified lift capacity and wire length should be
included

Global input of reference (fairlead) depth and winch height

Global input to choose if calculations are based from fairlead or winch

Global units for cable length, cable weight and tension

Input of water depth from echo sounder, Transponder or Manual

One or more clearance points with horizontal distance from fairlead/anchor


and vertical distance from surface/seabed (See example 1)

Vertical clearance to clearance points should be calculated and displayed.


(See example 1)

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Allowing lines with priority calculating a solution on a higher update rate if this
is an issue

Save setup to jobfile

Option to enable/disable Send Touchdown position to HD

1.1.7 Horizontal view


Touchdown, buoy and calculated anchor positions should be presented as a dynamic
object in Helmsmans display. This to help the user to define if the object will be in
correct position at all times.

1.1.8 Vertical view

Up to 12 simultaneous vertical displays with option to do manual measurements

Possible to auto/manually adjust both axis

Display of clearance points

1.1.9 Cable lay view


The display should be designed for full screen view on a separate screen (See
example 3).
1.1.10

Numeric data
The numeric data should be calculated for each anchor. It should be possible to
show/hide values/columns and change fonts. Conditional formatting of
colour/background at alarm limit should be available.
-

Status (Tracking, Laid or racked)

Mode (Live data or planning/manual mode)

Actual fairlead to proposed anchor (Hor dist)

Propose fairlead to proposed anchor (Hor dist)

Chain add-on at drop (Difference between the two above values if Rig is out of
position)

Actual Fairlead to actual anchor (Hor dist) (based on Tug position)

Actual Fairlead to actual anchor (Hor dist) (based on manually entered


chain/tension values)

Chain counter check (Difference between the two above values)

Total Catenary length (Seabed, Tug or laying)

Distance to touchdown

Grounded length

Vertical distance to clearance point

Winch offsets

Fairlead intended positions E,N

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Fairlead positions E,N

Anchor intended positions E,N

Anchor positions E,N

Input Chain weight global or for each anchor

Input Water depth global or for each anchor

Input tension for each anchor

Input chain lenght for each anchor

Input Position or range bearing to clearance point

Total tension calculated at ref (Based on depth, weight In water and catenary
length)

Angle at reference (Fairlead)

Radius of catenary (Cable lay)

1.1.11 Audio and visual alarms


Audio and visual alarms should be available if a distance reaches a user specified
value.

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Example1: WinCat uplift buoy

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Example2: WinCat Tug boat

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Example3: iSURVEY Cable lay

1.2

Deep Ocean requirements

Except the requirement of displaying seabed data collected real time all requirements are
accommodated in phase 1.

1.3

C&C requirements

The following requirements from C&C must be covered by the solution. Points directly
supported in version 1 are highlighted.
1. Combination of the real time visualization & catenary module for the deployment and
recovery of anchors for a semi-submersible in water depths to 4,000 meters.
a. I would like to see in real time a plan & profile view of the catenary in 3-D
from the rig to the vessel or have the ability to zoom in and observe sea
floor assets i.e. wells, manifolds, plets etc in relationship with the chain, wire
rope and or combination of both. That is my client's main requirement for this
software i.e. this is a risk prevention tool for his end user the Oil Company.
b. I would envision the catenary analogue data to be available and configurable
on as need basis as an output on NaviPac Monitor
c. Sea floor asset drawings i.e. AutoCad from the client would be easily
imported into NaviPac and displayed and scalable as required in 3-D
d. If bathy data were available, it would be imported and used within the
visualization section of the software. In addition both swath data and single
point data and data formats would be defined by EIVA a/s.
2. Surface and sub-surface visualization option to support intervention work
utilizing an ROV
a. Support surface DGPS
b. Support sub surface USBL, LBL, INS systems
c. Represent sea floor assets i.e. wells, manifolds etc and be imported
drawings in the Auto Cad format and be scalable
d. Import bathy data in the visualization portion of the program in both
single point and swath formats
e. Represent object in the water column in 3-D
3. Perform the same functions as number #1 with a Pipe Lay Barge, not concerned
with the pipe at the moment, but just with barge anchor placement around the
sea floor assets in mind
4. Combination of the real time visualization & deployment of umbilical/cable &
flexible pipe, similar to the requirements but replacing the anchor legs with flexible
pipe or umbilical/cable.
5. Utilizing the visualization portion to observe pipe in the water column and above risk
associated with sea floor from an S-lay or J-lay barge DP or Anchor, assuming ROV
is acoustically positioned i.e. USBl or transponder is tied to the pipe i.e. USBL.

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6. Utilizing the visualization portion to observe pipe in the water column from an S-lay
or J-lay DP or Anchor Barge, and finally on bottom to observe the pipe in relationship
to the sea floor assets
7. The final request would be to utilize the visualization portion and analog to observe
deployment of jackets, sub-sea assemblies, SUBMAR MATS utilizing survey sensors
such as USBL, LBL input string into Navipac, Slew angle & Radius of vessels crane
with vessel 's gyro reference. The idea being in deep water when a semi-rig deploys
its sub-sea assembly, strong currents often effect the position of the assembly and
move it to critical positions throughout the water column causing concern. In this case
with the reference or the position of the semi-rig displayed and the riser string & subsea assembly displayed would provide a picture that a thousand words could not
describe. In addition I believe this would be a wonderful for setting jackets with a
RHO / THETA device such as a Fanbeam or THEODOLITE/EDM.

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2 Accommodated requirements
The accommodated client requirements are listed in the following sections - but first an
overall description of a general setup.

2.1

General setup

The following outlines an example of a setup. The local network on the vessel connects
NaviPac, a scene server and three 3D display clients.

NaviPac on the survey vessel and a number of 3D displays


The terrain server is an application on the local network that provides services and
information to 3D clients about a scene.
A scene server on each LAN administrates the scene and distributes information to a number
of clients through an ASCII protocol on the local network. Live information about the scene
is sent from NaviPac to the scene server.
The network protocol from NaviPac to the scene server is the existing HD protocol. The
communications between scene server and 3D displays is clear ASCII.
The connection between display and scene server will be automatic. The server is listening to
the network for new 3D clients. Clients will broadcast a request on the local network for
servers, and build a list of available servers (usually one).

2.2

Catenary setup

A new catenary module will handle catenary projects. A catenary project can be defined,
saved and reloaded. The project is basically a setup for one or more catenary lines (wires)
up to 16 (anchor) wires will be supported. Each catenary line is defined by a number of
different cable types (sections) and fix points, e.g. start, end and MLB points.

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The setup of the instrument(s) interfaced by the catenary module will be handled by NaviPac
(for the time being), but the binding to NaviPac will be as loosely as possible, making a total
independence of NaviPac obtainable, at least theoretically.

2.2.1 Physical line assembly


The physical setup of each line is defined by the user as a series of cables, with a winch and
an anchor at each end, and possibly with a number of midline buoys in between.
Example 1:
Winch<->CableType<->Anchor
Example 2:
Winch<->CableTypeA<->CableTypeB<->Anchor
Example 3:
Winch<->CableTypeA<->MLB1<->CableTypeB<->MLB2<->CableTypeC<->Anchor

2.2.2 Physical cable properties


Physical cable or chain parameters are defined (possibly in a cable library) by a number of
physical properties defining cable behavior in air and in water.
1.
2.
3.
4.

Length
Weight of cable per meter in water
Weight of cable per meter in air
Diameter

2.2.3 Midline buoys properties


Midline buoys represent a buoyancy object to hold cable above seafloor. The catenary
calculation takes the following parameters into account:
1. Volume
2. Uplift/buoyancy

2.3

Catenary calculations

The calculations may be run either manually, determined by the operator, or automatically
triggered by exceeding some key settings or tolerances also defined by the operator, e.g. the
anchor or barge has been moved or the tension has changed.
To calculate the catenary curve the system needs:
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1.
2.
3.
4.
5.
6.

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Physical line assembly (catenary project)


Position of winch (from NaviPac)
Water depth (from NaviPac or operator defined)
Slope of seafloor (operator defined)
Anchor patterns (status of anchors from RigMon)
One or both of:
a. Anchor position (from RigMon)
b. Tension at winch and cable length (from interface or operator defined)

The system then outputs:


1. Graphical 2D curve with winch, MLBs and anchor (2D profiles for selected anchor)
a. Curve A based on anchor position
b. Curve B based on tension and cable length
2. Numerical data listed in view(s):
a. Touch down point
b. Vertical angle(s) at winch
i. Vertical angle A based on anchor position
ii. Vertical angle B based on tension and cable length
c. Anchor position if tension is given
d. Tension if anchor position is given
e. Various distances
i. 2D length to TDP
ii. 3D length to TDP
iii. 2D length to anchor
iv. 3D length to anchor
f. Positions of MLBs (3D)
3. Wire line data to 3D online display
If both anchor position and tension is available then two vertical angle solutions will be
calculated.
In the first version there will be no loopback to NaviPac in terms of calculated wire lines,
e.g. currently TMS settings will not be overridden.

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3 Design
This section gives the system design as EIVA sees it based on the specification listed in the
previous section.

3.1

General setup

The goal is to keep the catenary stuff isolated in one component it works together with
NaviPac, TMS and 3D view but its not linked hard to this environment.

NaviPac
Kernel
Helmsmans
Display

2D Objects,
Anchor patterns

Anchor patterns,
MLBs

RigMon

3D Monitoring (.NET)

An
ch
or
pa
tte
W
rns
ire
lin
es
,M
LB
s

Vessel, Tugs, ROVs

Winches, MLBs

genSetup.db

NaviModel
Repository

Instrument Setup
Winches, MLBs

Catenary

Anchor patterns

SceneServer

3D Objects

3D Display

Wire lines, MLBs

The data flow and the anticipated implications of existing modules will be described in the
following chapters.

3.2

NaviPac

There will be a few modifications required in NaviPac. This is mainly because we will aim
for the most strict data flow when it comes to:
Anchor monitor inputs
Position data to Catenary
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3.2.1 New Input Instruments


NaviPac must be expanded with a series of new anchor monitoring interfaces:
General iSurvey format (See section 1.1.1)
Steinco input (See section 1.1.1.1)
The generic interface will not be included in this version.
The interfaces will occur in the special input section:

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The definition of the interface will hereafter be found in the NaviPac setup database
(gensetup.db). NaviPac online will ignore the definition (DataIO skips opening the port, etc.)
and leave all interfacing to the Catenary module itself.

3.2.2 Navigation Data to Catenary


The catenary module needs information about all winch points (fairleads) and optional
position of mid line buoys (the latter might come from RigMon instead).
This might be solved via the existing output to 3D module (defined in phase 1)

But this involves a lot of setup. Instead we suggest that we add a new output:
EIVA Catenary
The output will be defined as UDP/IP on the port to the scene server (see details in phase 1
documentation) so we re-use the output port. There is no user specification besides that. If
the output is defined NaviPac will simply output position of all fairleads in one string per
object. We suggest that the telegram is identical with the existing position output except that
it identifies fairlead rather than ordinary object:
$EIVA3D,C,3,POS,O=<obj> E=<easting> N=<northing> Z=<height><cr><lf>
The obj represents the NaviPac object numbering for fairleads i.e. fairlead 1 is 850, etc.

3.3

RigMon

RigMon must be expanded so it outputs the anchor patterns to the Catenary module (via
Scene Server) as illustrated in the general setup diagram.
RigMon will inherit the output defined in 3.2.2 and if it exists then it will send the anchor
pattern out on the same port as the output from NaviPac. This will be OK as we use UDP/IP
ports!
The anchor patterns must follow the same principles as existing outputs from RigMon (to
TUG Boats and CMS)
Each time an anchor changes status
Each time an anchor changes location
Each time MLB changes location
On user request (from RigMon menu)
With certain frequency (same as TMS output)
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There will be one telegram per anchor/MLB


$EIVA3D,C,4,ANCHOR,A<id> E<easting> N<northing> S<State> T<obj><cr><lf>
<id> identifies anchor number (1-16)
<state> identifies anchor status
0 Racked (unused)
1 Tracking (onboard a tug)
2 Laid
<obj> if tracking by which dynamic object
$EIVA3D,C,8,MLB,B<id> E<easting> N<northing> L<2D length> <cr><lf>
2D Position of mlb. The identification numbers follows the NaviPac principles:
900, 901, 902 MLB on first anchor
910, 911, 912 MLB on second anchor
etc

3.4

Scene server

No modifications are expected.

3.5

Catenary Module

The Catenary module will consist of 3 main views: a tree view listing hierarchical the whole
project; a property view where static, dynamic and calculated data will be displayed; and
lastly a tabbed graph view section where all 2D profiles are displayed in its own tab view.

3.5.1 New Project


The user selects option New project and the tree and all attached views will be cleared. Then
choose between 2 (3?) sessions (sub projects): Anchors (TMS), Pipe lay and Cable lay (Pipe
and Cable lay might not differ?). This means that having different types of catenary cases,
e.g. a TMS and a pipe lay scenario controlled by a Barge, is handled by the same instance of
the module, i.e. not necessary to run more than one instance of the module. This is somewhat
ambitious but nevertheless what we are aiming for in the end (however, enabled in the next
phase, first we deal with the TMS case).
The user will then be able to define new catenary line(s), e.g. a number of anchor lines or one
pipe/cable line. Each catenary line is subdivided into smaller parts, e.g. a starting base
(fairlead); one or more section(s) (line types) with joins (terminations); and finally an end
point (anchor). Each catenary line may be edited, cloned, deleted, etc.
In the picture below a theoretical scenario with 4 anchors is shown.

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The property view will follow and show the properties for the catenary line part being
selected. In this prototype we only see some of the static data. A dynamic part will also be
added, e.g. length of section, known tension, etc.
As mentioned earlier all instrument setup will be handled in NaviPac. However, it might turn
out to be a good idea to list entered instrument setup data in the catenary module as well. An
adapting layer between the catenary module and NaviPac will be used to make the NaviPac
dependency as small as possible.
When a catenary project is defined the project may be persisted (saved). The format will be in
XML (hence the extension .xml).

3.5.2 Calculate
Calculation will be performed in the catenary module, and all calculations can be monitored
iteratively in the graph window. It will be possible to calculate each session and maybe even
each line. This is done manually in the start up phase but options to set up for automatically
calculation will also be added.
Each resulting 2D profile (see picture below) will be shown in its own tab view to the right
(not shown in the above listed prototype). There will be as many tab views as defined
catenary lines.

File: I:\EIVA-PROJECTS\FILES FOR EIVA-TRAINING\NAVIMODEL3 MANUALS\3D ONLINE DISPLAY - CATENARY.DOC

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Created by Jesper Knudsen / Brian J.O. Justesen

Created on 30-05-2007

3D Online Display - Catenary

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Above we see an example of a 2D catenary profile. The full catenary line is shown with all its
sections. The current (last calculated) tension is also shown, and we expect to add some more
key data to the graph view as well.
After a calculation the results will be distributed to the 3D Display and the 3D Display will
then update and show the 3D profile accordingly. However, an option for doing calculations
without distribution (offline) is expected.

3.6

3D display

The 3D display should visualize everything the catenary module knows in terms of catenary
positions, curves and tensions. We intend to build a general protocol for showing pipes,
cables or chains that can be used by the catenary module to tell the 3D display what and
where to draw.
The catenary module will use the general text message protocol to control the display, and
update rates are determined by the catenary module. All catenaries stay at give position until
changed by the catenary module, although you will still be able to move around freely in the
most recent snapshot of the catenaries.
The catenary module will supply curves to the 3D display in parallel to other information
being sent to the display. In the (with faked 3D catenaries) screenshot below catenaries and
File: I:\EIVA-PROJECTS\FILES FOR EIVA-TRAINING\NAVIMODEL3 MANUALS\3D ONLINE DISPLAY - CATENARY.DOC

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Created by Jesper Knudsen / Brian J.O. Justesen

Created on 30-05-2007

3D Online Display - Catenary

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other dynamic NaviPac objects are positioned along side each other in the scene. The scene
also holds an indexed terrain model.

3D catenaries along side other dynamic NaviPac objects


The catenary object will pop up in the 3d display tree so that each 3d client can determine its
own set of visualization parameters.

4 Workload
Maintained in 3DPhase2.xls

File: I:\EIVA-PROJECTS\FILES FOR EIVA-TRAINING\NAVIMODEL3 MANUALS\3D ONLINE DISPLAY - CATENARY.DOC

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Created by Jesper Knudsen / Brian J.O. Justesen

Created on 30-05-2007

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