OTC 4737

Multipurpose Active/Passive Motion Compensation System

by R.A. Sullivan, Woodward C/yde Oceaneering; IvI.R. Davenport, Techwest Enterprises
Ltd.; and R.E. Clements, Remote Systems Technology Inc.

Copyright 1984 Offshore Technology Conference

This DaDer was Dresented at the 16th Annual OTC in Houston, Texaa, Mav 7-9, 1984, The material ia subject to correction by the author. Permission to
copy’ is’restricted to an abstract of not more than 300 words.

ABSTRACT There is a need.in geotechnical engineering for

a light-weight heave compensa~ion system, capable
A microprocessor–controlled active/passive of holding a drillstring stationary with respect to
motion compensation system has been developed for the seafloor while in-situ testing devices are
deploying a variety of geotechnical in–situ testing deployed. The required system would be used with
devices with mobile drilling rigs from low-cost mobile drilling equipment operating from low-cost
service vessels. The light-weight rotary heave” service vessels. Conventional passive heave
compensator incorp~rates a hydraulic motor as the compensators require substantial load to activate a
compensator actuator and a servo–controlled closed hydropneumatic tension spring system using large
loop pump to reduce the air storage and power compressed air storage tanks. Such compensators
requirements. Unique features of the system are are not suitable for this application because they
the use of inertial sensors to measure three cannot effectively maintain the load fixed relative
components of boat motion, the ability to run the to the seabed unless part of the weight can be
system in active/passive or passive modes, and the transferred to the soil.
ability to automatically lower the drillstring at a
constant velocity while maintaining motion This paper presents the development of a
compensation. microprocessor–controlled drillstring motion
compensation system which measures, with inertial
Quantitative measurements made-during sea sensors, the vertical motion of a ship, and raises
trials offshore California yielded motion or lowers the drillstring in response to the ship
compensation accuracy approaching 98 percent which heave to hold the drillstring stationary. Quanti-
is much better than the compensation achieved with tative observations of drillstring heave are
passive systems. Results are presented from reviewed. These observations show that the level
offshore in-situ testing with a cone penetrometer, of compensation is considerably higher than the
a vane ahear device, and a suspension PS logger. accuracy of an efficiently operating passive system
The system can also be used for other offshore and that the level of motion compensation is satis-
applications. factory to deploy sensitive measuring devices
within a boring. The potential use of the system
INTRODUCTION for other applications is described briefly.

Vessel motion caused by rough sea conditions SYSTEM DEVELOPMENT

can severely affect offshore operations,
particularly when it is so severe to cause delaya Development of the active/passive compensation
in work completion and subsequent escalations in system was based partly on experience gained from
costs . Weather–related downtime can be reduced by earlier microprocessor–controlled motion compen-
minimizing the response of deployed equipment to sation systems, such as was developed for the US
the roll, pitch, and heave of the ship. Roll and Navy’s Surface Towed Search System (Spink et al,
pitch need not be a serions problem, because it is 1982) . The developed system combines elements of
usually possible to deploy equipment through a simple actively-driven winches with elements of
centerwell near the center of motion of the ship passive heave compensators, a tactic which has been
rather than over the side or stern. Vertical used effectively on a number of earlier systems
motion remains the major operational problem and is (Stricker, 1978).
generally accommodated by some form of heave
compensation system.

References and illustrations at end of paper.

2 MULTIPURPOSE ACTLVE/PASSIVE MOTION COMPENSATION SYSTEM
Mechanical System. The heave compensator was
iesigned to~-e a portable package for use with
iifferent drilling rigs. It consists of a winch
unit, a hydraulic power unit, a control console and
an inertial sensing package. The winch uni~=is
attached to the dead end of the kelly or elevator
drilling l~nes and works independently of the kelly
or elevator winches. This.simple installation of
the compensator system permits drilling operations
to continue if the heave compensator is switched
off.
In order to make the hardware as compact as
possible, a small winch drum, rather than a
hydraulic ram, is used to haul in and pay out cane
as required. This drum is driven by a low-speed....
high-torque motor, and connected to it are instru–
ments for measuring the cable scope and position.
The rotary heave winches and t~e hydraulic power
unit are mounted on a skid, as shown on Fig. 1,
which is positioned at the back of a mobile
drilling unit. Fig. 2 shows the control consQle.
mounted on the side of a drill rig at a convenLmL
height for the driller. The complete.assembly =is
termed a Rotary Heave Compensator (RHC).
Although the RHC system is rated far 6 ft o-..
vessel heave, it can be readily modified to
compensate over larger amplitudes by minor
alterations to the hydraulic power unit. The
system can also be upgraded for deepwater drilling
on the continental slope by enlarging the hydraulic
power unit and the rotary drum motor.
Active/Passive Hydraulic System. ._The REC ._..
system combines zn actively-driven ti.nchwith cDm–
ponents used in passive heave compensators. An
important factor in reducing the size of the RHC
system was the ability to combine the active and
passive functions in a single hydraulic motor. The
resulting hydraulic system worked well in the
field, and the combination of active and passiv.c
components, in particular, was successful.
The RHC system can be operated in either
“Passive” mode or “Active/Passive” mode. Passive
mode is used ..whenthe drillstring is resting on the
bottom of the hole, for example, while drilling.
When the Passive mode is selected, nitrogen-over.-
oil accumulators are connected directly to both the
high and low pressure sides of the hydraulic motor.
The pressures in these accumulators are preset by
the driller and then automatically maintained by
the control system, thereby, enabling the driller
to control the weight offloaded onto the drill bit.
When the_Active/Passive mode is-selected, a
servo-controlled closed loop pump is connected
directly between the high-pressure accumulators and
the winch motor. The swashplate of the pump is
driven directly by the microprocessor control_
system which is monitoring the motion of the ship.
An important aspect of the system is the direct
coupling between the pump and the winch motor.
This coupling permits-the system to have direcL
control of a dangling load, and thus removes the
risk of encountering a resonance between the l~ad
OTC 4737
and the accumulators. In the Active/Passive mod-e,
the accumulators still hold the weight of the bad,
so that, a relatively small amount of power is
required to drive the compensator.
Calculation of Ship’s Position. The most
difficult and most critical problem was calculating
the absolute vertical position of the ship at each
instant. By “absolute vertical position” is meant
the instantaneous vertical displacement of the ship
from its “average” position. This calculation is
the core of the motion compensation system, because
the control system hauls in or pays out cable
solely on the basis of the ship’s apparent position
and velocity. Because oilthe high accuracy
required, and because the frequencies being
processed are very low, the calculation is done
numerically in a microprocessor.
Earlier active/passive compensation systems
were designed to remove up to 90% of ship heave
motion over a relatively narr~w bandwidth (8 to 10
sec periods). The requirements for geotechnical. =
applications are more stringent, making it
necessary to calculate the ship’s position and
velocity very accurately to achieve a drillstring
maximum velocity goal of 0.1 cmlsec. This per-
formance goal applies to conditions where ship
heave is ~3 ft (6 ft double amplitude), where roll
and pitch are ~10 degrees, and for waves with
periods ranging from 8 to 16 seconds.
The ship’s heave position is calculated on the
basis of measurements taken .at 37 millisecond
intervals of the acceleration, roll rate, and pitch
rate of the vessel. The motion sensing package
which makes these measurements is positioned aS .
close as possible to the drillstring in a separate..:
enclosure. It consists of a single axis accelero-
meter and a dual-axis solid state angular rate
sensor. Because of its insensitivity to horizontal
accelerations, an angular rate sensor was chosen
over an inclinometer.
It became obvious during testing that the cal-
culation of ship’s position is extremely sensitive.
to any false fluctuations of these signals. If the
accelerometer output shifted erroneously by 1
millivolt, after 3Clseconds the error in talc.ulaLed
ship’s position would be 1.6 feet. To prevent SUCkI
problems, the sensor package now houses ultra-high
precision analog/digital conversion equipment.
Extensive research was devoted to the task of
calculating the ship’s heave position from the
three measurements. The calculation proceeds
following the steps shown in Fig. 3, and each step
presents its own set of problems.
One of the most difficult problems was the
removal of low–amplitude steady-state and very low
frequency offsets from the signal at each stage of
the calculation. Such offsets do not reflect , .-
actual motion of the ship, but tend to creep into
the calculations as a result of horizontal motion
of the ship and small drifts in the electronics.
Very small offsets must be removed or they will be
Tc 4737
R.A. SULLIVAN, M.R. D lENPORT. R:E. CLEMENTS
strongly amplified by the integrators. This
problem was solved with a digital filter which
would reliably differentiate between actual wave–
generated heave, with periods as longas 16
seconds, and erroneous long-term “drift” signals,
with periods typically of 60 seconds or longer.
During sea trials in the summer of 1983, the
digital filtering was done us~ng phase:cgrnpensated
Infinite Impulse Response (IIR) filters. The phase
compensation was necessary to ensure that the cal-
culation yielded the position of the ship “right
now,” but it made the filter ineffective at
remoti-ngthe long–term drift problem. The result
was that the drillstring, although isolated from
the heave motion of the ship, would occasionally
drift slowly up relative to the seabed, then down
again.’ The IIR filte_rshave now been replaced by
Finite_Impulse Response (FIR) fi”lters. The_FIX
filters have the advantage of being able to respond
much more quickly if the input signal begins to
drift.
Control Systems. Once the position of the-ship
has been calculated, the task of the control system
ia to drive the winch drum in such a manner that
the drillstring exactly counteract? the ship’s
motion. Because the System must respond over a
wide range-of frequencies,-the control signal is
modified by a phase compensation filter which helps
to counteract the phase lag inherent in the
mechanical equipment. Fig. 4 is a plot of the
theoretical frequency response of the complete
system, including the phase compensator, and illu–
strates the high-frequency capability achieved with
the aid of the motion compensator. It was observed
during testing and sea trials thaL the position of
the drillstring relative to the ship was
consistently close to the calculated position of
the ship, and part of this success can be
attributed to th~ phase compensators.
The use of the–microprocessor “made-it possible
to automate many peripheral functions of the
control system and thus to reduce the amount of
time spent by the driller in running the motion
compensator. When active compensation is switched
“on,” the system runs through a series of checks,
adjusts the accumulators to miniml~e the power
requirements, and re-centers the winch drum before
active compensation actually begina. A few seconds
are required to accomplish these tasks. A number
of safety checks are run during each cycle, and the
microprocessor is capable of safely shutting down
compensation if the equipment begins to behave
incorrectly.
A unique feature of the system is the Automatic
payout function. Once compensation has begun and
the drillstring is stationary relative to the ocean
floor, the driller can, by selecting a switch on
the control console, lower the drillstring at
precisely 2 cm/sec relative to the~.eabed. Full
motion compensation .ismaintained during automatic
payout.
237
,—-
3
OFFSHORE SYSTEM TESTING
Initial testing of the RHC system was conducted
in the Gulf of Mexico in the summer of 1983. This
field trial was conducted to evaluate installation
time onto a boat and operating procedures, and to
gain experience with the system to plan a test
program to quantitatively measure the system
response. After initial connector problems, the
compensator performed satisfactorily over a period
of three hours. As a result of this trial, the
rotary heave winches and the hydraulic power unit
were skid mounted to reduce mobilization time.
Before skid mounting, the hydraulic system had to
be reconnected, refilled, and purged at each
installation.
A second test of the system was performed off
the coast of California in the fall of 1983.
Mobilization time onto a 185-ft boat was about two
hours and considerably quicker than the six hours
needed at the initial trial. The arrangement of
the system on board the boat is shown in Fig. 1 and
Fig. 2.
String pots were used to make quantitative
measurements, and the motion observations were
recorded on a strip chart recorder. A seafloor
reference was made by weight compensating a light
line attached to a hammer soil sampler driven into
the bottom of the borehole. One string pot
measured drillstring motion relative to the sea-
floor . The second string pot measured drillstring
motion relative to a point on the ship adjacent to
the centerwell. Observational.records were
gathered over several hours in sea conditions of 2-
ft waves on a 3-ft swell.
During the series of tests offshore California,
the system would sometimes take up to two minutes
for active compensation to switch on. This delay
was caused by transients occuring due to actuation
of front panel switches. Optical isolation of all
such functions has now been incorporated.
Fig. 5 presents a representative record of
drill pipe motions to show the operational accuracy
of the RHC system and the efficiency of the auto–
matic payout feature. Heave of the anchored vessel
and uncompensated drill pipe was 1 to 2.5 ft, and
the drill pipe motion was reduced to less than 1.0
in. when the active/passive RHC system was
activated. As shown in Fig. 5, during the settling
phase after transient upset, motion compensation
was 60% to 80%. After the transient effect
decayed, motion compensation was 95% to 98% through
automatic payout. This response is much better
than with a passive system, which, in our
experience, is typically in the 60% to 65% range.
As discussed earlier, the replacement of the IIR
filters by FIR filters to overcome the long–term
drift problem will also tend to enhance the level
of compensation.
 MULTIPURPOSE ACTIVE/PASSI
The trials were successful-and revealed that:
o The RHC system can be mobilized and
demobilized rapidly on different vessels
and with different drill rigs.
o Motion compensation is much better than
can be achieved with a passive system.
o Active/Passive compensation mode switches
on and otf softly, and the RHC system is
safe to operate.
o When used for rotary drilling, there is
no equipment in the derrick or close to
the centerwell to obstruct drilling
personnel.
o The RHC system can be easily operated by
the driller and requires only a short
learning time.
o The automatic payout feature simplifies
the operation and decreases the
complexity of many geotechnical tools.
GEOTECHNICAL APPLICATIONS
Rotary Drilling and Coring. In “drilling geo-
technical borings, which seldom penetrate deeper
than 600 ft below the seafloor, the drilling bit
should maintain continuous contact with the bottom
of the boring, and the drill bit load should noE_
exceed the bearing capacity of the soil in order LO
minimize potential disturbance to the soil below
the bottom of the boring. The active/passive
rotary heave compensator is well suited to mini-
mizing disturbance to soils and rocks during
.—
drilling or sampling operations.
The system has been used successfully in
drilling several borings in more than 200 ft of
water offshore California. These borings pene-
trated interbedded strong clay and siltstone.
Sampling of the strong clays, having”undr ined
2
shear strengths between 2.5 and 7.5 kg/cm , was
achieved with a wireline punch coring system. Core
recovery was good varying generally from 85 to ‘!35
percent.
In-Situ Testing. It is recognized today that”
soil samples obtained either by pushing or by
hammering suffer some disturbance from the marine
drilling and sampling operations, and particularly
from stress relief during sample recovery. A more
accurate representation of soil properties and
behavior can be obtained by conducting downhole
tests using proven onshore in-situ testing
techniques. In-situ testing-equipment can.be
divided into:
1. Instruments whfch determine geotechnical
information at discrete positions in_._a__
borehole. Instruments of this type must
be held stationary relative to the
OTION COMPENSATION SYSTEM OTC 4737
surrounding soil while the test is being
conducted. Any relative movement during
a test can obscure the accuracy of the
results.
2. Instruments which record a continuous
profile or log of stratigraphic
information. These instruments include
tools which must be pushed at a steady
rate through the soil or raised at a
constant velocity through an open boring.
If the rate varies slightly, the results
will still be meaningful provided the
absolute location of the instrument is
known.
Cone Penetrometer. This test has been used for
more than a decade in the North Sea for strati–
graphic profiling and inferring soil properties
from correlations with laboratory testing programs
(de Ruiter, 1971). Sea trials offshore California
%n about 125 ft of water used Woodward Clyde
Oceaneering’s hydraulically–operated cone penetro-
meter which has a 10-ft stroke. The tool was
lowered through the drillpipe on its hydraulic
umbilical and latched into the drillpipe at the
drill bit. Each 10-ft cone push was performed
while the drillpipe was supported by the RHC system
at the drill rig.
A 30–ft section of the boring is presented on
Fig. 6 showing the cone point resistance and sleeve
friction profiles for two 10–ft pushes. Ttiecone
penetrometer was pushed through predominantly
inorganic, non-plastic silts with plasticity
indices less than 4, interbedded by seams of sandy
silt and low plasticity clayey silt. The computed
friction ratio (sleeve friction to cone point
resistance) is typically less than 1 percent.
Vane Shear. Another device that has been used
in the Gulf af Mexico for overa decade is the vane
shear to measure the undrained shear strength of
cohesive soils (Doyle, et al., 1971). A field
trial with Woodward Clyde Oceaneering’s vane shear
was performed in shallow waters of the Gulf of
Mexico. The wireline vane shear device.is operated
by latching into the bottom of the drillstring
which is held stationary during a test by the
active/passive rotary heave compensator, or with an
uncompensated drillstring using a telescoping
slide.
The results from a 50-ft section of the boring
are shown in Fig. 7. The top portion of the boring
was interbedded layers of sand and clay overlying
normally consolidated high plasticity clay.
Because of the shallow water depth, sample distur-
bance from stress relief was minimal and
consequently the in-situ vane shear test results
were not significantly greater than the shear
strength determined from laboratory tests.
Suspension PS Logger. An important soil para-
meter in dynamic analyses of offshore soil–
structure systems and seafloor instability is the
shear modulus of the soil. It has been established
OTC 4737 R.A. SULLIVAN. M.R. DAVENPORT, Rx.
that low–amplitude shear moduli measured in the
laboratory are less than moduli determined in the
field by measurements of shear wave velocity. The
magnitude of this difference between laboratory and
field values in onshore studies is a factor varying
from 2 to 4, and even greater differences might be
expected with offshore soils because of the effects
of significant-hydrostatic stress relief.
A suspension geophysical logging system has
been developed to measure the propagation velocity
of P and S waves by a single probe, suspended
freely in the borehole without attachment to the
borehole wall, which contains the seismic source
and seismic receivers (Kitsunezaki, 1980). After
completing a geotechnical boring, the drillpipe is
raised off the bottom of the boring to remove one
or two 20–ft joints, and the suspension logger is
run on a wireline over a sheave mounted on top of
the drillpipe suspended by the RHC system.
The suspension PS logger built by 0%
Corporation was deployed offshore California in
borings filled with drilling mud. Fig. 8 shows a
typical set of mutually reversed shear wave records
from the upper and lower receiveri responding to
the reversing exciting forces. T~e low-amplitude
shear modulus is computed from the measured shear
wave velocities.
Other Devices. In recent years, several types
of instruments have been developed to measure in-
situ soil stresses, stress-strain properties, soil
pore water pressure, soil temperature, and other
soil parameters. These tools include stress cells
of flat, spade–shaped, and stepped–blade shapes,
pressuremeters, and piezocone, resistivity and
temperature probes. These devices were seldom used
in offshore investigations because of the lack of a
cost effective technique.to push them into the
bottom of a boring and then to maintain the
drillstring stationary while an in-situ test is
performed. Offshore testing with these devices
will become more feasible with an active/passive
RHC system:
Profiles of soil lithology and several physical
characteristic can be obtained by electrical,
acoustic or radiometric measurements. Acoustic and
electrical logging tools should preferably be run
through an open hole while radioactive sources
should be run through the drillstring to minimize
the risk of losing a radioactive-source downhole.
The accuracy of geophysical profiles depends upon
raising the logging tool.through the boring at a
constant velocity that can be achieved through a
sensitive_motion compensation system, such as the
RHC system.
OTHER APPLICATIONS
An active/passive motion compensator;
responding to the roll, pitch and heave displace-
ments of a ship, can be used to deploy electrical
cables from a stationary vessel for geophysical and
oceanographic measurements. Aco.uaticreceiving
devices can be supported by the RHC system at
3
CLEMENTS 5
selected depths through the water column, and
delicate monitoring systems can be placed gently on
the seafloor. By expanding the onboard inertial
package to include sensors to record sway and
surge, the motion compensation system can be used
for towing geophysical devices.
Another application of the motion compensation
system is the launching and retrieving of remotely-
operated vehicles (ROV) for construction and main-
tenance inspection (Thomas and Davenport, 1983),
and hydrographic surveys. The RHC system will
permit an ROV to be deployed in harsher sea states
than is possible to operate with a passive
compensated winch.
CONCLUSIONS
A light–weight active/passive motion compen-
sator has been developed to remove drillstring
motions to tolerable limits for geotechnical in–
situ testing. The weight and size was minimized by
incorporating a hydraulic motor as the compensator
actuator and by using a servo-controlled closed
loop pump to reduce the air storage and power
requirements needed for a conventional passive
system.
The developed active/passive rotary heave
compensator (RHC) system includes three unique
features:
o inertial sensors to measure three comp-
onents of boat motion;
o ability to run the system in
active/passive or passive modes; and
o precision payout of drillstring while
maintaining full motion compensation.
Successful ~ea trials with the system offshore
California demonstrated a superior level of compen-
sation over other active/pasaive systems as well as
conventional passive systems. The high degree of
drillstring heave compensation enablea a variety of
in-situ testing devices to be operated with mobile
drill rigs from low-cost service vessels.
The RHC system is light, compact, and air
transportable. It can be easily mobilized onto any
type of vessel, and it can be interfaced with most
types of mobile drilling rigs or with the drawworks
of an exploration drilling unit.
While the system has only been used in geo-
technical investigations, there are other offshore
applications for which the RHC system can be
effectively used from stationary vessels. These
applications are deploying electrical cables for
geophysical and oceanographic measurements, and the
launching and retrieving of remotely-operated
vehicles.
6 ... ——-- -. .---— ...——
MiIT,TTPITRPOSE .—,.
ACTTW,
/PA%!TVE
aCKNOWLEDGEMENTS
The feasibility study for developing an ““””
~ctive/passive motion compensator for geotechnical
investigations was supported by Woodward–Clyde
consultants, and fabrication of the optimum system
tiasfunded by Oceaneerlng International. Thanks
~re extended to these organizations for their ——.
cooperation and support. Development of the system
~enefited much from the many discussions with J: R.
{ooper of Woodward Clyde Oceaneering and W. D. R.-
Ihomas and J. E. Breeze of Techwest Enterprises.
The authors would like to thank the-r their
constructive-suggestions amd i~te~est.
REFERENCES
de Ruiter, J.: “Electric Penetrometer for Site
Investigations,” Journal.of the Soil Mechanics-and
Foundations Division, _ASCE~Vol_. 97, .._ -
No. SM2, (February 1971), pp. 457-472.
Doyle, E.H., McClelland, B., and Ferguson, G. H.:
“Wire-Line Vane Probe for Deep Penetration Measure-
ments of Ocean Sediment Strength,” Proceedings,
Third Offshore Technology Conference;_
Vol. 1, (1971), pp. 21-32.
Fig. 1 — Skid Mounted Rotary Heave
Compensator
-.
..—.--.— MOTION
.—— ——COMPENSATION SYSTEM OTC 4737
Kitsunezaki, C.: “A New Method for Shear-Wave
Logging,” Geophysics, SEG, Vol. 45, No. 10,
(October 1980), pp. 1489-1506.
Spink, P.G., Stevens, W.E., and Thomas, W.D.R.:
“Computation and Control in a Towed Vehicle
System,” Proceedings, Second International
Computer Engineering Conference, ASME,
(August 1982), pp. 21-26.
Stricker, P.A.: “Active/Passive Motion Compensating
Crane for Handling a Remote Unmanned Work System,”
Proceedings, Tenth Offshore Technology
Conference, Vol. III, (1978), pp. 1599-1608.
Thomas, W.D.R., and Davenport, M.R.: “A Motion
Compensating ROV Handling System for Deep-Water
Applications,” Proceedings, ROV ’83,
Marine Technology Society, (1983), pp. 223-229. -
Fig. 2 — Control Console
housing Microprocessor
..
.24U
 Pipe Motion
fi~ Relative to Ship
;;

steady stale offset steady stato

offset
numerical
r@moved fmm - + removed from +
integrator
velocity signal p051ti0n signal

Fig. 3 — Signal Processing Block Diagram Fig. 5 — Measured Rotary Heave Compensator Performance
during Sea Trials
0.01 0.03 0.10 0.30 1.00 3.00
100.00 33.30 10.00 3.3’0 1.010 0.33
1 , ,1 Resistance, kglcmz Friction Ratio, ‘1,
, , 1 I
30 430 25 50 75 100 f25 150012345
30° I I
20

10
i 1 20

-- -= Cone Point q=
I r“-730

)’\
10 -. -
i A ~. ---
-s
------ --
0- -0 I ------ —--

~- #@ ---
-1o- --10
{< 5 v%
-20- --20 _Sleeve Friction, f, x lW
--- ~-
-30- i:~ - -~
--30
g 50~ ‘=;. —
-40- --40

-50
I , ,,I I , , i 1 --50
0.01 0.03 o.io 0.30 1.00 3.010Hz
100.00 33.30 10.00 3.30 1.00 0.33 Sec
Frequency & Period
60~ ~60
Fig 4 — Bode Plot of Theoretical Drillstring Response Fig. 6 — Results of Cone Penetrometer Tests
 Moisture Content, o/o Undrained Shear Strength, kg/cm2
)
~’

~“\ Laboratory
- 25
\ ‘,~Miniature Vane

A
\. ‘o> UU Triaxial

– 35
g
:
– 45 g
“2
In Situ Vane
3’
– 55 2

– 65

I o/
4

75- I ___ 1 I I ! 175

Fig. 7 — Results of Vane Shear Tests

Second ~1’w u
Receiver n

+2ms~

First
Receiver A

Fig. 8 — Shear Wave Records from Suspension PS Logger