Uncertainty of full-scale manoeuvring trial results estimated using a simulation model

This paper describes how to estimate the uncertainty of manoeuvring sea trial results without performing repeated tests using only a simulation model. The approach is based on the Monte Carlo method of uncertainty propagation. Moreover, the global sensitivity analysis procedure based on variance decomposition is described. As an example, the method is applied to estimate the uncertainty of 10°/10° zigzag overshoot angles and a 20° turning circle advance and tactical diameter for a small research vessel. The estimated uncertainty is compared with corresponding experimental uncertainty assessed from repeated tests. The method can be useful for validation studies and other studies that involve the uncertainty of sea trial results.     

Mathematical models for ship path prediction in manoeuvring simulation systems

The problem of simulating the ship manoeuvring motion is studied mainly in connection with manoeuvring simulators. Several possible levels of solution to the problem with different degrees of complexity and accuracy are discussed. It is shown that the structure of the generic manoeuvring mathematical model leads naturally to two basic approaches based respectively on dynamic and purely kinematic prediction models. A simplified but fast dynamic manoeuvring model is proposed as well as two new advances in kinematic prediction methods: a prediction based on current values of velocities and accelerations and a method of anticipating the ship's trajectory in a course changing manoeuvre.     

Identification of hydrodynamic coefficients in ship maneuvering equations of motion by Estimation-Before-Modeling technique

Estimation-Before-Modeling (EBM) technique (or the two-step method) is a system identification method that estimates parameters in a dynamic model. Given sea trial data, the extended Kalman filter and modified Bryson–Frazier smoother can be used to estimate motion variables, hydrodynamic force, and the speed and the direction of current. And using these estimated data, we can use the ridge regression method to estimate the hydrodynamic coefficients in a model. An identifiable state space model is constructed in case that current effect is included and the maneuvering characteristics of a ship are analyzed by correlation analysis. To better identify hydrodynamic coefficients, we suggest the sub-optimal input scenario that considers the D-optimal criterion. Finally, the algorithm is confirmed against real sea trial data of 113K tanker.     

一维水动力模型在河口潮流推算中的应用

针对河口地区潮流特点,建立了潮流量推算一维水动力数学模型。该模型将Sa in t-V enan t方程组进行求解,并根据涨、落潮流的水动力特性,分别进行涨、落潮糙率率定,准确计算出逐时段河道各断面的水位和流量。应用该模型对宁波三江口地区的潮流量进行推算,结果表明,计算的潮流量与该地区实测的潮流量吻合得较好。     

Evaluation of manoeuvring coefficients of a self-propelled ship using a blade element momentum propeller model coupled to a Reynolds averaged Navier Stokes flow solver

The use of an unsteady computational fluid dynamic analysis of the manoeuvring performance of a self-propelled ship requires a large computational resource that restricts its use as part of a ship design process. A method is presented that significantly reduces computational cost by coupling a blade element momentum theory (BEMT) propeller model with the solution of the Reynolds averaged Navier Stokes (RANS) equations. The approach allows the determination of manoeuvring coefficients for a self-propelled ship travelling straight ahead, at a drift angle and for differing rudder angles. The swept volume of the propeller is divided into discrete annuli for which the axial and tangential momentum changes of the fluid passing through the propeller are balanced with the blade element performance of each propeller section. Such an approach allows the interaction effects between hull, propeller and rudder to be captured. Results are presented for the fully appended model scale self-propelled KRISO very large crude carrier 2 (KVLCC2) hull form undergoing static rudder and static drift tests at a Reynolds number of 4.6×10⁶ acting at the ship self-propulsion point. All computations were carried out on a typical workstation using a hybrid finite volume mesh size of 2.1×10⁶ elements. The computational uncertainty is typically 2–3% for side force and yaw moment.     

Interpolation and extrapolation of hydrodynamic coefficients

The solution to the problem of calculating the hydrodynamic forces on multiple floating bodies is summarised. The complex coefficients which characterise the forces at each frequency of oscillation are expensive to compute; interpolation of intermediate values and extrapolation to high frequencies appear difficult since the coefficients seem to vary arbitrarily with frequency. Interpolation and extrapolation schemes based on a novel representation of the coefficients are proposed and tested. The excellent numerical results indicate that the values of the coefficients at a few frequency points can characterise the hydrodynamics at all frequencies. These techniques can save economically significant amounts of computer time and permit investigations which would otherwise be prohibitively expensive.     

Roll damping characteristics of a small fishing vessel with a central wing

The roll damping characteristics of three models of a 3-ton class fishing vessel representing the bare hull, hull with bilge keels, and hull with bilge keels and a central wing are investigated by the free roll decay tests in calm water and also in uniform head waves in a towing tank. Speed and roll initial angle and OG (distance between the centers of gravity and roll) are varied to check their dependence on roll damping. The experimental results are compared with the numerical results of mathematical modeling by the energy method and the energy dissipation patterns are also compared for these three models. The bilge keel contributes significantly to the increment of the roll damping for zero speed but as speed increases, the lift generated by the central wing contributes significantly to the roll damping increase. In addition, it is shown that the roll damping is more or less influenced by the regular head waves.     

Numerical simulation for hydrodynamic characteristics of a bionic flapping hydrofoil

In order to study the propulsion mechanism of the bionic flapping hydrofoil (BFH), a 2-DoF (heave and pitch) motion model is formulated. The hydrodynamic performance of BFH with a series of kinematical parameters is explored via numerical simulation based on FLUENT. The calculated result is compared with the experimental value of MIT and that by the panel method. Moreover, the effect of inlet velocity, the angle of attack, the heave amplitude, the pitch amplitude , the phase difference, the heave biased angle, the pitch biased angle and the oscillating frequency are investigated. The study is useful for guiding the design of bionic underwater vehicle based on flapping propulsion. It is indicated that the optimal parameters combination is v=0.5m/s, θ0=40°.θ0=30°,Ψ=90°,Фbias=0°,θbias=0°and f=0.5Hz .     

Hull component interaction and scaling for TLP hydrodynamic coefficients

The purpose of this paper is to validate a new method that can be used by offshore platform designers to estimate the added mass and hydrodynamic damping coefficients of potential Tension Leg Platform hull configurations. These coefficients are critical to the determination of the platform response particularly to high frequency motions in heave caused by sum-frequency wave forcing i.e. “springing”. Previous research has developed the means by which offshore platform designers can extrapolate anticipated full-scale hydrodynamic coefficients based on the response of individual model scale component shapes. The work presented here further evaluates the component scaling laws for a single vertical cylinder and quantifies the effects due to hydrodynamic interaction. Hydrodynamic interaction effects are established through a direct comparison between the superposition of individual hull component coefficients and those evaluated directly from complete hull configuration models. The basis of this comparison is established by the experimental evaluation of the hydrodynamic coefficients for individual hull components as well as partial and complete platform models. The results indicate that hydrodynamic interaction effects between components are small in heave, and validate component scaling and superposition as an effective means for added mass and damping coefficient estimation of prototype platforms. It is found that the dependency of damping ratio with KC for a TLP is almost identical to that of a single column, thus offering a scaling methodology for prototype damping ratio values.     

Roll performance of a small fishing vessel with live fish tank

The concept of live fish tanks in trawlers is to use the catch in a better condition and to reduce marine pollution. It also reduces the infrastructure meant to freeze the catch to preserve it for longer period. But the presence of additional free surface in the vessel challenges the stability of the vessel. This is besides the sloshing effect due to the moving liquid mass in the tank. Roll motions are initiated due to various factors related to the hull characteristics of the vessel, loading and operating conditions and its interaction with the environment. Location of fish tank, its orientation, arrangement of baffles inside the tank to reduce the free surface affects and careful design of tank opening are to be given priority during the design, manufacturing and tank testing. The results obtained from tank test of model are compared with that of analytical method. The non-linear roll performance become further complicated due to the free surface and sloshing effects of the mass in the live fish tank. Wave makers are used for generating waves under laboratory conditions compatible with the scaled down model of the trawler model. The tests are conducted in the towing tank of Pusan National University.     

Rudder roll stabilization for fishing vessel using neural network approach

This paper presents a neural network (NN) controller for a fishing vessel rudder roll system. The aim of this study is to build a NN controller which uses rudder to regulate both the yaw and roll motion. The neural controller design is accomplished with using the classical back-propagation algorithm (CBA). Effectiveness of the proposed NN control scheme is compared with linear quadratic regulator (LQR) results by simulations carried out a fishing vessel rudder roll stabilizer system.     

Estimation of hydrodynamic coefficients for an AUV using nonlinear observers

Hydrodynamic coefficients strongly affect the dynamic performance of an autonomous underwater vehicle. Although these coefficients are generally obtained experimentally such as through the planar-motion-mechanism (PMM) test, the measured values are not completely reliable because of experimental difficulties and errors involved. Another approach by which these coefficients can be obtained is the observer method, in which a model-based estimation algorithm predicts the coefficients. In this paper, the hydrodynamic coefficients are estimated using two nonlinear observers - a sliding mode observer and an extended Kalman filter. Their performances are evaluated by comparing the estimated coefficients obtained from the two observer methods with the values as determined from the PMM test. By using the estimated coefficients, a sliding mode controller is constructed for the diving and steering maneuver. It is demonstrated that the controller with the estimated values maintains the desired depth and path with sufficient accuracy.     

The hydrodynamic coefficients for an oscillating rectangular structure on a free surface with sidewall

Based on a two dimensional linear water wave theory, the boundary element method (BEM) is developed and applied to study the heave and the sway problem of a floating rectangular structure in water to finite depth with one side of the boundary is a vertical sidewall and the other boundary is an open boundary. Numerical results for the added mass and radiation damping coefficients are presented. These coefficients are not only depend on the submergence and the width of the structure, but also depend on the clearance between structure and sidewall. Negative added mass and sharp peaks in the damping and added mass coefficients have been found when the clearance with a value close to integral times of half wave length of wave generated by oscillation structure. The important effect of the clearance on the added mass and radiation damping coefficients are discussed in detail. An analytical solution method is also presented. The BEM solution is compared with the analytical solution, and the comparison shows good agreement.     

Analysis of roll motion and stability of a fishing vessel in head seas

The present paper describes an investigation on the relevance of parametric resonance for a typical fishing vessel in head seas. Results for different Froude numbers are discussed based on experimental, numerical and analytical studies.The first region of resonance is investigated. Distinct wave amplitudes are considered. Some intense resonances are found to occur. The paper compares the experimental results with non-linear time simulations of the roll motion. Very good agreement is found, even when large motions take place.Finally, in order to analyze the experimental/numerical results, analytic consideration is given to distinct parameters affecting the dynamic process of roll amplification. The influence of heave, pitch, wave passage effect, speed and roll restoring characteristics are discussed.     

Assessment of manoeuvring performance of large tankers in restricted waterways: a real-time simulation approach

During the past 30 years there has been a steady growth in the size and number of ships that use the Strait of Istanbul (Bosporus) which is one of the most hazardous, crowded, difficult and potentially dangerous waterways in the world. There have been over 200 accidents over the past decade resulting in loss of life and serious damage to the environment. This paper presents the results of a real-time ship manoeuvring simulation study investigating the manoeuvring performance of large tankers in the Bosporus. The study was conducted with a ship manoeuvring simulator which is capable of subjecting a given hull form to any combination of environmental conditions, i.e. wind, current and wave drift forces. The results indicate that when realistic environmental conditions are taken into account the size of ships which can navigate safely in compliance with the traffic separation lanes is limited.     

POM模式在厦门湾三维水动力环境模拟中的应用

本文基于采用干湿网格动边界技术的POM模式,模拟了厦门湾全海域潮流场和温盐场的三维结构特征.结果表明,该模式可较好地模拟具有大量浅滩和复杂地形的厦门湾海域的三维水文动力环境.     

深水锚泊定位半潜式钻井平台性能数值与试验研究

近年来,深水半潜平台已成为海洋工程领域研究的热点。分别通过模型试验和数值模拟的方法,对不同水深和浪向条件下作业的深水半潜平台的运动以及系泊系统的受力进行全面分析。在此基础上,进一步研究平台在深水作业时的运动和动力特性,以及水深和环境海况的变化对平台运动和系泊系统受力的影响规律。同时,对比完整系泊系统的情况,对一根系泊缆破断的极端状态下平台的特性开展研究,获得运动和系泊系统受力的变化规律。对比发现试验和数值的结果能较好地相互吻合,且均能满足相应的安全度要求,保证平台实际作业时的可靠性,为深水半潜平台设计中的安全极限计算提供一定的依据。     

SWAN模型中不同风拖曳力系数对风浪模拟的影响

本文以荷兰哈灵水道海域为实验区域,通过敏感性实验,研究了在14 m/s、31.5 m/s和50 m/s（分别代表一般大风、强热带风暴和强台风的极端条件）定常风速下SWAN模型中不同风拖曳力系数对风浪模拟的影响程度。结果表明,对于近岸浅水区域（水深小于20 m）,风拖曳力系数计算方案的选择对有效波高影响较小,而且当风速增加到一定程度后,波浪破碎成为影响波高值的主要因素;对于深水区域（水深大于30 m）,一般大风条件下风拖曳力系数计算方案的选择对有效波高影响仍然较小,随着风速的继续增大,风拖曳力系数计算方案的选择对有效波高的影响逐渐显著。对于平均周期,风拖曳力系数计算方案的选择和风速的改变对其影响均较小,而由水深变浅导致的波浪破碎对其影响较为显著。根据敏感性实验结果,本文对SWAN模型中风拖曳力系数计算方案的选择做出如下建议:计算近岸浅水区域风浪场或深水区域一般大风条件风浪场时,其风拖曳力系数可以直接采用模型默认选项;而对于深水区域更大风速条件,可首先采用模型默认选项试算,然后结合当地海域实测波浪资料进行修正。     

Can vessel buybacks pay off: An evaluation of an industry funded fishing vessel buyback

Fishing vessel and permit buyback programs have been implemented to reduce excess capacity and improve profitability in a number of fisheries around the world. These programs are generally publicly funded, but in a few cases they have been financed by loans to be paid back by the remaining fleet. In 2003, a buyback permanently removed 91 vessels and 239 fishing permits from the Pacific groundfish trawl fishery and associated corollary fisheries of Dungeness crab and pink shrimp. The buyback was financed with $10 million in public funding and a $36 million loan to be repaid over 30 years with fees on landings. In the same year, a control date was set for catch share program in the groundfish trawl fishery. When the catch share program was implemented in 2011, the permit owners that remained in the fishery after the buyback were allocated the quota shares that would otherwise have been issued to the permits bought back in 2003. Estimates of the annual profits generated by this quota are compared to the cost of servicing the buyback loan. The results provide evidence that a buyback program, when implemented in conjunction with catch shares, can enable a sustained increase in profitability for the remaining vessels sufficient to justify its cost. However, using landings taxes as the mechanism to repay the loan may result in a mismatch between those who benefit from and pay for the buyback.