CFD, system-based and EFD study of ship dynamic instability events: Surf-riding, periodic motion, and broaching

CFD and system-based simulation are used to predict broaching, surf-riding, and periodic motion for the ONR Tumblehome model, including captive and free model test validation studies. CFD shows close agreement with EFD for calm water resistance, static heel (except for sway force and yaw moment), and static drift (except for roll moment). CFD predictions of static heel in following waves also compare well with EFD except for surge force, sway force, and pitch angle. Froude-Krylov calculations of wave-induced surge force in following waves provides good agreement for high Froude number, but significantly overestimates for Froude number less than 0.2. On the other hand, CFD successfully reproduces the reduction of the wave-induced surge force near Froude number 0.2, probably because CFD can capture the 3D wave pattern. CFD free model simulations are performed for several speeds and headings and validated for the first time for surf-riding, broaching, and periodic motions. System-based simulations are carried out based on inputs from EFD, CFD, and Froude-Krylov for a dense grid of speeds and headings to predict the instability map, which were found to produce fairly similar results.     

On the parametric rolling of ships using a numerical simulation method

This paper has shown a numerical motion simulation method which can be employed to study on parametric rolling of ships in a seaway. The method takes account of the main nonlinear terms in the rolling equation which stabilize parametric rolling, including the nonlinear shape of the righting arm curve, nonlinear damping and cross coupling among all 6 degrees of freedom. For the heave, pitch, sway and yaw motions, the method uses response amplitude operators determined by means of the strip method, whereas the roll and surge motions of the ship are simulated, using nonlinear motion equations coupled with the other 4 degrees of freedom. For computing righting arms in seaways, Grim's effective wave concept is used. Using these transfer functions of effective wave together with the heave and pitch transfer functions, the mean ship immersion, its trim and the effective regular wave height are computed for every time step during the simulation. The righting arm is interpolated from tables, computed before starting the simulation, depending on these three quantities and the heel angle. The nonlinear damping moment and the effect of bilge keels are also taken into account. The numerical simulation tool has shown to be able to model the basic mechanism of parametric rolling motions. Some main characteristics of parametric rolling of ships in a seaway can be good reproduced by means of the method. Comprehensive parametric analyses on parametric rolling amplitude in regular waves have been carried out, with that the complicated parametric rolling phenomena can be understood better.     

On unstable ship motions resulting from strong non-linear coupling

In this paper, the modelling of strong parametric resonance in head seas is investigated. Non-linear equations of ship motions in waves describing the couplings between heave, roll and pitch are contemplated. A third-order mathematical model is introduced, aimed at describing strong parametric excitation associated with cyclic changes of the ship restoring characteristics. A derivative model is employed to describe the coupled restoring actions up to third order. Non-linear coupling coefficients are analytically derived in terms of hull form characteristics.The main theoretical aspects of the new model are discussed. Numerical simulations obtained from the derived third-order non-linear mathematical model are compared to experimental results, corresponding to excessive motions of the model of a transom stern fishing vessel in head seas. It is shown that this enhanced model gives very realistic results and a much better comparison with the experiments than a second-order model.     

Wave-induced seabed instability in front of a breakwater

The wave-induced soil response in a porous seabed has become an important factor for the stability of offshore facilities, because many marine structures may have failed due to seabed instability and concomitant subsidence. An analytical solution is presented for the wave-induced soil response under the action of a three-dimensional wave system. Based on this general solution, the mechanism of seabed instability is then investigated. The general solutions for pore pressure and effective stresses are readily reducible to two dimensions for progressive waves, and are compared to theoretical and experimental work available. Some dominant factors affecting the wave-induced seabed instability are discussed; including permeability, seabed thickness and degree of saturation.     

Global estimates of wind energy input to subinertial motions in the Ekman-Stokes layer

By incorporating the wave-induced Coriolis-Stokes forcing into the classical Ekman model, the wind energy input to the Ekman-Stokes layer is investigated, with an emphasis on the surface wave effects when the direction of Stokes drift deviates from that of wind stress. Theoretical analysis of the kinetic energy balance of the Ekman-Stokes layer shows that the total wind energy input consists of the direct wind energy input and the wave-induced energy input. Details of the direct wind and wave-induced energy input are discussed. Based on the ECMWF ERA-40 Re-Analysis wind stress and surface wave data, the global total wind energy input to subinertial motions in the Ekman-Stokes layer is estimated at 2.19 TW, including 0.26 TW (12%) wave-induced energy input and 1.93 TW (88%) direct wind energy input. The effect of sea-ice coverage on the energy input to the Ekman-Stokes layer is also considered. It is shown that the global total energy input could be overestimated by 0.08 TW (about 4%) without taking the sea-ice coverage into account.     

Strip theories applied to the vertical motions of high speed crafts

The motions of a high speed craft are highly influenced by speed and dynamic forces that begin to be important for high Froude numbers. Classical ship motions theories and some seakeeping programs do not include the effect of these dynamic forces that mainly affect to the damping of vertical motions, and have to be corrected to model high speed crafts. In any other way, the use of these theories or programs would be unrealistic. In this paper, some theories that can be used to predict the seakeeping behaviour of high speed crafts, considering dynamic forces, are studied and validated against seakeeping tests of some fast monohulls models. Tests and results focus on vertical motions in head seas, which are the most severe for these fast crafts. Experimental results of vertical motions are compared with numerical calculations and conclusions about the range of application of the presented theories are obtained.     

Seakeeping assessment of fishing vessels in conceptual design stage

The main idea of this paper is to identify functional relations between seakeeping characteristics and hull form parameters of Mediterranean fishing vessels. Multiple regression analysis is used for quantitative assessment through a computer software that is based on the SQL Server Database. The seakeeping attributes under investigation are the transfer functions of heave and pitch motions and of absolute vertical acceleration at stern, while the ship parameters influencing motion dynamics have been classified into two groups: displacement (Δ) and main dimensions (L, B, T), coefficients that define the details of the hull form (C_WP, C_VP, LCB, LCF, etc.).Four multiple regression models having different parameter combinations are here investigated and discussed, giving way to the so-called ‘Simple Model’, ‘Intermediate Model’, ‘Enhanced 1 Model’ and ‘Enhanced 2 Model’. The obtained results are more than satisfactory for seakeeping predictions during the conceptual design stage.     

Modeling of Multi-Freedom Ship Motions in Irregular Waves with Fuzzy Neural Networks

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Numerical analysis and validation of weakly nonlinear ship motions and structural loads on a modern containership

This paper aims to validate a numerical seakeeping code based on a 3D Rankine panel method by comparing its results with experimental data. Particularly, the motion response and hull-girder loads on a real modern ship, a 6500 TEU containership, are considered in this validation study. The method of solution is a 3D Rankine panel method which adopts B-spline basis function in the time domain. The numerical code is based on the weakly nonlinear scheme which considers nonlinear Froude-Krylov and restoring forces. The main focus of this study is given to investigate the nonlinear characteristics of wave-induced loads, and to validate this present scheme for industrial use in the range of low Froude number. The comparisons show that the nonlinear motions and hull-girder loads, computed by the present numerical code, have good overall agreements with experimental results. It is found that, for the better accuracy of computational results, particularly at extreme waves in oblique seas, the careful treatment of soft-spring (or compatible) system is recommended to the control of non-restoring motions such as surge, sway, and yaw.     

Effect of transfer function uncertainty on short-term ship responses

A survey is presented of the generally used theories for predicting wave-induced motions and loads on ships as well as of the available comparisons with experimental results. The published results are used to quantify a model uncertainty factor that is proposed here to correct the theoretic predictions for systematic deviations and to quantify their uncertainty. The non-linearity of the response is also considered and modelled. A formulation is developed to quantify the influence of the transfer function uncertainty on the short-term response variance.     

An experimental investigation into the influence of the damage openings on ship response

Ship motions after damage are difficult to evaluate since they are affected by complex phenomena regarding fluid and structures interactions. The possibility to better understand how ship behavior in damage is influenced by these phenomena is important for improving ship safety, especially for passenger vessel.In this paper an experimental campaign is carried out on a passenger ferry hull, to show the effects of the water dynamics across damage openings on ship motions. Novel aspects of this research include the study of the effects of the damage position on the ship roll response. The study is carried out for still water and for beam regular waves at zero speed.Results from the experiments carried out underline that the roll behavior of a damaged ship is affected by the position of damage opening and not only by its size. Assuming the same final equilibrium conditions after flooding but characterized by different damage openings it is possible to observe how motions RAOs and roll decay characteristics modify according to the opening locations.     

Effect of ship structure and size on grounding and collision damage distributions

It has been argued that a major shortcoming in the International Maritime Organization (IMO) Interim Guidelines for Approval of Alternative Methods of Design and Construction of Oil Tankers in Collision and Grounding is that grounding and collision damages normalized by the main dimensions of the ship have the same probability density distributions regardless of a particular structural design and ship size.The present paper explores analytical methods for assessing the overall effect of structural design on the damage distributions in accidental grounding and collisions. The results are expressed in simple expressions involving structural dimensions and the building material of the ships. The study shows that the density distribution for collision and grounding damages normalized by the main dimensions of the ship depends on the size of the ship. A larger ship has a higher probability of a larger relative damage length than that of a smaller ship in grounding damage. On the other hand, the damages to the side structure caused by ship collisions are found to be relatively smaller for large ships.The main conclusion is that the existing IMO damage distributions will severely underestimate the grounding damages to the bottom structure of larger vessels and to a lesser extent overestimate collision damages to the side structure of the hull.     

Stability of small fishing vessels in longitudinal waves

The dynamic stability of fishing vessels in longitudinal regular waves is investigated, both analytically and experimentally. In particular, the influence of stern shape on the parametric stability of fishing vessels is studied. Vessels TS and RS have very similar main characteristics, but their sterns are different. Although their linear responses are comparable, both analytical and experimental investigations indicate substantial differences in their dynamic stability in longitudinal regular waves. Strong resonances are found for the vessel with the deep transom. The analytical method takes into consideration the effects of the heave and pitch motions and wave passage and shows good agreement with experimental results. Stability limits are obtained for different conditions and are used as an aid in the discussion of the results obtained in the tests when relevant parameters are changed, such as wave amplitude and frequency, metacentric height and roll damping moment.     

A nonlinear model of parametric rolling stabilization by anti-roll tanks

The present paper describes a mathematical model in which the fluid motion inside a U-tank is nonlinearly coupled to the heave, roll and pitch motions of the ship. The main purpose of the investigation is centred on the control of roll motion in the case of parametric resonance in longitudinal waves. A transom stern small vessel, known to be quite prone to parametric amplification, is employed in the study. Four tank designs are employed in order to study the influence of tank mass, tank natural frequency and tank internal damping on the control of parametric rolling at different head seas conditions. Additionally, the influence of the vertical position of the tank is also investigated. The main results are presented in the form of limits of stability, with encounter frequency and wave amplitudes as parameters. Distinct dynamical characteristics are discussed and conclusions are drawn on the relevant parameters for the efficient control of the roll amplifications in head seas.     

Fast computation of the transient motions of moving vessels in irregular ocean waves

A fast time-domain method is developed in this paper for the real-time prediction of the six degree of freedom motions of a vessel traveling in an irregular seaway in infinitely deep water. The fully coupled unsteady ship motion problem is solved by time-stepping the linearized boundary conditions on both the free surface and body surface. A velocity-based boundary integral method is then used to solve the Laplace equation at every time step for the fluid kinematics, while a scalar integral equation is solved for the total fluid pressure. The boundary integral equations are applied to both the physical fluid domain outside the body and a fictitious fluid region inside the body, enabling use of the fast Fourier transform method to evaluate the free surface integrals. The computational efficiency of the scheme is further improved through use of the method of images to eliminate source singularities on the free surface while retaining vortex/dipole singularities that decay more rapidly in space. The resulting numerical algorithm runs 2–3 times faster than real time on a standard desktop computer. Numerical predictions are compared to prior published results for the transient motions of a hemisphere and laboratory measurements of the motions of a free running vessel in oblique waves with good agreement.     

An Experimental Investigation on the Dynamic Response of a Damaged Ship with a realistic arrangement of the flooded compartment

The dynamics of a damaged ship in waves is a complex phenomenon regarding fluid and structure interactions. Flooded water motions in the damaged compartment could be influenced by decks, obstructions and obstacles in the compartment. This becomes particularly relevant in case of flooding in the engine room that is usually characterized by the presence of large objects such as engines and machineries. In such cases the possibility to better understand the behavior of a damaged ship, influenced by the fluid and structure interactions, could provide novel outcomes and thus enhance the damaged ship safety.In this paper an experimental campaign is conducted on a passenger ferry hull. The effects of obstacles in the engine room compartment, such as decks and engines, on ship roll responses, are studied. Roll decay in still water and steady roll responses in beam regular waves at zero speed are measured for the empty compartment and for the compartment with obstructions, as defined above.The main outcomes from the conducted experiments disclose a mitigation of the resonant behavior of the coupled system, ship with damaged compartment, by having engine shapes occupying the flooded engine room. Moreover it is possible to observe how the resonant frequency of the ship modifies having a more realistic arrangement of damaged compartment and how motion RAOs and roll decay characteristics modify accordingly.     

Numerical study on water waves and wave-induced longshore currents in Obaky coastal water

In this paper, the water waves and wave-induced longshore currents in Obaky coastal water which is located at the Mediterranean coast of Turkey were numerically studied. The numerical model is based on the parabolic mild-slope equation for coastal water waves and the nonlinear shallow water equation for the wave-induced currents. The wave transformation under the effects of shoaling, refraction, diffraction and breaking is considered, and the wave provides radiation stresses for driving currents in the model. The numerical results for the water wave-induced longshore currents were validated by the measured data to demonstrate the efficiency of the numerical model. Then the water waves and longshore currents induced by the waves from main directions were numerically simulated and analyzed based on the numerical results. The numerical results show that the movement of the longshore currents was different while the wave propagated to a coastal zone from different directions.     

Nonlinear dynamics and impact load in float-over installation

A time-domain 3 Degrees of Freedom model is developed to investigate nonlinear dynamics and impact loads during float-over installations, which generally involve multi-body interactions between wave-induced vessel motions and nonlinear constraint components. By replacing the time-consuming convolution in calculating the retardation function, a more efficient method, i.e. state-space model, is applied to evaluate part of the radiation force. The established model, incorporating the multi-body interactions, is applied to study the nonlinear impact on Leg Mating Unit (LMU) by considering the sway, heave and roll motions of the float-over system. The structural characteristics are considered when modelling the characteristics of LMU. The dynamic behaviors of a given system is investigated in the form of bifurcation diagrams, along with impact map, amplitude spectrum and power spectral density (PSD). It is found that bifurcation phenomena, or a large angle of docking cone could dominate the installation due to the increased impact loads.     

Establishment,validation and discussions of a three dimensional wave-induced current model

A three-dimensional numerical model was established to simulate the wave-induced currents. The depth-varying residual momentum, surface roller, wave horizontal and vertical turbulent mixing effects were incorporated as major driving forces. A surface roller evolution model considering the energy transfer, roller density and bottom slope dissipation was developed. The expression of the wave-induced horizontal turbulent mixing coefficient proposed by Larson and Kraus (1991) was extended to three-dimensional form. Plenty of experimental cases were used to validate the established model covering the wave setup, undertow, longshore currents and rip currents. Validation results showed the model could reasonably describe the main characteristics of different wave-induced current phenomena. The incorporation of surface roller for breaking waves should not be neglected in the modeling of surfzone hydrodynamics. The wave-induced turbulent mixing affects the structures of wave-induced current either in horizontal or in vertical directions. Sensitivity analysis of the major calibration parameters in the established model was made and their ranges were evaluated.     

Model test and simulation of a ship with wavefoils

The paper describes model tests of a tanker with two fixed bow-mounted foils (wavefoils), for resistance and motion reduction in waves. Measured ship resistance, wavefoil thrust and ship motions were compared with time-domain simulations. The wavefoil forces were calculated using a slightly modified Leishman–Beddoes dynamic stall model, with a two-way coupling to the ship motions. In typical sea states in head seas, employing the wavefoils reduced ship resistance by 9–17%, according to scaled model test resistance. Heave and pitch were reduced by −11% to 32% and 11% to 25%, respectively. The foils affect the flow around the hull. This should be considered when selecting the wavefoil location in the design process.