Reduction of jack-up and crane vessel resistance and bow swamping

A large bow wave forms when blunt-shaped vessels like self-propelled jack-up crane vessels (liftboats) operate at high speeds. Above a critical speed, this bow wave spills over the bow causing swamping. To investigate this phenomena, towing tank tests of a 1/25 scale model liftboat hull were done over a speed range of 3–8 kn. The test showed above 4 kn the bow wave formed and the vessel trimmed by the bow. At speeds above 8 kn the bow wave spilled over the bow (swamping). To cancel this critical bow wave a vertical bow plate was fitted ahead of the liftboat bow. This bow plate reduced the bow wave formation and achieved a 10–15% reduction in the towing resistance. The wave cancellation bow plate can reduce the liftboat power or increase its liftboat speed and operating range.     

半潜式平台动力定位系统推进器失效时域模拟

针对某最新的深水半潜平台,应用PID控制策略和卡尔曼滤波技术相结合的方法对其动力定位能力进行了研究,重点关注在两台推进器于不同时刻分别失效后的平台运动和推进器功率消耗信息。在平台的运动时域分析中,通过采用数值模拟与实验验证相结合的方法来获得平台的水动力数据;而在推力分配过程中,以最小功率消耗为优化目标,并考虑了推进器的机械物理特性及水动力干扰造成的推力损失对推进器的推力进行了分配。结果表明编制的模拟软件具有理想的模拟效果,该平台在指定海况下动力定位能力良好。     

Sensitivity of AUV response to variations in hydrodynamic parameters

The sensitivity of the response of a typical AUV to changes in hydrodynamic parameters is examined. The analysis is primarily performed using a computer model of an axi-symmetric vehicle typical of many AUVs in service today. The vehicle used is the Canadian Self-Contained Off-the-shelf Underwater Testbed (C-SCOUT), designed and built by graduate and work term students. The fully nonlinear computer model is based on Newton–Euler equations of motion, and uses the component build-up method to describe the excitation forces. The hydrodynamic parameters are varied in a series of simulations with the computer model; the response being analyzed for specific performance indicators.     

The calculation of zig-zag maneuver in regular waves with use of the impulse response functions

The traditional governing equations for sway–yaw maneuvering motion are a set of ordinary differential equations with constant coefficients. But, as is well known, integro–differential equations with impulse response functions are more strict governing equations that can handle the frequency dependence of hydrodynamic forces.In this paper, the two types of equation are compared and used to calculate the 10°–10° zig-zag maneuver in waves. Differences between the solutions are discussed.     

Experimental study on wave transmission coefficient, mooring lines and module connector forces with different designs of floating breakwaters

This paper presents the results and conclusions obtained from the physical model tests carried out with four different designs of floating breakwaters. Changes from a basic design have been introduced in order to evaluate the improvement in the efficiency as a coastal protection structure. Incident and transmitted waves have been measured, as well as the efforts in the mooring lines and module connectors. It has been found that the width of the pontoons is one of the key design parameters, while small modifications in the floating breakwater's cross section shape are less determinant in its hydrodynamic behaviour and in mechanical loads in the discussed ranges. 2D and 3D tests were conducted, observing the great influence that the wave obliquity has in the module connector forces.     

Hydrodynamic forces on concrete sea wall and breakwater during earthquakes: effects of bottom sediment layers and back-fill soil

The objective of this paper is to present the effect of sediment characteristics on the dynamic response of sea walls and breakwaters during earthquakes. A finite-difference method is used to calculate the earthquake-induced hydrodynamic pressures of seawater and the pore water in seabed sediment. The water-filled soil mixture is used to model sediment and back-fill soil. The dynamic response of a rigid coastal structure induced by constant ground acceleration is studied, using variable sediment depths and porosity. The dynamic characteristics of the water–embankment–sediment system are investigated, applying four earthquake-records as exciting forces. The result of a quay-walled caisson demonstrates the significance of the seismic-induced dynamic force and the seismic effects should be considered for the design of coastal structures in seismic zone. The damaged wharves of Taichung Port during Chi-Chi earthquake, 21 September 1999 is also reported in the paper.     

Experimental investigation of a fast monohull in forced harmonic motions

The paper presents the results of an experimental investigation of added masses and damping coefficients of a model of a fast monohull. A model of 4.5 m length between perpendiculars was constructed of fiber glass reinforced plastic (FRP) with four segments connected by a backbone. The backbone was instrumented with load cells at the positions of the cuts. This configuration, combined with load cells measuring the force exerted by the forced motion actuators, made it possible to obtain the hydrodynamic coefficients for each of the four hull segments.

The investigation focused on the vertical motions. Thus, the experimental program included forced harmonic heave and pitch motions in calm water (no incident waves). Subtracting inertial and restoring forces from total measured forces, one obtained the hydrodynamic component, which then resulted in the hydrodynamic coefficients. The effects of steady forward speed on the radiation forces were investigated by conducting model tests at four forward speeds. Finally, nonlinear effects were assessed by conducting model tests for three amplitudes of forced heave and forced pitch motions.     

An experimental investigation of hydrodynamic coefficients for a vertical truncated rectangular cylinder due to regular and random waves

The research into hydrodynamic loading on ocean structures has concentrated mostly on circular cross-section members and relatively limited work has been carried out on wave loading on other cross-sections such as rectangular sections. These find applications in many offshore structures as columns and pontoons in semi-submersibles and tension-leg platforms. The present investigation demonstrates the behaviour of rectangular cylinders subject to wave loading and also supplies the hydrodynamic coefficients for the design of these sections.This paper presents the results of wave forces acting on a surface piercing truncated rectangular cylinder set vertically in a towing tank. The experiments are carried out in a water depth of 2.2 m with regular and random waves for low Keulegan–Carpenter number up to 6. The rectangular cylinder is of 2 m length, 0.2 m breadth and 0.4 m width with a submergence depth of 1.45 m from still water level. Based on Morison equation, the relationship between inertia and drag coefficients are evaluated and are presented as a function of KC number for various values of frequency parameter β, for two aspect ratios of cylinders, equals to 1/2 and 2/1. Drag and inertia coefficients obtained through regular wave tests are used for the random wave analysis to compute the in-line force spectrum.The results of the experiments show the drag and inertia coefficients are strongly affected by the variation in the aspect ratios of the cylinder. The drag coefficients decreases and inertia coefficients increases with increase in Keulegan–Carpenter number up to the range of KC number tested. The random wave results show a good correlation between measured and computed force spectrums. The transverse forces in both regular and random waves are found to be small compared to in-line forces.     

An investigation on the vertical motion sickness characteristics of a high-speed catamaran ferry

Low frequent motions of vessel may cause motion sickness in rough seas. These undesirable effects induce fatigue of crews during the navigation. The motion sickness is always an important criterion for the high-speed craft design. Modern ferry designs have been marketed with a great emphasis on the seakeeping performance. This research has been carried out by investigating the results on the vertical motion sickness incidence (MSI) study for a 40 m wave-piecing catamaran at seas. The primary purpose of this research is to investigate the vertical motion sickness characteristics of a high-speed catamaran ferry. Two mathematical models, three-dimensional translating–pulsating source distribution technique and three-dimensional pulsating source distribution technique, are used for predicting the vertical acceleration responses of the wave-piecing catamaran in oblique waves. The comparison between numerical predictions and experimental data shows a good agreement except that around the pitch resonance region in FP vertical acceleration motions. Based on the experimental observation, the discrepancies may be caused by the nonlinear effects of centre bow during large pitch motions in waves. The comfort assessments are based on the ISO-2631/1997 standard with the hydrodynamic analysis for determining the acceleration levels in different locations on the vessel. The effects of seating location, wave heading and duration of motion exposure on seasickness are discussed.     

Regular wave pressures and forces on submerged pipelines near a sloping boundary

The hydrodynamic pressures induced by regular waves around the circumference of a pipeline normal to the wave direction and near a rigid bed of slope 1:10 have been investigated in a wave flume. The pressures were integrated to obtain the force time history, from which the peak horizontal and vertical forces are evaluated. The maximum and root mean square horizontal and transverse force coefficients are correlated with the Keulegan–Carpenter (KC) number. The effect of the distance between the sloping bed and the pipeline on the force coefficients is discussed. The force coefficients are found to decrease with an increase in KC number and with the decrease in the relative clearance of the pipeline from the boundary. In addition, the reflection characteristics of the sloping bed in the presence of the pipeline as a function of surf similarity parameter and their comparison with the results from existing literature are also reported. The details of the model setup, experimental procedure, results and discussion are presented in this paper.     

Estimating the hydrodynamic forces on a mini TLP with computational fluid dynamics and design-code techniques

This paper reports on the prediction of the hydrodynamic forces on a full-scale mini Tension Leg Platform (TLP) of the type typically deployed for deep-sea operation. Two alternative prediction techniques were used: Computational Fluid Dynamics (CFD), which is based on the solution of the fundamental equations that govern turbulent fluid flow; and ‘engineering’ calculations based on force coefficients derived from a design code that is in routine use in the Offshore Industry. The results from these two techniques were compared with each other and with experimental data obtained from wind-tunnel and towing-tank tests on a 1–70 scale model. It was found that the two techniques, while yielding very similar predictions for the front TLP members, give substantially different predictions for the aft members — a result that is consistent with the presence of significant interference effects that are captured only by the CFD. The design code yielded the highest value for the global drag coefficient, followed very closely by the towing-tank result. The wind-tunnel tests produced the lowest value for this parameter. The CFD predictions, which were the first to be obtained in this study, fall in the mid-range of the experimental values. These and other results are discussed in the context of the use of CFD in practical design applications.     

Theoretical and experimental study on dynamic behavior of a damaged ship in waves

Most of the large scaled casualties are caused by loss of structural strength and stability due to the progressive flooding and the effect of waves and wind. To prevent foundering and structural failure, it is necessary to predict the motion of the damaged ship in waves.This paper describes the motion of damaged ship in waves resulting from a theoretical and experimental study. A time domain theoretical model, which can be applied to any type of ship or arrangement, for the prediction of damaged ship motion and accidental flooding has been developed considering the effects of flooding of compartments. To evaluate the accuracy of the model, model tests are carried out in ship motion basin for three different damaged conditions: engine room bottom damage, side shell damage and bow visor damage of Ro–Ro ship in regular and irregular waves with different wave heights and directions.     

Validation of a time-domain strip method to calculate the motions and loads on a fast monohull

The paper presents a comparison between experimental data and numerical results of the hydrodynamic coefficients and also of the wave induced motions and loads on a fast monohull model. The model with 4.52 m length was constructed in Fibre Reinforced Plastic (FRP), and made up of 4 segments connected by a backbone in order to measure sectional loads. The objective of the investigation was to assess the capability of a nonlinear time domain strip method to represent the nonlinear and also the forward speed effects on a displacement high speed vessel advancing in large amplitude waves. With this objective in mind the experimental program included forced oscillation tests in heaving and pitching, for a range of periods, three different amplitudes and several speeds of advance. In head regular waves comprehensive ranges of wave periods, wave steepness and speeds, were tested in order to measure heave, pitch and loads in three cross sections.

The numerical method assumes that the radiation and diffraction hydrodynamic forces are linear and the nonlinear contributions arise from the hydrostatics and Froude–Krilov forces and the effects of green water on deck. The assumption of linearity of the radiation forces is validated by comparing calculated hydrodynamic coefficients with experimental data for three different amplitudes of the forced oscillations. Both global coefficients and sectional coefficients are compared. The motions and loads in waves are compared in terms of first and higher harmonic amplitudes and also in terms of sagging and hogging peaks.     

Nonlinear heave radiation forces on two-dimensional single and twin hulls

A study of nonlinear heave radiation of two-dimensional single and double hulls has been carried out in the time domain. The problem is analyzed by means of a fully nonlinear mathematical model, referred to as the mixed Eulerian–Lagrangian (MEL) model, which is based on an integral relation formulation coupled with time-integration of the nonlinear free-surface boundary conditions. The integral equation solver is based on a cubic-spline boundary-element scheme in which both potential and velocity continuity conditions can be enforced through the intersection points. The body undergoes periodic forced heave oscillation. By implementing effective wave-absorbing beaches at the two ends of the rectangular numerical tank, long-term steady-state force-histories could be achieved consistently in all computations.Results in terms of radiation forces for rectangular and triangular single- and twin-hull geometries are presented and discussed. Linear hydrodynamic forces in terms of added-mass and damping are validated for the rectangular hull. The Fourier-analyzed results reveal the extent of nonlinear (higher-order) components in the force-signals over different parameters which include the amplitudes of oscillation, hull-spacing for the twin-hulls and water depth.     

Numerical prediction of the effective wake profiles of a high-speed underwater vehicle with contra-rotating propellers

A numerical method is proposed to predict the effective wake profiles of high speed underwater vehicles propelled by contra-rotating propellers (CRPs), in which the hydrodynamic effects of the CRPs are simulated by distributed body forces. First, Reynolds-averaged Navier-Stokes (RANS) simulations are conducted for identical body-force distributions in open-water and self-propulsion conditions. The effective wake profiles at the CRP disks are then obtained by subtracting the velocities induced by the body forces in the open water from those induced by the body forces in the self-propulsion condition. The effective wake profiles were then predicted for a generic underwater vehicle with an established CRP design. Next, the hydrodynamic performance of the CRPs in the effective wake was computed using an in-house vortex-lattice code. The potential-flow results agree well with those provided by the RANS simulation under the self-propulsion condition, indicating that the proposed method can predict the effective wake profiles for CRPs with reasonable accuracy. The influences of different wake components on the blade forces were investigated, determining that for CRPs, and especially for the aft propeller, the circumferential wake cannot be neglected in the design.     

A prediction technique for the transverse vortex-induced oscillations of tensioned risers

In this paper, a model for the prediction of the vortex-induced transverse oscillations of tensioned risers is proposed.The model, based on the peak amplitudes of the oscillations recorded for cylindrical bodies in a uniform current, has been extended to multimodal oscillations in a sheared flow condition through a modal priority technique. The difference between this model and other similar ones lies in the following features:

the hydrodynamic damping, which has been introduced in a more general form without ‘a priori’ approximations;

the modal priority, which is based on the local amplitudes of the active vibration modes, rather than on their frequencies.

Some comparisons with experimental and numerical results available in the literature are presented and discussed.     

Parameter identification of a compliant nonlinear SDOF system in random ocean waves by reverse MISO method

The determination of the drag and inertia coefficients, which enter into the wave force model given by Morison's equation, is particularly uncertain and difficult when a linear spectral model is used for ocean waves, and the structure is compliant and has nonlinear dynamic response. In this paper, a nonlinear System Identification method, called Reverse Multiple Inputs–Single Output (R–MISO) is applied to identify the hydrodynamic coefficients as well as the nonlinear stiffness parameter for a compliant single-degree-of-freedom system. Four different types of problems have been identified for use in various situations and the R–MISO has been applied to all of them. One of the problems requires iterative solution strategy to identify the parameters. The method has been found to be efficient in predicting the parameters with reasonable accuracy and has the potential for use in the laboratory experiments on compliant nonlinear offshore systems.     

Performance assessment of a concept propulsor: the thrust-balanced propeller

This paper presents the results of a numerical performance analysis to demonstrate the worthiness of a recently patented new concept propulsor, the so-called “thrust-balanced propeller (TBP)”. The main advantage of this unconventional propulsor is its inherent ability to reduce the unsteady effect of blade forces and moments when it is operating in a non-uniform wake flow. The propulsor comprises a pair of diametrically opposed blades that are connected to one another and mounted so as to be rotatable together through a limited angle about their spindle axis. A quasi-hydrodynamic approach is described and applied to perform the numerical analysis using a state-of-the-art lifting surface procedure for conventional propellers. Performance comparisons with a conventional fixed-pitch propeller are made for the blade forces and moments, efficiency, cavitation extents and fluctuating hull pressures. Bearing in mind the quasi-static nature of the analyses, the results present favourable performance characteristics for the thrust-balanced propeller and support the worthiness of the concept. However, the concept needs to be proved through physical model tests, which are planned to take in a cavitation tunnel.     

半潜式平台动力定位系统控制力动态约束分配法

半潜式平台动力定位推力分配系统通过计算每个推力器的推力和推力角,将控制力分配到推力系统的各推力器上。基于系统耗能最小模式,根据推力器之间的损失模型,通过动态设置推力可行域,将推力分配问题转化为求解二次型优化模型。考虑推力器的物理性能,以推力变化率和转角变化速率为控制参数,利用序列二次规划法得到数值计算结果。该方法充分考虑推力器的物理性能,降低推力器的机械磨损,且可以避免处理可行域为非凸集问题,有效地提高推力器的推力效率。