Estimation of extreme slamming pressures using the non-uniform Fourier phase distributions of a design loads generator

Slamming pressures are predicted using a nonlinear ship motion program whose input is an ensemble of short wave trains tailored to produce a large, linear pitch response. These short wave trains are calculated via a design methodology that first creates short time series containing a specified, large ship response and then back-calculates the incident wave trains using linear systems theory. The background simulations and theory used to create these short time series are presented here. Monte Carlo simulation of moderately rare events of a random process indicate the random Fourier component phase PDFs are non-uniform, non-identically distributed, and dependent on the rarity of the target event. These PDFs are modeled using a single parameter, Modified Gaussian distribution and used to generate design time series with a given expected value at a specific time. To predict rare events without resorting to Monte Carlo simulation, the parameters of the Modified Gaussian distributions are calculated via characteristic function comparison. The characteristic functions compare a target PDF calculated from extreme value theory to a PDF based on a discrete Fourier representation of the stochastic process with non-uniform component phases. The comparison to extreme value theory helps to quantify the risk associated with rare events.     

Time domain three-dimensional fully nonlinear computations of steady body–wave interaction problem

Three-dimensional fully nonlinear waves generated by moving disturbances with steady forward speed without motions are solved using a mixed Eulerian–Lagrangian method in terms of an indirect boundary integral method and a Runge–Kutta time marching approach which integrates the fully nonlinear free surface boundary conditions with respect to time.A moving computational window is used in the computations by truncating the fluid domain (the free surface) into a computational domain. The computational window maintains the computational domain and tracks the free surface profile by a node-shifting scheme applied within it. An implicit implement of far field condition is enforced automatically at the truncation boundary of the computational window.Numerical computations are applied to free surface waves generated by Wigley and Series 60 hulls for the steady problem. The present numerical results are presented and compared with existing linear theory, experimental measurements, and other numerical nonlinear computations. The comparisons show satisfactory agreements for these hydrodynamic problems.     

Finite element analysis of two-dimensional nonlinear sloshing problems in random excitations

A two-dimensional nonlinear random sloshing problem is analyzed by the fully nonlinear wave velocity potential theory based on the finite element method. A rectangular container filled with liquid subjected to specified horizontal random oscillations is studied. Both wave elevation and hydrodynamic force are obtained. The spectra of random waves and forces have also been investigated, and the effects of the peak frequencies and spectral width of the specified spectrum used for the generation of the random oscillations are discussed. It is found that the energy mainly concentrates at the natural frequencies of the container and is dominant at the ith order natural frequency when the peak frequency is close to the ith order natural frequency. Some results are compared between the fully nonlinear solutions, the linear solutions and the linear plus second-order solutions.     

Resonant interaction of waves of continuous and discrete spectra in the simplest model of a stratified shear flow

The equations of dynamics of eddy—wave disturbances of two-dimensional stratified flows in an ideal incompressible fluid that are written in a Hamiltonian form are used to study the resonant interaction of waves of discrete and continuous spectra. A gravity—shear wave generated at a jump of the density and vorticity of the undisturbed flow and a wave generated at a weak vorticity jump, which is similar to a wave of a continuous spectrum, participate in the interaction. The equations are written in terms of normal variables to obtain the system of evolution equations for the amplitudes of the interacting waves. The stability condition for eddy—wave disturbances is derived within the framework of the linear theory. It is shown that a cubic nonlinearity may lead to the stabilization of unstable disturbances if the coefficient of the nonlinear term is positive.     

On the numerical modeling of tsunami wave generation and propagation

Abstract

In this article three main stages of tsunami wave evolution are investigated. At first, the development of disturbances from a given patched elevation of the bottom surface in an incompressible nonviscous fluid of the uniform depth is considered. Then, a tsunami wave diffraction by underwater bottom elevation or cavity is investigated. In this case the shallow water equations are already used, and it is supposed that a cylindrical wave is spread from patched water elevation over the epicentrum. Last, the tsunami propagation and transformation in a shallow water region and its run‐up on a beach are investigated on the basis of the improved shallow water theory, taking into consideration the nonlinear and dispersive terms of higher order. The proposed theory is tested in a problem of collisions of two solutions. Solutions of the first and the second problems are obtained by the method of integral Laplace's transformation with following numerical inversion of transformations. A finite difference method for a solution of the last problem is used.     

Monthly variation of some parameters about internal solitary waves in the South China sea

In this paper, by non-dimensional analysis, it is found that finite-depth theory is more appropriate to the study of internal solitary waves (ISWs) in the South China Sea (SCS) than shallow-water theory. The 1-degree grid data of monthly mean temperature and salinity data at standard levels in the SCS are used to solve the linearized vertical eigenvalue problem. The nonlinear parameter and the wave phase speed are computed, then the nonlinear phase speed and the characteristic half-width of ISWs are calculated respectively by two different theories to investigate the difference between these two parameters in the SCS. The nonlinearity is the strongest near the continental slope of the SCS or islands where the bottom topography changes sharply, it is stronger in summer than that in winter; it increases (decreases) as pycnocline depth deepens (shallows), stratification strengthens (weakens) and pycnocline thickness thins (thickens). The nonlinear wave phase speed and the characteristic half-width are the largest in deep sea area, they then reduce peripherally in shallower water. The nonlinear wave phase speed in the SCS changes slightly with time, but the characteristic half-width changes somewhat larger with time. In most of the SCS basin, the nonlinear wave phase speed derived from shallow-water theory is very close to that derived from finite-depth theory, but the characteristic half-width derived from shallow-water theory is about 0.2–0.6 times larger than that derived from finite-depth theory. The ISW induced horizontal current velocity derived from shallow-water theory is larger than that derived from finite-depth theory. Some observed and numerical modeled ISW characteristic half-widths are compared with those derived from shallow-water and finite-depth theories, respectively. It is shown that, the characteristic half-widths derived from finite-depth theory agree better with observational and numerical modeled results than those derived from shallow-water theory in most cases, finite-depth theory is more applicable to the estimation of ISW characteristic half-widths in the northern SCS. It is also suggested that, to derive the precise ISW parameters in further study, the physical non-dimensional ratios which are related with ISW characteristic half-width, amplitude, thermocline and water depths should be calculated, so that an appropriate theory can be chosen for estimation.     

An Efficient Model for Transient Surface Waves in Both Finite and Infinite Water Depth

A numerical model is developed to simulate fully nonlinear extreme waves in finite and infinite water-depth wave tanks. A semi-mixed Eulerian-Lagrangian formulation is adopted and a higher-order boundary element method in conjunction with an image Green function is used for the fluid domain. The boundary values on the free surface are updated at each time step by a fourth-order Runga-Kutta time-marching scheme at each time step. Input wave characteristics are specified at the upstream boundary by an appropriate wave theory. At the downstream boundary, an artificial damping zone is used to prevent wave reflection back into the computational domain. Using the image Green function in the whole fluid domain, the integrations on the two lateral walls and bottom are excluded. The simulation results on extreme wave elevations in finite and infinite water-depths are compared with experimental results and second-order analytical solutions respectively. The wave kinematics is also discussed in the present study.     

近海海洋对热带风暴线性响应的底坡度和底摩擦效应

一个简单的二维线性模式用于考查近海海洋对过境热带风暴的动力响应过程中的底坡度和底摩擦效应。选择了自东向西和向西后转向的两个模式风暴路径。数值试验结果表明，海底坡度与风暴引起的水位波动、风暴中心后部的尾流以及路径右侧后方面的涡旋密切相关。而底摩察是阻尼风暴潮和风暴流持续增长的重要因子。结果还表明，近海对风暴的强响应偏向于风暴轨迹的右侧，这与Ｃｈａｎｇ和Ａｎｔｈｅｓ（１９７８）对深海响应的研究结论是一     

The dynamical and thermodynamical analysis of the oceanic response to storm

In this paper, the discussion is made on the problem of the oceanic response caused by air-sea interaction under storm. First, the perturbation differential equations for the problem are given, and the interaction functions are supposed to be the solving conditions. Next, the nonlinear diffusion equations of the problem are solved by using the method of the given variable transforms and the specific variable power series. Finally, the response disturbances to the circular intense storm is calculated so as to discribe quantitatively the evolution processes of the oceanic response.     

Numerical investigation into the application of response conditioned waves for long-term nonlinear fatigue analyses of rigid hulls

Previous studies of response conditioned wave methods have been focused on their applicability to the prediction of extreme nonlinear wave-induced load effects. The results showed that theses methods can be used to accurately and efficiently predict the nonlinear short-term probability distributions for rigid hull responses. This has led us to investigate how response conditioned wave methods can be used for long-term nonlinear fatigue analyses, and with which accuracy this can be done. In this paper we present the results from our investigation. The studies were performed using a container vessel with a length between perpendiculars of 281 m. Calculations were done with a nonlinear strip theory method in which the hull of the vessel was assumed to be rigid. The most likely response wave (MLRW) method was used to condition the waves. Only head seas were considered. We found that the MLRW method under-predicted the long-term fatigue damage by 3%. The method, however, required a simulation time that was approximately three orders of magnitude less than that required for a conventional long-term nonlinear analysis based on random irregular waves. A preliminary investigation showed that due to lacking springing and whipping contributions the MLRW method under-predicted the fatigue damage for a flexible hull by approximately 50%. Several comments about a more accurate extension of the proposed method to flexible hulls are included.     

Discrete-time quasi-sliding mode control of an autonomousunderwater vehicle

This paper presents a discrete-time quasi-sliding mode controller for an autonomous underwater vehicle (AUV) in the presence of parameter uncertainties and a long sampling interval. The AUV, named VORAM, is used as a model for the verification of the proposed control algorithm. Simulations of depth control and contouring control are performed for a numerical model of the AUV with full nonlinear equations of motion to verify the effectiveness of the proposed control schemes when the vehicle has a long sampling interval. By using the discrete-time quasi-sliding mode control law, experiments on depth control of the AUV are performed in a towing tank. The controller makes the system stable in the presence of system uncertainties and even external disturbances without any observer nor any predictor producing high rate estimates of vehicle states. As the sampling interval becomes large, the effectiveness of the proposed control law is more prominent when compared with the conventional sliding mode controller     

Nonlinear adaptive control of an underwater towed vehicle

This paper addresses the problem of simultaneous depth tracking and attitude control of an underwater towed vehicle. The system proposed uses a two-stage towing arrangement that includes a long primary cable, a gravitic depressor, and a secondary cable. The towfish motion induced by wave driven disturbances in both the vertical and horizontal planes is described using an empirical model of the depressor motion and a spring-damper model of the secondary cable. A nonlinear, Lyapunov-based, adaptive output feedback control law is designed and shown to regulate pitch, yaw, and depth tracking errors to zero. The controller is designed to operate in the presence of plant parameter uncertainty. When subjected to bounded external disturbances, the tracking errors converge to a neighbourhood of the origin that can be made arbitrarily small. In the implementation proposed, a nonlinear observer is used to estimate the linear velocities used by the controller thus dispensing with the need for costly sensor suites. The results obtained with computer simulations show that the controlled system exhibits good performance about different operating conditions when subjected to sea-wave driven disturbances and in the presence of sensor noise. The system holds promise for application in oceanographic missions that require depth tracking or bottom-following combined with precise vehicle attitude control.     

波浪沿斜面传播过程的数值模拟

精确模拟非线性波沿斜面传播过程非常困难,为此论文从势函数的边界积分方程出发,建立了一种时域内二维波浪模拟的数值模型,主要用来模拟完全非线性波浪的传播变形过程。论文的数值模型使用高阶二维边界元方法,采用可调节时间步长的基于二阶显式泰勒展开的混合欧拉-拉格郎日时间步进来求解带自由表面的线性或完全非线性波浪传播问题。在计算区域一端造出线性或非线性的周期性波浪,另一端采用消除反射波的人工粘性吸收边界。通过与现有理论比较证明了论文数值方法所得结果是准确可靠的。     

Capillary-Gravitational Waves of Finite Amplitude on the Surface of a Homogeneous Liquid

The method of multiple scales is used to deduce equations for three nonlinear approximations of the capillary-gravitational disturbances of the free surface of a layer of a homogeneous liquid of constant depth. In these equations, the space-time variations of the wave profile in the expression for the velocity potential on the liquid surface are taken into account. On this basis, we construct asymptotic expansions up to the quantities of the third order of smallness for the velocity potential and elevations of the liquid surface induced by running periodic waves of finite amplitude. Furthermore, we analyze the dependences of the amplitude-phase characteristics of wave disturbances on the surface tension, depth of the liquid, and the length and steepness of waves of the first harmonic. __________ Translated from Morskoi Gidrofizicheskii Zhurnal, No. 5, pp. 25–34, September–October, 2005.     

$H_{2}$ and $H_{infty}$ Designs for Diving and Course Control of an Autonomous Underwater Vehicle in Presence of Waves

$H_{2}$ and $H_{infty}$ designs applied to the diving and course control of an autonomous underwater vehicle (AUV) considering the presence of wave disturbances are described. The six-degrees-of-freedom equations of motion of the vehicle are described as a linear model and divided into three noninteracting (or lightly interacting) subsystems for speed control, steering, and diving. This work is based on the slender form of the Naval Postgraduate School (NPS, Monterey, CA) AUV, considering that the subsystems can be controlled by means of two single-screw propellers, a rudder, port and starboard bow planes, and a stern plane. A model of the AUV dynamics is presented with the first- and the second-order wave force disturbances, i.e., the Froude–Kriloff and diffraction forces. An algorithm of nonlinear regression for the rationalization of the subsurface sea spectrum is provided in this case study. The obtained results are analyzed and evaluated in the frequency domain comparing the controllers performance considering or not the inclusion of the model of waves.      

Ecological impact of coastal defence structures on sediment and mobile fauna: Evaluating and forecasting consequences of unavoidable modifications of native habitats

We analyse the effects of coastal defence structures, mainly low crested (LCS), on the surrounding intertidal and subtidal infaunal assemblages and mobile fauna. The results summarise joint studies within the DELOS project in Spain (Mediterranean Sea), Italy (Adriatic Sea) and UK (English Channel and Atlantic Ocean). We demonstrate that univariate analysis did not generally identify LCS impacts, but multivariate analyses did, this being a general trend across all locations and countries. Changes in sediment and infauna seem to be inevitable and usually tend to induce negative changes, particularly on the landward side and in the presence of additional structures or after beach nourishment. The consequences of LCS construction always depend on the response of the assemblages inhabiting a given region. However, to assess the ecological importance of the induced changes and to provide additional monitoring criteria, likely indicator species should be taken into account. The presence of species either coming from the new hard bottoms or associated to physical disturbances is viewed as a negative impact, while the potential nursery role of LCS is a positive one. The combined use of monitoring and forecast models allows to identify these impacts and may play a relevant role in mitigation protocols. Finally, our work supports the feasibility of introducing design criteria tending to facilitate a positive evolution of the assemblages surrounding the structures once the changes due to the presence of the LCS are completed and the new situation tends to become more stable.     

Analysis of the extreme wave elevation due to second-order diffraction around a vertical cylinder

Statistical analysis of nonlinear random waves is important in coastal and ocean engineering. One approach for modeling nonlinear waves is second-order random wave theory, which involves sum- and difference-frequency interactions between wave components. The probability distribution of the non-Gaussian surface elevation can be solved using a technique developed by Kac and Siegert [21]. The wave field can be significantly modified by wave diffraction due to a structure, and the nonlinear diffracted wave elevation can be of interest in certain applications, such as the airgap prediction for an offshore structure. This paper investigates the wave statistics due to second-order diffraction, motivated by the scarcity of prior research. The crossing rate approach is used to evaluate the extreme wave elevation over a specified duration. The application is a bottom-supported cylindrical structure, for which semi-analytical solutions for the second-order transfer functions are available. A new efficient statistical method is developed to allow the distribution of the diffracted wave elevation to be obtained exactly, accounting for the statistical dependency between the linear, sum-frequency and difference-frequency components. Moreover, refinements are proposed to improve the efficiency for computing the free surface integral. The case study yields insights into the problem. In particular, the second-order nonlinearity is found to significantly amplify the extreme wave elevation, especially in the upstream region; conversely, the extreme elevation at an oblique location downstream is attenuated due to sheltering effects. The statistical dependency between the linear and sum-frequency components is also shown to be important for the extreme wave statistics.     

Nonlinear coupled response of offshore tension leg platforms to regular wave forces

Among the compliant platforms, the tension leg platform (TLP) is a vertically moored structure with excess buoyancy. The TLP is designed to behave in the same way as any other moored structure in horizontal plane, at the same time inheriting the stiffness of a fixed platform in the vertical plane. Dynamic response analysis of a TLP to deterministic first order wave forces is presented, considering coupling between the degrees-of-freedom surge, sway, heave, roll, pitch and yaw. The analysis considers nonlinearities produced due to changes in cable tension and due to nonlinear hydrodynamic drag forces. The wave forces on the elements of the pontoon structure are calculated using Airy's wave theory and Morison's equation ignoring diffraction effects. The nonlinear equation of motion is solved in the time domain by Newmark's beta integration scheme. The effects of different parameters that influence the response of the TLP are then investigated.     

Review of hydroelasticity theories for global response of marine structures

Existing hydroelastic theories are reviewed. The theories are classified into different types: two-dimensional linear theory, two-dimensional nonlinear theory, three-dimensional linear theory and three-dimensional nonlinear theory. Applications to analysis of very large floating structures (VLFS) are reviewed and discussed in details. Special emphasis is placed on papers from China and Japan (in native languages) as these papers are not generally publicly known in the rest of the world.