Estimation of the Roll Hydrodynamic Moment Model of a Ship by Using the System Identification Method and the Free Running Model Test

When a fast container ship or a naval vessel turns, accompanying roll motions occur. This roll effect must be considered in the horizontal equations of the motion of the ship to predict the maneuverability of the ship properly. In this paper, a new method for determining a model structure of the hydrodynamic roll moment acting on a ship and for estimating the hydrodynamic coefficients is proposed. The method utilizes a system identification technique with the data from sea trial tests or from free running model (FRM) tests. To obtain motion data that is applied to the proposed algorithm, an FRM of a large container ship was developed. Using this model ship, standard maneuvering tests were carried out on a small body of water out of doors. A hydrodynamic roll moment model was constructed utilizing the data from turning circle tests and a 20-20 zig-zag test. This was then confirmed through a 10-10 zig-zag test. It was concluded that a model structure of the hydrodynamic roll moment model could be established without difficulty through a system identification method and FRM tests.     

Investigation on a two-part underwater manoeuvrable towed system

A hydrodynamic model of a two-part underwater manoeuvrable towed system is proposed in which a depressor is equipped with active horizontal and vertical control surfaces, and a towed vehicle is attached to the lower end of a primary cable. In such a system the towed vehicle can be manoeuvred in both vertical and horizontal planes when it is towed at a certain velocity and the coupling effect of excitations at the upper end of the primary cable and disturbances of control manipulations to the towed vehicle can be reduced. In the model the hydrodynamic behavior of an underwater vehicle is described by the six-degrees-of-freedom equations of motion for submarine simulations. The added masses of an underwater vehicle are obtained from the three-dimensional potential theory. The control surface forces of the vehicle are determined by the wing theory. The results indicate that with relative simple control measures a two-part underwater manoeuvrable towed system enables the towed vehicle to travel in a wide range with a stable attitude. The method in this model gives an effective numerical approach for determining hydrodynamic characteristics of an underwater vehicle especially when little or no experimental data are available or when costs prohibit doing experiments for determining these data.     

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.     

Predicting suitability of cockle Austrovenus stutchburyi restoration sites using hydrodynamic models of larval dispersal

An important aspect of shellfish restoration projects is to evaluate whether potential sites are likely to be recolonised naturally once disturbances are removed and habitats are restored. Similarly, if active translocation or reseeding of juveniles or adults is undertaken, it is important to understand whether these introduced populations will be self‐maintaining in future, and whether any seed they produce are likely to be retained within the restored area. We used a combined hydrodynamic and particle tracking model to predict larval dispersion patterns for the common cockle Austrovenus stutchburyi under different hydrodynamic scenarios for seven release locations in Whangarei Harbour, New Zealand. Our results implied that sites varied substantially in their potential for self‐seeding and for exporting seed to other locations. For sites with more restricted dispersal, the model predicted that most larvae originating at these sites would settle inside the release region (68–94% for passive particle simulations), whereas relatively few larvae originating from the other release sites settled at these sites. In contrast, model larvae released from sites exhibiting high connectivity dispersed to all sub‐regions in the harbour, and export outside of the model region was high. Forthcoming field validation of these model predictions will result in better integration of hydrodynamic connectivity in whole estuary restoration programs.     

Experimental Study and System Identification of Hydrodynamic Force Acting on Heave Damping Plate

Although Morison equation is often applied for simulating hydrodynamic force of marine structure, it may give poor results when non-linear behavior is severe or random wave is encountered. This leads to some modifications of Morison equation or other methods for predicting hydrodynamic force. One of them is the system identification technique. In this paper, NARMAX model theory is firstly used to identify the hydrodynamic system of heave damping plates, which are commonly installed on spar platform. Both linear and non-linear models are obtained. The comparisons between the predieted results and measured data indicate that NARMAX model can predict hydrodynamic force of a heave damping plate very well. The measured data for identification originate from forced oscillation tests, which are random records with given spectrum. The forced oscillation forms in experiment also contain simple harmonic, multi-frequency ones.     

Measures to diminish the parameter drift in the modeling of ship manoeuvring using system identification

System identification provides an effective way to predict the ship manoeuvrability. In this paper several measures are proposed to diminish the parameter drift in the parametric identification of ship manoeuvring models. The drift of linear hydrodynamic coefficients can be accounted for from the point of view of dynamic cancellation, while the drift of nonlinear hydrodynamic coefficients is explained from the point of view of regression analysis. To diminish the parameter drift, reconstruction of the samples and modification of the mathematical model of ship manoeuvring motion are carried out. Difference method and the method of additional excitation are proposed to reconstruct the samples. Using correlation analysis, the structure of a manoeuvring model is simplified. Combined with the measures proposed, support vector machines based identification is employed to determine the hydrodynamic coefficients in a modified Abkowitz model. Experimental data from the free-running model tests of a KVLCC2 ship are analyzed and the hydrodynamic coefficients are identified. Based on the regressive model, simulation of manoeuvres is conducted. Comparison between the simulation results and the experimental results demonstrates the validity of the proposed measures.     

An Integrated Hydrodynamics and Control Model of A Tethered Underwater Robot

An integrated hydrodynamics and control model to simulate tethered underwater robot system is proposed. The governing equation of the umbilical cable is based on a finite difference method, the hydrodynamic behaviors of the underwater robot are described by the six-degrees-of-freedom equations of motion for submarine simulations, and a controller based on the fuzzy sliding mode control (FSMC) algorithm is also incorporated. Fluid motion around the main body of moving robot with running control ducted propellers is governed by the Navier–Stokes equations and these nonlinear differential equations are solved numerically via computational fluid dynamics (CFD) technique. The hydrodynamics and control behaviors of the tethered underwater robot under certain designated trajectory and attitude control manipulation are then investigated based on the established hydrodynamics and control model. The results indicate that satisfactory control effect can be achieved and hydrodynamic behavior under the control operation can be observed with the model; much kinematic and dynamic information about tethered underwater robot system can be forecasted, including translational and angular motions of the robot, hydrodynamic loading on the robot, manipulation actions produced by the control propellers, the kinematic and dynamic behaviors of the umbilical cable. Since these hydrodynamic effects are fed into the proposed coupled model, the mutual hydrodynamic influences of different portions of the robot system as well as the hydrological factors of the undersea environment for the robot operation are incorporated in the model.     

On the motions of the underwater remotely operated vehicle with the umbilical cable effect

In this paper, a hydrodynamic model is developed to simulate the six degrees of freedom motions of the underwater remotely operated vehicle (ROV) including the umbilical cable effect. The corresponding hydrodynamic forces on the underwater vehicle are obtained by the planar motion mechanism test technique. With the relevant hydrodynamic coefficients, the 4th-order Runge–Kutta numerical method is then adopted to solve the equations of motions of the ROV and the configuration of the umbilical cable. The multi-step shooting method is also suggested to solve the two-end boundary-value problem on the umbilical cable with respect to a set of first-order ordinary differential equation system. All operation simulations for the ROV including forward moving, ascending, descending, sideward moving and turning motions can be analyzed, either with or without umbilical cable effect. The current effect is also taken into consideration. The present results reveal that the umbilical cable indeed significantly affects the motion of the ROV and should not be neglected in the simulation.     

Centrifuge modelling of an on-bottom pipeline under equivalent wave and current loading

Pipelines are the main element in transporting hydrocarbons from their extraction sites to on-shore or floating facilities, with preference now given to pipelines laid directly on the seabed due to their fast and economic installation. However, these pipelines are exposed and must be stable under all environmental conditions, and therefore, their design for on-bottom stability is of critical importance. Although accurate prediction of the pipe–soil interaction behaviour under hydrodynamic loads from waves and currents is of major concern, limited physical testing of pipes subjected to these cyclic loading conditions has occurred. Tests have concentrated on simpler load combinations in order to develop pipe–soil friction factors or the key parameters in plasticity models that described pipe–soil behaviour. In this paper, results from geotechnical centrifuge experiments of a model pipe on calcareous sand soil collected from offshore on the North West Shelf of Australia are presented. A sophisticated load control scheme allowed complex paths characteristic of hydrodynamic loads to be applied during the testing. Furthermore, pipe testing could be extended to relatively large horizontal movements of up to 5 pipe diameter. The results of the centrifuge testing programme provide improved understanding of the pipe–soil interaction under complex hydrodynamic load paths. They have also been used to assess a state-of-the-art plasticity model describing pipe–soil interaction on calcareous sands.     

日照港煤码头浚深工程回淤分析

采用水动力学三维数学模型对日照港煤码头水域的水动力因素进行了计算,并在此基础上对煤码头浚深工程实施后港池和航道回淤进行了计算分析.计算结果与实测结果比较表明:文中模型较好地重演日照港煤码头水域潮流场,对于港池与航道的回淤分析合理可靠.     

A practical approach to predicting cross-flow and in-line VIV response for deepwater risers

In this study, a practical model is proposed to predict cross-flow (CF) and in-line (IL) vortex-induced vibrations of a flexible riser in time domain. The hydrodynamic force as a function of non-dimensional amplitude and frequency is obtained from the forced vibration experimental data of a two-dimensional cylinder. An empirical nonlinear damping model is used to simulate the hydrodynamic damping outside the experiment's range. Coupling effect of CF and IL-VIV is taken into account by implanting a magnification model for the IL hydrodynamic force associated with CF amplitude, and by increasing the non-dimensional amplitude corresponding to the IL hydrodynamic coefficient in the second excitation region. The experimental models of flexible riser under the uniform and sheared current are simulated to validate the proposed model. The predicted displacement, curvatures, excited modes and fatigue damage show reasonable agreement with the measured data.     

围（填）海工程对厦门湾潮流动力累积影响的初步研究

利用2007年厦门湾岸线和地形,对数学模型的参数进行验证,在验证结果达到规范要求的基础上,对厦门湾5个典型历史时期岸线和地形下的潮流场进行模拟计算,并根据数值模拟结果分析不同期间围（填）海工程对厦门湾潮流动力的累积影响.到2009年,通过嵩鼓断面和厦鼓断面的潮量分别减少了54.9%和24.5%,而通过同安湾湾口断面的潮量减少了23.7%.围（填）海工程对厦门湾湾内流速大小的影响比较明显,厦门西海域和同安湾海域的主要航道及湾口流速变化尤为明显.嵩鼓水道流速减少了40%以上,厦鼓水道流速减少了20%以上.结果表明：由于诸多围（填）海工程建设,致使海域面积大量缩小,进而引起了厦门湾纳潮量显著减少,潮流动力条件明显降低.     

New model to determine forces at on-bottom slender pipelines

The present paper proposes a numerical model to determine horizontal and vertical components of the hydrodynamic forces on a slender submarine pipeline lying at the sea bed and exposed to non-linear waves plus a current. The new model is an extension of the Wake II type model, originally proposed for sinusoidal waves (Soedigdo et al., 1999) and for combined sinusoidal waves and currents (Sabag et al., 2000), to the case of periodic or random waves, even with a superimposed current. The Wake II type model takes into account the wake effects on the kinematic field and the time variation of drag and lift hydrodynamic coefficients. The proposed extension is based on an evolutional analysis carried out for each half period of the free stream horizontal velocity at the pipeline. An analytical expression of the wake velocity is developed starting from the Navier–Stokes and the boundary layer equations. The time variation of the drag and lift hydrodynamic coefficients is obtained using a Gaussian integration of the start-up function. A reduced scale laboratory investigation in a large wave flume has been conducted in order to calibrate the empirical parameters involved in the proposed model. Different wave and current conditions have been considered and measurements of free stream horizontal velocities and dynamic pressures on a bottom-mounted pipeline have been conducted. The comparison between experimental and numerical hydrodynamic forces shows the accuracy of the new model in evaluating the time variation of peaks and phase shifts of the horizontal and vertical wave and current induced forces.     

Hydrodynamic performance of solid and porous heave plates

Heave plates have been widely utilized in floating offshore structures as they can provide additional damping and added mass to improve the hydrodynamic response of the system. This study investigates the hydrodynamic characteristics (added mass and damping) of oscillatory solid or porous disks using model scale experiments. All experiments were conducted via forced oscillation model tests using a planar motion mechanism (PMM). The hydrodynamic coefficients of the solid or porous disk obtained from the force measurements are analysed and presented. The sensitivities of the damping and added mass coefficients to both motion amplitude and the disk porosity are examined.     

闽江口水动力和污染扩散数值模拟

本文建立了闽江口二维水动力、污染扩散数值模型，模型采用ＡＤＩ双向隐式求解。在水动力模拟中，对岸界的丁坝有用线性边界进行拟合，并考虑到河口区侧向摩擦作用；在污染扩散模拟中，用动态拟合的方法对浓度水边界进行了较为合理的改进。计算结果表明，本模型是成功的。     

基于GPU技术的风暴潮集合预报

台风预报的准确性在风暴潮预报中起着重要作用。台风强度和路径的不确定性意味着使用集合模式来预报风暴潮。本文利用中央气象台的最优路径台风参数驱动国家海洋环境预报中心业务化的水动力学模型,开展华南沿海的风暴潮模拟,模式模拟结果与实测吻合较好。为了改进计算效率,采用CUDA Fortran 语言对模型进行了改造,改造后的模型在计算结果与原模型基本一致的基础上,计算时间缩短了99%以上。通过融合欧洲中期天气预报中心（ECWMF）的50条路径与3种可能台风强度构造出了150个台风事件,并用150个台风事件驱动改进的风暴潮数值模型,计算结果可以提供集合预报产品和概率预报产品。通过“山竹”台风风暴潮过程可以发现集合平均预报结果和概率预报结果与实测吻合较好。改进的数值模型可以运行普通工作站上,非常适合风暴潮集合预报,并且可以提供更好的决策产品。     

Numerical simulation of PMM tests for a ship in close proximity to sidewall and maneuvering stability analysis

As the maneuverability of a ship navigating close to a bank is influenced by the sidewall, the assessment of ship maneuvering stability is important. The hydrodynamic derivatives measured by the planar motion mechanism (PMM) test provide a way to predict the change of ship maneuverability. This paper presents a numerical simulation of PMM model tests with variant distances to a vertical bank by using unsteady RANS equations. A hybrid dynamic mesh technique is developed to realize the mesh configuration and remeshing of dynamic PMM tests when the ship is close to the bank. The proposed method is validated by comparing numerical results with results of PMM tests in a circulating water channel. The first-order hydrodynamic derivatives of the ship are analyzed from the time history of lateral force and yaw moment according to the multiple-run simulating procedure and the variations of hydrodynamic derivatives with the ship-sidewall distance are given. The straight line stability and directional stability are also discussed and stable or unstable zone of proportional-derivative (PD) controller parameters for directional stability is shown, which can be a reference for course keeping operation when sailing near a bank.     

Experimental study of wave loads on a small vehicle in close proximity to a large vessel

Operations involving the launch or recovery of a smaller vessel from a larger one are extremely dangerous in high sea states and, therefore, they are normally carried out in low to moderate sea states. However, this can be severely restrictive and in some situations, carrying out such operations in high sea states is unavoidable. Here we report on a detailed investigation of the interaction between two vessels of different size in order to characterise their hydrodynamic interaction under different conditions and to provide insight for operational purposes. Model experiments were conducted to investigate the hydrodynamic interaction between two vessels in close proximity in waves. Previous studies into this interaction have focused on two vessels with comparable size/displacement. This study focused on the interaction between vessels of very different sizes, a platform supply vessel and a lifeboat, at various separation distances between the two models and wave headings. It is found that the effect of the hydrodynamic interaction on the wave loads on the lifeboat model is substantial. The load responses show a strong non-linearity (high order harmonic components). In head waves, the effect of the hydrodynamic interaction on the wave loads is greater in the transverse modes (sway, roll and yaw) than in the longitudinal modes (surge, heave and pitch). The sheltering effects of the larger model on the lifeboat model were also evident from the experiments. The results of this investigation may be used to inform the planning of marine operations, such as the launch and recovery of a lifeboat or an Autonomous Underwater Vehicle (AUV) from a mothership and the transfer of equipment or personnel between vessels. The data will also provide a useful resource for validation of Computational Fluid Dynamics (CFD) codes and other numerical simulations, and can be used to better understand the limitations and potential widening of the operational weather windows and to ensure that operations are carried out safely.     

Wave effects on ascending and descending motions of the autonomous underwater vehicle

In the paper, a hydrodynamic model including the characteristics of maneuvering and seakeeping is developed to simulate the six-degree of freedom motions of the underwater vehicle steering near the sea surface. The corresponding wave exciting forces on the underwater vehicle moving in waves are calculated by the strip theory, which is based on the source distribution method. With the hydrodynamic coefficients relevant to the maneuvering and seakeeping, the fourth-order Runge–Kutta numerical method is adopted to solve the equations of motions and six-degrees of freedom of the motions for the underwater vehicle steering near the free surface can be obtained. The wave effect on the corresponding motions of the underwater vehicle is investigated and some interesting phenomena with respect to different wave frequencies and headings are observed. The hydrodynamic numerical model developed here can be served as a valuable tool for analyzing the ascending and descending behaviors of the underwater vehicle near the sea surface.     

浅海圆柱形人工岛结构地震响应

根据能量守恒原理导出计算人工岛自振频率的能量公式,浅海人工岛可按剪切型结构进行动力计算,动水压力和动土压力对结构振型参与系数的影响很小,可以忽略。地震时人工岛内回填土只有一部分有效质量参与地震响应,通过模型试验,高径比小于1/3的人工岛回填土有效质量系数在0.2左右。有效质量系数随土壤粘结力的增大而提高,随高径比的增大而增大。一般圆柱形人工岛结构的振型参与系数可采用1.2。