基于物理关联深度学习的海浪浪高预测方法

精确的海浪有效波高（简称浪高）预测对于海上生产生活具有重要意义。针对现有海浪浪高预测模型对不同海洋要素间关联信息考虑不足,以及长时序浪高数据本身存在非平稳性的问题,本文设计了一种考虑物理约束与差值约束的海浪浪高时间序列预测方法。该方法基于风速与浪高之间的物理关联,设计物理约束,并通过提取差分信息设计差值约束,结合现有基于深度学习的时间序列预测模型,实现浪高预测。采用黄海和东海的6个不同站点浮标数据进行了大量实验。实验结果表明,本文提出的方法可以利用海洋要素间的物理关联,有效提高浪高预测精度,并避免因不同要素间融合造成的信息间干扰;同时,利用差值约束,限制时间序列预测结果的变动范围。本文方法可以与不同类型的时间序列预测模型相结合,显著提升原有模型的性能,并在长时间序列的预测中体现出很好的鲁棒性,为海洋要素预测中物理与数据驱动模型的有效结合提供了思路和验证。     

Random dynamic analysis of multi-body offshore structures

A general method for the dynamic analysis of multi-body offshore structures is presented, being based on a constraint matrix approach. A method of deriving the constraint matrix for a general structure is given, and this is then used to derive the equations of motion of a whole system from those of it's component parts. The response of the system to both first and second order random wave forces is found and then used to calculate the forces and moments in the connecting mechanisms. The structure is assumed to have rigid component parts and a linearised frequency domain analysis method is used, although other methods are discussed. To illustrate it's use, the method is applied to both the SBS and Yoke-CALM design of offshore mooring terminal.     

Reliability-based design optimization of an FPSO riser support using moving least squares response surface meta-models

The paper deals with the reliability-based design optimization (RBDO) of a riser support installed on a floating production storage and offloading (FPSO) unit under operation, extreme, damaged, and one line failure cases and installation loading conditions. The optimization problem is formulated such that probabilistic thickness variables described with random characteristics are determined by minimizing the weight of the riser support structure subjected to stress constraints for the given target reliability. The initial design model is generated based on actual FPSO riser support specifications. The finite element analysis is conducted using NASTRAN, and the probabilistic optimal solutions are obtained via the moving least squares method in the context of RBDO using a response surface meta-model. For the meta-modeling of the inequality constraint functions of stresses, a constraint-feasible moving least squares method (CF-MLSM) is adopted in the present study. The CF-MLSM has been shown to ensure constraint feasibility regardless of the nonlinearity of the constraint function, the feasible bounds, and the random characteristics during the meta-model-based RBDO process. The solution results from the proposed RBDO strategy present improved design performances under various riser operating conditions.     

An Effective Control System of Thrust and Moment Modulation for a Dynamically Positioned Vessel

Dynamic positioning (DP) is an operation method whereby the position of a surface vessel is maintained in close proximity to a required position in the horizontal plane through the controlled application of forces and moments generated by purposely installed thrusters. When estimating thrust, this kind of conventional control system often uses many acceleration sensors, velocity sensors, environment sensors, and filters. Usually, these sensors have measured electrical errors. To reduce the number of sensors used and to decrease the measurement errors, this article presents an effective control system for estimating thrust and moment commands, which is based on energy and impulsemomentum principles. Donha and Brinati's example is followed to verify the feasibility of the present control system, which performs semisubmersible platform positioning using an LQG controller, and the results are feasible and economical. A simulated coring vessel marine positioning in southern Taiwan is presented, which can estimate the counterthrust and moment commands, and the complex environmental forces and moments are described. The results can provide a valuable control system for dynamically positioned vessels.     

An Effective Control System of Thrust and Moment Modulation for a Dynamically Positioned Vessel

Dynamic positioning (DP) is an operation method whereby the position of a surface vessel is maintained in close proximity to a required position in the horizontal plane through the controlled application of forces and moments generated by purposely installed thrusters. When estimating thrust, this kind of conventional control system often uses many acceleration sensors, velocity sensors, environment sensors, and filters. Usually, these sensors have measured electrical errors. To reduce the number of sensors used and to decrease the measurement errors, this article presents an effective control system for estimating thrust and moment commands, which is based on energy and impulsemomentum principles. Donha and Brinati's example is followed to verify the feasibility of the present control system, which performs semisubmersible platform positioning using an LQG controller, and the results are feasible and economical. A simulated coring vessel marine positioning in southern Taiwan is presented, which can estimate the counterthrust and moment commands, and the complex environmental forces and moments are described. The results can provide a valuable control system for dynamically positioned vessels.     

Comparisons of internal solitary wave and surface wave actions on marine structures and their responses

In this paper, a time-domain numerical model is established for computing the action of internal solitary wave on marine structures and structure motion responses. For a cylindrical structure, its side and bottom are discretized by pole and surface elements, respectively. The drag and inertial forces in the perpendicular direction of the structure are computed by the Morison equation from the pole elements, and the Froude–Krylov force in the axial direction of the structure due to internal wave motion is computed by integration of the dynamic pressure over the surface elements. The catenary theory is used to analyze the reaction force due to mooring lines, and the motion equation of the marine structure is solved by the fourth-order Runge–Kutta method in the time domain. The model is used to calculate the interaction of the internal solitary wave with a Spar platform with mooring system, and the surface wave action with the platform has also been computed by a frequency-domain boundary element method for comparison. Through the comparison based on a practical internal wave and surface wave states, it can be concluded that the internal wave force on the structure is only 9% of the one due to surface waves. However, the motion response due to the internal wave is much greater than the one due to the surface waves. It shows that the low-frequency effect of internal solitary waves is a great threat to the safety of marine structures.     

NNFFC-adaptive output feedback trajectory tracking control for a surface ship at high speed

An adaptive output feedback controller based on neural network feedback-feedforward compensator (NNFFC) which drives a surface ship at high speed to track a desired trajectory is designed. The tracking problem of the surface ship at low speed has been widely investigated. However, the coupling interactions among the forces from each degree of freedom (DOF) have not been considered in general. Furthermore, the influence of the hydrodynamic damping is also simplified into a linear form or neglected. On the contrary, coupling interactions and the nonlinear characteristics of the hydrodynamic damping can never be neglected in high speed maneuvering situation. For these reasons, the influence of the nonlinear hydrodynamic damping on the tracking precision is considered in this paper. Since the hydrodynamic coefficients of the surface ship at high speed are very difficult to be accurately estimated as a prior, it will be compensated by NNFFC as an unknown part of the tracking dynamics system. The stability analysis will be given by the Lyapunov theory. It indicates that the proposed control scheme can guarantee that all the signals in the closed-loop system are uniformly ultimately bounded (UUB), and numerical simulations can illustrate the excellent tracking performance of the surface ship at high speed under the proposed control scheme.     

波浪作用下中上层浮鱼礁动力响应数值模型建立方法

人工浮鱼礁型式多样,适应水深范围广,优化锚泊方式可规模化建设浮鱼礁群,是海洋中上层生境构建的重要手段。中上层浮鱼礁投放于近海,属于海岸工程范畴,抗浪性能是其结构设计的关键。根据有限单元法和集中质量点法,详细阐述和推导了中上层浮鱼礁各构成组件连接位置处点或单元的相互耦合受力和运动处理方法,以及浮鱼礁出水条件的判别方法和水质点速度、加速度的修正方法。建立的波浪作用下三维浮鱼礁动力响应数值模型与其在波浪水槽中的物理模型试验对比,验证了数值模型的正确性。最后建立了一种新型锚泊方式的浮鱼礁动力响应数值模型,分析了浮鱼礁摆动角度、锚绳拉力、网衣系缚点总拉力的历时变化。研究结果可为中上层浮鱼礁优化结构形状和搭配浮体、配重提供判断依据。     

一种基于有限状态机模型的局部转向避碰路径规划算法

针对多礁石、渔船等障碍物的近海复杂环境下的一些应用,提出了一种基于有限状态机(finite-state machine,FSM)模型的无人船(unmanned surface vehicle,USV)局部转向避碰路径规划算法。首先,基于速度障碍法和障碍物区域分层方法,获取无人船固定航速条件下的航向角约束解析结果。然后,基于该约束条件及障碍物探测情况设计FSM的有限状态及执行动作和状态迁移条件,其中,通过转向控制实现向目标位点或缓冲位点进行导航的状态为FSM的2个重要状态。最终通过FSM的执行实现局部转向避碰路径规划。仿真结果表明提出的多障碍物避碰算法具有可行性和实用性。该方法易于改进和扩展,且容易与当前主流的无人船控制系统结合,有利于无人船避碰系统快速工程化的实现。     

Towing dynamics of a liferaft and fast rescue craft in a surface wave

The equations of motion for the coupled dynamics of a small liferaft and fast rescue craft in a surface wave are formulated in two dimensions using the methods of Kane and Levinson [1985. Dynamics: Theory and Applications. McGraw-Hill Inc., New York]. It is assumed that the motion normal to the wave surface is small and can be neglected, i.e. the bodies move along the propagating wave profile. The bodies are small so that wave diffraction and reflection are negligible. A Stokes second order wave is used and the wave forces are applied using Morison's equation for a body in accelerated flow. Wind loads are similarly modelled using drag coefficients. The equations are solved numerically using the Runge–Kutta routine “ode45” of MATLAB^®. The numerical model provides guidelines for predicting the tow loads and motions of small craft in severe sea states.     

水下物体在波浪力作用下的运动计算

本文通过对水下物体在波浪力作用下所受的力的分析，运用流体力学和波浪理论的基本知识，建立了物体的运动方程，并借助于数值计算的方法对运动方程进行求解，从而得出物体在波浪力作用下的运动特性，为水下机器人的吊放回收提供了理论依据。     

Fully nonlinear simulations of wave resonance by an array of cylinders in vertical motions

The finite element method(FEM) is employed to analyze the resonant oscillations of the liquid confined within multiple or an array of floating bodies with fully nonlinear boundary conditions on the free surface and the body surface in two dimensions.The velocity potentials at each time step are obtained through the FEM with 8-node quadratic shape functions.The finite element linear system is solved by the conjugate gradient(CG) method with a symmetric successive overelaxlation(SSOR) preconditioner.The waves at the open boundary are absorbed by the combination of the damping zone method and the Sommerfeld-Orlanski equation.Numerical examples are given by an array of floating wedgeshaped cylinders and rectangular cylinders.Results are provided for heave motions including wave elevations,profiles and hydrodynamic forces.Comparisons are made in several cases with the results obtained from the second order solution in the time domain.It is found that the wave amplitude in the middle region of the array is larger than those in other places,and the hydrodynamic force on a cylinder increases with the cylinder closing to the middle of the array.     

Mathematical Modeling of the Hydrodynamic Forces on a Trawl Door

Precise control of trawl systems is assumed to be beneficial from both economic and environmental reasons. Using the trawl doors as actuators could increase the amount of available control forces. Adequate mathematical models of the hydrodynamic fores on the trawl doors are needed for control system design and verification. This paper presents a method for mathematical modeling of the hydrodynamic forces on the trawl doors. These forces are divided into steady-state forces and transient effects. The six degrees of freedom (six dof) steady-state hydrodynamic coefficients of a trawl door have been found as a function of its angles of attack and slip, based on wind-tunnel experiments. The coefficients are parameterized for smoothing and computational performance, and methods for extending the validity of the model in terms of orientation and trawl door shape are presented. The transient effects are described as functions of relative accelerations between the trawl door and the ambient water, angular velocities of the trawl door and circulation buildup. These effects are manifestations of variations in the flow around the trawl door and its wake, and a numerical method based on potential theory is employed to investigate them. A computational efficient, nonlinear, state–space model of the hydrodynamic forces is finally proposed. It accounts for steady-state and unsteady hydrodynamic forces and moments in six dof, suitable for trawl control system design and analysis.     

支撑刚度对水平板波浪冲击压力影响

上部结构位于浪溅区及由弹性桩腿支撑的海洋结构物,如海上栈桥和海洋平台等,在恶劣海况下会受到强烈的波浪冲击作用并产生振动响应。通过物理模型实验研究了波浪对三种不同支撑刚度的结构物冲击作用。分析了不同支撑刚度结构物底面冲击压力和冲击力的变化特性。讨论了支撑刚度对结构波浪冲击力的影响,给出了冲击压力和冲击力随相对净空(s/H)和相对板长(B/L)的变化规律。实验分析结果表明:水平板底面波浪冲击压力与冲击力均随弹性支撑刚度K的增大而增大;随相对净空(s/H)的增大先增大后减小;随相对板长(B/L)的增大而减小。     

海空重力测量技术体系构建与研究若干进展(一):需求论证设计与仪器性能评估技术

简要分析介绍了海洋重力场信息的应用价值、海空重力测量技术的科学含义、研究内容、体系架构和研究目标,重点分析评述了作者所在研究团队在海空重力测量技术体系建设领域取得的一些有理论意义和实用价值的研究成果,主要从各项关键技术的研究背景、研究思路、难点突破、成果应用前景等几个方面进行了分析和总结,回答了该研究领域涉及理论方法和工程应用的一系列科学问题。其目的之一是向读者成体系地推荐我们多年积累的研究成果,目的之二是想借此机会通过回顾和梳理研究团队的发展轨迹和科学感悟,在新的起点上定位未来的发展方向、发展目标和发展思路。分三个部分进行介绍,本文为第一部分,主要涉及需求论证设计和仪器性能评估两个领域的研究成果。     

海洋动物行为控制技术分析及应用

以海豚、海狮、鲸等为代表的海洋动物具有发达的大脑,具备天生的潜水和超声波定位等卓越本领。利用海洋动物的这些特性及通过训练养成的反射动作,可以完成人类或水下航行器无法完成或难以完成的任务。海洋动物行为控制技术则是实现.上述功能的关键。通过对国外海洋动物部队及海洋动物行为控制技术的研究,从运动行为、条件反射和神经类型等方面分析了海洋动物行为控制技术的基本机理。在此基础上,分析了操作性条件反射和人工电刺激等两种主要的行为控制方法,提出了海洋动物行为控制技术的未来可能应用方向。研究表明,以正强化为主导的操作性条件反射方法在各国海洋动物控制实践中占据主要地位,而人工电刺激方法的研究则稍显迟滞且成功的应用实例较少。可以预见,海洋动物行为控制技术在未来的海洋争夺中必将发挥越来越重要的作用。     

Optimal design of two-dimensional wings in ground effect using multi-objective genetic algorithm

The shape optimization of the 2-dimensional wing in ground effect (WIG) has been performed by the integration of CFD (computational fluid dynamics) and MOGA (multi-objective genetic algorithm). Because of the trade-off between the aerodynamic forces and the height stability, it is difficult to satisfy the design requirements of efficiency and stability at the same time. In this study, the lift coefficient, the lift-drag ratio and the static height stability are chosen as the objective functions to obtain the optimal wing profiles of a WIG craft. An NACA0015 airfoil is used for the baseline model; the aerodynamic characteristics of the base model are compared with that of the optimal solutions. The profile of the airfoil is constructed by four Bezier curves with fourteen control points resulting in the eighteen coordinates, which are adopted as the design variables. The optimal solutions of the multi-objective optimization are not unique but a set of the non-dominated optima: the Pareto frontiers or a Pareto set. As the results of the multi-objective optimization, the forty Pareto optima, which include high-lift, high-efficiency, and more stable airfoils on the edge of the 3-dimensional objective space, are obtained at thirty evolutions of the generation.     

Study on the contact behavior of pipe and rollers in deep S-lay

S-lay is a widely used method for offshore pipe installation. In recent years, S-lay has gradually applied to the deepwater condition. Because of the increasing pipe weight in deep S-lay, there exist severe and complex contact problems between the overbend pipe and roller supports of the stinger. In deep S-lay design, it is difficult to solve this nonlinear mechanics problem, and there remain confusion and difficulties to predict the roller contact forces and the pipe strain level in S-lay design.The present paper develops a refined finite element model with the framework of ABAQUS, which considers the complex surface contact behaviors in the overbend section. The features of the contact state of different rollers within one roller box are discussed, and the resultant support forces from each roller box are calculated and compared with the commercial design code. The overbend strain level of five S-lay cases is investigated and the pipelaying safety is checked by DNV rules. The simulation results show that the proposed model can provide more accurate and reasonable predictions on roller forces and pipe strain distribution for deepwater S-lay design.     

Analysis of a jet-controlled high-lift hydrofoil with a flap

A jet-controlled high-lift hydrofoil with a flap is investigated using both experimental and computational methods. Experiments were carried out in a cavitation tunnel to measure forces and moment acting on the hydrofoil, and surface pressure distribution. The measured data show the feasibility of such a device for marine applications. Computational studies have also been carried out in parallel with the measurements. The computational results are analyzed in terms of global and local quantities using available experimental data. The present computational results compare well with the well-known experimental data for circulation control flows. The results for flow around a hydrofoil with a blown flap further validate the concept behind the proposed device. The results of the study demonstrate the applicability of the technology to the design of practical control surfaces.