Distribution of nonlinear wave crests

The distribution of nonlinear wave crests is examined on the basis of a theoretical probability density previously given elsewhere (J. Eng. Mech. 120 (1994) 1009). Certain errors contained in the original theoretical density are corrected, and the corresponding exceedance distribution is derived. The resulting theoretical forms of the probability density and exceedance distribution are then slightly simplified and compared with nonlinear wave data gathered under hurricane conditions. The results indicate that the proposed theoretical forms describe the observed distributions of large wave crests better than the Rayleigh law. However, the quantitative accuracy of the predictions is somewhat poor, as is typical of approximate theories based on Gram–Charlier-type expansions.     

Statistics of nonlinear wave crests and groups

Groups of large nonlinear waves with sharper higher crests can pose hazards to ships, induce harbor resonance and cause wave-overtopping of fixed and floating structures. Past interest in wave groups has mostly been focused on the statistics and modeling of linear wave groups. Studies on nonlinear wave groups are surprisingly few, and address deep water waves only. Here, statistics of nonlinear wave crests and wave-crest groups in deep and transitional water depths are considered, using an appropriate second-order representation for crest heights and the continuous wave-envelope approach. In particular, theoretical expressions describing the statistics of nonlinear wave crests and their groups are posed in the form of a simple second-order transformation of well-known results on linear waves. Predictions from the transformation so posed compare well with nonlinear wave data gathered in the North Sea, and demonstrate that nonlinearities do affect the statistics of large wave crests and their groups significantly.     

Robust and adaptive path following for underactuated autonomous underwater vehicles

This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle’s unknown physical parameters. The proposed controller is designed using Lyapunov’s direct method, the popular backstepping and parameter projection techniques. The closed loop path following errors can be made arbitrarily small. Interestingly, it is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology.     

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.     

Drag force on a circular cylinder in unseparated laminar high Reynolds number nonlinear random oscillatory flow

The stochastic properties of the drag force maxima on a circular cylinder subjected to nonlinear random waves are investigated. Unseparated laminar high Reynolds number flow is considered. A simplified approach based on second order Stokes waves is presented, including the sum-frequency effect only. It is demonstrated how a drag force formula valid for regular linear waves can be used to find the cumulative distribution function of individual drag force maxima for nonlinear irregular waves. Here the [Wang, 1968] drag force coefficient is used.