Statistical Assessment and Validation of Experimental and Computational Ship Response in Irregular Waves

2018 ◽  
Vol 3 (2) ◽  
Author(s):  
Matteo Diez ◽  
Riccardo Broglia ◽  
Danilo Durante ◽  
Angelo Olivieri ◽  
Emilio F. Campana ◽  
...  
Keyword(s):  
Fluid Dynamics ◽  
Degrees Of Freedom ◽  
Bootstrap Method ◽  
Irregular Waves ◽  
Vertical Acceleration ◽  
Block Bootstrap ◽  
Regular Wave ◽  
Bootstrap Methods ◽  
Irregular Wave ◽  
Head Waves

The objective of this work is to provide and use both experimental fluid dynamics (EFD) data and computational fluid dynamics (CFD) results to validate a regular-wave uncertainty quantification (UQ) model of ship response in irregular waves, based on a set of stochastic regular waves with variable frequency. As a secondary objective, preliminary statistical studies are required to assess EFD and CFD irregular wave errors and uncertainties versus theoretical values and evaluate EFD and CFD resistance and motions uncertainties and, in the latter case, errors versus EFD values. UQ methods include analysis of the autocovariance matrix and block-bootstrap of time series values (primary variable). Additionally, the height (secondary variable) associated with the mean-crossing period is assessed by the bootstrap method. Errors and confidence intervals of statistical estimators are used to define validation criteria. The application is a two-degrees-of-freedom (heave and pitch) towed Delft catamaran with a length between perpendiculars equal to 3 m (scale factor equal to 33), sailing at Froude number equal to 0.425 in head waves at scaled sea state 5. Validation variables are x-force, heave and pitch motions, vertical acceleration of bridge, and vertical velocity of flight deck. Autocovariance and block-bootstrap methods for primary variables provide consistent and complementary results; the autocovariance is used to assess the uncertainty associated with expected values and standard deviations and is able to identify undesired self-repetition in the irregular wave signal; block-bootstrap methods are used to assess additional statistical estimators such as mode and quantiles. Secondary variables are used for an additional assessment of the quality of experimental and simulation data as they are generally more difficult to model and predict than primary variables. Finally, the regular wave UQ model provides a good approximation of the desired irregular wave statistics, with average errors smaller than 5% and validation uncertainties close to 10%.

Alternative Methodologies for Subsea Flexible Strength Analysis

2018 ◽  
Author(s):  
Anskey A. Miranda ◽  
Fred P. Turner ◽  
Nigel Barltrop
Keyword(s):  
Real World ◽  
Wave Train ◽  
Irregular Waves ◽  
Wave Crest ◽  
Strength Analysis ◽  
New Wave ◽  
Regular Wave ◽  
Wave Analysis ◽  
Sea State ◽  
Irregular Wave

This paper presents a study of the analysis methodologies used to predict the most likely response of flexibles in a subsea environment, with the aim of determining an efficient and reliable prediction methodology. The most accurate method involves simulating multiple wave realisations of a real world sea state, i.e. irregular waves, and post-processing the results to determine the most probable maximum (MPM). Due to the computationally intensive nature of this approach, however, regular wave analysis is typically used to determine flexible response. This approach considers the maximum wave within a design storm at a desired period; the choice of periods may leave room for uncertainty in the conservatism of the approach. With proper screening, regular wave analysis can be a valid yet overly conservative approach resulting in over design and additional cost. However, if screened incorrectly, there is a possibility that the choice of periods could give results that are under conservative. In addition to regular wave analysis, the paper presents two alternative methodologies to determine the most likely response, with the focus on reducing the computational resources required. The first alternative is an ‘Irregular Wave Screen’ approach in which the wave train is screened at areas of interest for waves within a user defined threshold of the maximum wave height, in addition to other user defined parameters. Only waves within these parameters are simulated to determine responses. The second alternative is the ‘New Wave’ approach, which models the most probable wave elevation around the maximum wave crest. The calculated new wave is then placed at the desired location to determine responses. The responses of the Regular, Irregular Wave Screen and New Wave methodologies are compared with the Irregular MPM approach to determine their feasibility to predict the response of flexibles in a real world irregular sea state with lower computational requirements.

Improving Operating Window for Disconnect Operations of CWO Risers

2010 ◽  
Author(s):  
Guttorm Gryto̸yr
Keyword(s):  
Rigid Body ◽  
Wave Height ◽  
Irregular Waves ◽  
Regular Wave ◽  
Irregular Wave ◽  
Wave Approach ◽  
Tension Level ◽  
Rigid Body Model ◽  
Industry Practice ◽  
Operating Window

The term ‘riser recoil’ refers to the situation when the lower end of a top tensioned riser is released, and the riser is lifted up by the riser tensioner and/or top motion compensator system on the supporting vessel. The elastic energy stored in the riser is then released, and the riser ‘recoils’. This paper focuses on the case of planned disconnect, and builds on ref. [1] which was based on a simplified riser analysis using a rigid body to represent the riser. In the present paper, the methodology has been applied to an elastic riser model in the riser analysis software RIFLEX, from MARINTEK in Trondheim, Norway, which includes axial damping elements required for modeling of the tensioner systems. Completion and Work Over (CWO) risers are unique in the sense that they may be simultaneously connected to both the riser tensioner system and the top motion compensator system of a drilling vessel. A Marine Drilling riser, on the other hand, is only connected to the riser tensioner system. Typically the riser tensioner system has a stroke of ± 8–9 m, whereas the top motion compensator system has only ± 3.5–4 m. It is imperative that the connector is lifted clear of the subsea structure in order to avoid damage to the equipment after the riser has been disconnected. The operating window for planned disconnect of CWO risers is severely limited by the available stroke of the top motion compensator. One of the purposes of the disconnect analysis is to establish the maximum wave height at which there is still sufficient clearance between the connector and the subsea structure after disconnect. Previous experience has shown that this may be the governing limitation for workover operations. The analysis may also establish a maximum tension level, and seastate, to avoid hard stroke-out of the top motion compensator cylinders. This requires an elastic riser model, since a rigid body will yield unphysically large impulse loads in case of stroke-out. The current industry practice is to use a regular wave approach in the analysis. In accordance with ref. [1], the present analysis is performed with irregular wave analyses. The results are documented through a case study of a typical CWO riser system connected to a semi-submersible in typical North Sea environmental conditions. The semi-submersible and the CWO riser system are exposed to irregular waves. Comparison of the resulting allowable wave height shows that using the approach presented here with an elastic riser model yields less conservative results than the previous methodology with a rigid body model. This should be coupled to the findings with the rigid riser model, ref. [1], that irregular waves yield a considerable increase in the operating window, and the resulting operability, compared to a regular wave analysis. Hence, using a regular wave approach combined with a simplified riser model that neglects the flexibility of the riser is expected to yield overly conservative results for the EQDP elevation after disconnect.

Efficient Computation of Irregular Wave Wire Stresses in Flexible Risers

2018 ◽  
Author(s):  
Gabriel Rombado ◽  
Nathan Cooke ◽  
Dharma Pasala ◽  
Xianglei Ni ◽  
Andrew Low ◽  
...  
Keyword(s):  
Fatigue Life ◽  
Dynamic Simulation ◽  
Irregular Waves ◽  
Local Model ◽  
Regular Wave ◽  
Flexible Riser ◽  
Irregular Wave ◽  
Wave Approach ◽  
Dynamic Substructuring ◽  
Time Histories

Accurate computation of tensile armor wire stresses remains a major challenge in flexible riser fatigue life predictions and integrity management. Accuracy of the results relies heavily on capturing the kinematics of the flexible’s helically contra-wound tensile armor layers and their interaction with the other metallic and thermo-plastic layers in a dynamic simulation. The standard industry practice to assess the fatigue life of flexibles is to use high fidelity 3D Finite Element Models (FEMs) to capture the complex kinematics and produce accurate stresses. However, direct simulation of flexible riser detailed FEMs is limited to regular wave analyses and computation of wire stress time-histories subjected to irregular waves have been computationally infeasible. This is due to the complexity of the nonlinear FEM and the long simulation time of the irregular wave environment coupled with large number of fatigue sea states. As a result, simplified approaches which do not directly simulate the local model and instead assume that wire stresses can be interpolated based on static stress versus curvature material curves within a pre-defined tension /pressure envelope have been utilized. This paper utilizes Nonlinear Dynamic Substructuring (NDS), a simulation-based approach that that extends the framework of dynamic substructuring to nonlinear problems. NDS enables the efficient nonlinear dynamic simulation of multiple pitch lengths of detailed flexible riser FEM subjected to irregular wave inputs and the computation of wire stress time-histories at any location on the local model. In this paper, a 14-inch diameter flexible riser under consideration by ExxonMobil is subjected to vessel motion and wave load in irregular wave environments and is modeled using a detailed 3D FEM and simulated via NDS. The flexible riser design features four tensile armor layers to mitigate localized lateral buckling of the wires near the touch down point. Tension and curvature time-histories of the riser near the hang-off, calculated from a conventional beam model global analysis, is used to drive a 5.1m long local model. Irregular wave wire stress time-histories extracted at the corners of the tensile armor wires are used to compute the fatigue life of the flexible. To demonstrate the inaccuracies associated with the regular wave approach, fatigue life is computed via the regular wave approach and compared against the irregular wave approach. It is shown that the NDS capability to efficiently compute irregular waves mitigates over- and under-predictions due to environment idealizations leading to a more accurate and reliable flexible riser life prediction and structural integrity assessment.

Methodology for Disconnect Analysis of CWO Risers in Random Seas

2009 ◽  
Author(s):  
Guttorm Grytoyr ◽  
Anne Marthine Rustad ◽  
Nils Sodahl ◽  
Per Christian Bunaes
Keyword(s):  
Wave Height ◽  
Irregular Waves ◽  
Regular Wave ◽  
Irregular Wave ◽  
Wave Approach ◽  
Random Seas ◽  
Extreme Response ◽  
Industry Practice ◽  
Operating Window

The term ‘riser recoil’ refers to the situation when the lower end of a top tensioned riser is released, and the riser is lifted up by the riser tensioner and/or top motion compensator system on the supporting vessel. The elastic energy stored in the riser is then released, and the riser ‘recoils’. This paper focuses on the case of planned disconnect. Recoil of Marine Drilling Risers has been the subject of several research papers over the past two decades. Some examples are listed in references [2] through [7]. Completion and Work Over (CWO) risers are unique in the sense that they may be simultaneously connected to both the riser tensioner system and the top motion compensator system of a drilling vessel. A Marine Drilling riser, on the other hand, is only connected to the riser tensioner system. Typically the riser tensioner system has a stroke of ± 8–9 m, whereas the top motion compensator system has only ± 3.5–4 m. It is imperative that the connector is lifted clear of the subsea structure in order to avoid damage to the equipment after the riser has been disconnected. The operating window for planned disconnect of CWO risers is severely limited by the available stroke of the top motion compensator. One of the purposes of the disconnect analysis is to establish the maximum wave height at which there is still sufficient clearance between the connector and the subsea structure after disconnect. Previous experience has shown that this may be the governing limitation for workover operations. The current industry practice is to use a regular wave approach in the analysis. The wave frequency is varied in order to find the maximum response, and hence one is actually searching for the extreme response, without paying attention to the probability that this will occur. In this paper a new method is presented, where the analysis is based on an irregular wave approach and the Monte Carlo technique, using time-domain simulations. Acceptance criteria are established based on a stochastic analysis, and are based on target levels of probability of exceedance. The results are documented through a case study of a typical CWO riser system connected to a semi-submersible in typical North Sea environmental conditions. The semi-submersible and the CWO riser system are exposed to both regular and irregular waves. Comparison of the resulting allowable wave height indicates that using the approach presented here with irregular waves will give a considerable increase in the operating window, and the resulting operability, compared to a regular wave analysis.

scholarly journals OVERTOPPING OF RUBBLE-MOUND BREAKWATERS BY IRREGULAR WAVES

1976 ◽  
Vol 1 (15) ◽  
pp. 157
Author(s):  
Yvon Ouellet ◽  
Pierre Eubanks
Keyword(s):  
Wave Train ◽  
The Other ◽  
Irregular Waves ◽  
Regular Wave ◽  
Regular Waves ◽  
Irregular Wave ◽  
Wave Trains ◽  
Rubble Mound ◽  
The Stability ◽  
Rubble Mound Breakwaters

This paper describes the results of an experimental study on the effect of waves on rubble-mound breakwaters, wave transmission subsequent to wave overtopping, the stability of the three sides subjected to wave action and the effect of the breakwaters on waves. Two different rubble-mound breakwaters were tested, i. e. one with a rigid impermeable crest and the other with a flexible permeable crest. Tests were performed with both regular and irregular wave train systems. To obtain the simulated irregular wave trains, four theoretical spectra were chosen: Neumann, Bretschneider, Moskowitz, and Scott. Results obtained from tests with irregular wave trains were compared to those obtained from tests with regular wave trains. It was found that more information was obtained on the behaviour of the structure when it was submitted to the attack of irregular waves than when submitted to regular waves, and that the use of irregular wave trains gave more interesting results.

The Slow Drift Oscillations of a Moored Object in Random Seas

1972 ◽  
Vol 12 (03) ◽  
pp. 191-198 ◽  
Author(s):  
G.F.M. Remery ◽  
A.J. Hermans
Keyword(s):  
Wave Train ◽  
Model Tests ◽  
Regular Wave ◽  
Regular Waves ◽  
Frequency Oscillation ◽  
Wave Groups ◽  
Irregular Wave ◽  
Random Seas ◽  
Head Waves ◽  
Constant Part

Abstract The phenomenon of the slowly varying drifting force on a mowed object in a random sea is explained and illustrated from the results of several model tests with a rectangular barge. These tests, conducted at the Netherlands Ship Model Basin, were an extension of an object executed program. Using the results of measured or calculated drifting forces on an object moored in regular waves, a prediction can be Made of the drifting forces induced by wave trains consisting of regular wave groups. Also, for an irregular wave train the drifting force on the barge can be computed as a function of time, which makes it possible to calculate the surge motion of the barge. The results of tests and calculations show a reasonable agreement. Introduction In the last few years the problems concerning the mooring of objects in random seas have gained much attention as a result of the necessity to load and discharge big tankers in open sea, or because the sea bottom has to be explored and exploited by vessels operating from the water surface. Generally a floating object moored in waves will be subjected to forces causing horizontal and vertical motions and to moments causing angular motions about the horizontal and vertical axes. Here we will deal with the horizontal surge motion of a rectangular barge moored by means of linear springs in head waves. The surge motion can be split up into a mean excursion, a slowly varying motion, and a higher frequency oscillation around the slowly varying position. The period of the higher frequency oscillation is equal to that of the wave motion; and since a considerable amount of literature is available concerning this part of the motion, it will not be treated in this paper. From the results of model tests in regular waves the mean drifting force on the barge could be determined as a function of the wave frequency. Using these data, the long-periodical surge motion of the barge was calculated for different stiffnesses of the mooring system for the condition in which the barge was moored in a wave train consisting of regular wave groups. The results of these calculations are compared with model test results. From these and earlier executed tests it is clear that resonance phenomena may occur when the period with which the wave groups encounter the barge equals the natural period of the surge motion of the moored barge. period of the surge motion of the moored barge. It also appears to be possible to calculate the drifting force induced by regular wave groups when such a wave train is taken to consist of two regular waves with a small difference in frequency. The regular wave groups, used for a clear demonstration of certain long-periodical phenomena, have mainly educational value. Regular wave groups will seldom occur. Generally the wave height changes irregularly. To estimate the drifting forces exerted on an object in a particular irregular wave train as a function of time, a method exists which produces reasonable results. This method, based on the principle of known drifting force in regular waves, principle of known drifting force in regular waves, will be dealt with. Starting from the obtained drifting force, the surge motion of the object moored in this particular wave train can be calculated. This is illustrated by comparison of some calculated surge motion records with those of measured ones. THE DRIFTING FORCE IN REGULAR WAVES The hydrodynamic forces on an object floating in regular waves may be resolved in an oscillatory part and in a constant part, of which the latter is part and in a constant part, of which the latter is known as the steady drifting force. Maruo shows that, for the two-dimensional case of an infinitely long cylinder floating in regular waves with its axis perpendicular to the wave direction, the steady drifting force Fd per unit length satisfies: Fd = 1/2 pga . SPEJ P. 191

scholarly journals Evaluation of Inter-Observer Reliability of Animal Welfare Indicators: Which Is the Best Index to Use?

Animals ◽  
2021 ◽  
Vol 11 (5) ◽  
pp. 1445
Author(s):  
Mauro Giammarino ◽  
Silvana Mattiello ◽  
Monica Battini ◽  
Piero Quatto ◽  
Luca Maria Battaglini ◽  
...  
Keyword(s):  
Animal Welfare ◽  
Confidence Intervals ◽  
Bootstrap Method ◽  
Dairy Goat ◽  
Microsoft Excel ◽  
Bootstrap Methods ◽  
Welfare Indicators ◽  
Observer Reliability ◽  
High Concordance ◽  
Variance Estimates

This study focuses on the problem of assessing inter-observer reliability (IOR) in the case of dichotomous categorical animal-based welfare indicators and the presence of two observers. Based on observations obtained from Animal Welfare Indicators (AWIN) project surveys conducted on nine dairy goat farms, and using udder asymmetry as an indicator, we compared the performance of the most popular agreement indexes available in the literature: Scott’s π, Cohen’s k, kPABAK, Holsti’s H, Krippendorff’s α, Hubert’s Γ, Janson and Vegelius’ J, Bangdiwala’s B, Andrés and Marzo’s ∆, and Gwet’s γ(AC1). Confidence intervals were calculated using closed formulas of variance estimates for π, k, kPABAK, H, α, Γ, J, ∆, and γ(AC1), while the bootstrap and exact bootstrap methods were used for all the indexes. All the indexes and closed formulas of variance estimates were calculated using Microsoft Excel. The bootstrap method was performed with R software, while the exact bootstrap method was performed with SAS software. k, π, and α exhibited a paradoxical behavior, showing unacceptably low values even in the presence of very high concordance rates. B and γ(AC1) showed values very close to the concordance rate, independently of its value. Both bootstrap and exact bootstrap methods turned out to be simpler compared to the implementation of closed variance formulas and provided effective confidence intervals for all the considered indexes. The best approach for measuring IOR in these cases is the use of B or γ(AC1), with bootstrap or exact bootstrap methods for confidence interval calculation.

Irregular Wave and Current Loads on a Fish Farm System

2018 ◽  
Author(s):  
Arnt G. Fredriksen ◽  
Basile Bonnemaire ◽  
Øyvind Nilsen ◽  
Leiv Aspelund ◽  
Andreas Ommundsen
Keyword(s):  
Particle Velocity ◽  
Fish Farm ◽  
Fluid Particle ◽  
Irregular Waves ◽  
Engineering Practice ◽  
Irregular Wave ◽  
Environmental Force ◽  
The Mean ◽  
Particle Velocities ◽  
Farm System

Accurate calculation of the design mooring loads on an aquaculture fish farm mooring system is often a difficult task. The fish farm system has a large horizontal extension with variable environmental conditions across the entire structure. In addition, the drag loads on the fish nets are thought to be the governing environmental force. This means that the mean position of the fish farm is a function of the mean of the fluid particle velocity squared, where the fluid particle velocity must be taken as the sum of current and wave induced fluid particle velocities. Additional offsets will be slowly varying, where the response time will depend on the total mooring stiffness. The magnitudes depend on the height and length on wave groups in the irregular sea state. The paper presents simulations of the response of such a system to a set of combined irregular waves and current conditions. The response evolution in time is discussed as well as parameters affecting the maximum responses in the systems (displacements and loads). Finally, the resulting loads on the fish farm in irregular waves are compared to loads obtained in equivalent regular waves, as this is an often used engineering practice when analyzing the response and mooring loads of a fish farm.

Numerical Simulation of Multiple Floating Structures With Nonlinear Constraints

2002 ◽  
Vol 124 (2) ◽  
pp. 104-109 ◽  
Author(s):  
Subrata K. Chakrabarti
Keyword(s):  
Degrees Of Freedom ◽  
Order Theory ◽  
Frequency Domain Analysis ◽  
Body Motion ◽  
Single Frequency ◽  
Integration Scheme ◽  
Mooring Lines ◽  
Floating Structures ◽  
Irregular Wave ◽  
Exciting Forces

A versatile and efficient numerical analysis is developed to compute the responses of a moored floating system composed of multiple floating structures. Structures such as tankers, semisubmersibles, FPSOs, SPARs, TLPs, and SPMs connected by mooring lines, connectors or fenders may be analyzed individually or collectively including multiple interaction. The analysis is carried out in the time domain assuming rigid body motion for the structures, and the solution is generated by a forward integration scheme. The analysis includes the nonlinearities in the excitation, damping, and restoring terms encountered in a typical mooring system configuration. It also allows for instabilities in the tower oscillation as well as slack mooring lines. Certain simplifications in the analysis have been made, which are discussed. The exciting forces in the analysis are wind, current, and waves (including a steady and an oscillating drift force), which are not necessarily collinear. The waves can be single frequency or composed of multiple frequency components. For regular waves either linear, stretched linear or fifth order theory may be used. The irregular wave may be included as a given spectral model (e.g., PM or JONSWAP). The vessels are free to respond to the exciting forces in six degrees of freedom—surge, sway, heave, roll, pitch, and yaw. The tower, when present, is free to respond in two degrees of freedom—oscillation and precession. The loads in the mooring lines are determined from prescribed tension-strain tables for the lines. Rigid mooring arms can be analyzed by allowing for compression in the load-strain table. Fenders may be input similarly through load compression tables. In order to establish the stability and accuracy of the solution, comparison of the results with linearized frequency domain analysis was made. The analysis is verified by several different model test results for different structure configurations in regular and random seas. Some of the interesting aspects of nonlinear system are shown with a few examples.

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