Numerical Evaluation of Ship Turning Performance in Regular and Irregular Waves

2019 ◽  
Vol 142 (2) ◽  
Author(s):  
Min-Guk Seo ◽  
Bo Woo Nam ◽  
Yeon-Gyu Kim
Keyword(s):  
Experimental Data ◽  
Degrees Of Freedom ◽  
Irregular Waves ◽  
Time Signal ◽  
Group Model ◽  
Frequency Wave ◽  
Wave Condition ◽  
Wave Drift ◽  
Mmg Model ◽  
Drift Force

Abstract In this study, ship's maneuvering performance in waves is evaluated using numerical computation. To this end, three degrees-of-freedom (3DOF) planar motions are considered, and modular-type maneuvering model (maneuvering modeling group model (MMG model)) is applied. As external force of the equation of motion, hull force, propulsion force, rudder force, and wave drift force are adopted. In order to calculate wave drift force, seakeeping program which is based on a higher-order Rankine panel method is used by considering wave frequency, wave heading, ship's forward speed, and ship's lateral speed. This wave drift force is pre-calculated, made into database, and used in time domain simulation. The developed simulation program is validated by comparing the computation results of a turning test in regular waves with experimental data. Using this program, turning performance in irregular waves is evaluated and sensitivities for time signal of wave elevation are investigated. Through this study, it is confirmed that the simplified method based on the MMG model including wave drift force can provide good agreement with experimental data in a practical point of view. It can be observed that the simulation results considering the lateral speed show better agreement with the experimental data than those without consideration. In the case of irregular wave condition, the turning performance can be affected by wave random phases. When the ship encounters the beam sea during the turning operation, the wave elevations at that time play an essential role in the change of ship speed and turning trajectory.

Numerical Evaluation of Ship Maneuvering Performance in Waves

2018 ◽  
Author(s):  
Min-Guk Seo ◽  
Bo Woo Nam ◽  
Yeon-gyu Kim
Keyword(s):  
Irregular Waves ◽  
Time Signal ◽  
Regular Waves ◽  
Ship Maneuvering ◽  
Wave Drift ◽  
Mmg Model ◽  
Free Running ◽  
Drift Force ◽  
Wave Drift Forces ◽  
Drift Forces

This paper considers a numerical computation of ship maneuvering performance in waves. For this purpose, modular-type maneuvering model (MMG model) is adopted and wave drift forces and moments are included in maneuvering equation of motion. Wave drift forces ware calculated using a seakeeping program based on higher-order Rankine panel method. When calculating the wave drift force acting on a ship, the forward speed, wave heading, wave period and drift angle of the ship are considered as key parameters. It means that ship’s lateral speed is also included to calculate wave drift force. Numerical simulations are carried out in regular waves using S175 containership and computation results are validated by comparing them with results of free-running model test. Using the developed program, numerical simulation in irregular waves are, also, conducted and discussion is made on the sensitivities of time signal of wave elevation on turning performance.

Study on Dynamic Responses of a TLP in Waves

1987 ◽  
Vol 109 (1) ◽  
pp. 61-66 ◽  
Author(s):  
M. Kobayashi ◽  
K. Shimada ◽  
T. Fujihira
Keyword(s):  
Three Dimensional ◽  
Time History ◽  
Dynamic Responses ◽  
Irregular Waves ◽  
Fluid Viscosity ◽  
Regular Waves ◽  
Distribution Method ◽  
Wave Drift ◽  
Drift Force ◽  
Singularity Distribution

The dynamic responses of a TLP (Tension Leg Platform) in regular and irregular waves were investigated by model tests and calculations in both frequency and time domain. Hydrodynamic forces in regular waves were calculated by the three-dimensional singularity distribution method. Furthermore, a contribution of the fluid viscosity to wave drift force was discussed. Usefulness of the time history simulation was confirmed in the comparison between experimental and calculated time traces.

Mean- and Low-Frequency Wave Forces on Semisubmersibles

1982 ◽  
Vol 22 (04) ◽  
pp. 563-572
Author(s):  
J.A. Pinkster
Keyword(s):  
Low Frequency ◽  
Second Order ◽  
Irregular Waves ◽  
Wave Forces ◽  
Frequency Wave ◽  
First Order ◽  
Wave Drift ◽  
Frequency Components ◽  
Wave Drift Forces ◽  
Drift Forces

Abstract Mean- and low-frequency wave drift forces on moored structures are important with respect to low-frequency motions and peak mooring loads. This paper addresses prediction of these forces on semisubmersible-type structures by use of computations based on three-dimensional (3D) potential theory. The discussion includes a computational method based on direct integration of pressure on the wetted part of the hull of arbitrarily shaped structures. Results of computations of horizontal drift forces on a six-column semisubmersible are compared with model tests in regular and irregular waves. The mean vertical drift forces on a submerged horizontal cylinder obtained from model tests also are compared with results of computations. On the basis of these comparisons, we conclude that wave drift forces on semisubmersible-type structures in conditions of waves without current can be predicted with reasonable accuracy by means of computations based on potential theory. Introduction Stationary vessels floating or submerged in irregular waves are subjected to large first-order wave forces and moments that are linearly proportional to the wave height and that contain the same frequencies as the waves. They also are subjected to small second-order mean- and low- frequency wave forces and moments that are proportional to the square of the wave height. Frequencies of second-order low-frequency components are associated with the frequencies of wave groups occurring in irregular waves.First-order wave forces and moments cause the well-known first-order motions with wave frequencies. First-order wave forces and motions have been investigated for several decades. As a result of these investigations, methods have been developed to predict these forces and moments with reasonable accuracy for many different vessel shapes.For semisubmersibles, which consist of a number of relatively slender elements such as columns, floaters, and bracings, computation methods have been developed to determine the hydrodynamic loads on those elements without accounting for interaction effects between the elements. For the first-order wave loads and motion problem, these computations give accurate results.This paper deals with the mean- and low-frequency second-order wave forces acting on stationary vessels in regular and irregular waves in general and presents a method to predict these forces on the basis of computations.The importance of mean- and low-frequency wave drift forces, from the point of view of motion behavior and mooring loads on vessels moored at point of view of motion behavior and mooring loads on vessels moored at sea, has been recognized only within the last few years. Verhagen and Van Sluijs, Hsu and Blenkarn, and Remery and Hermans showed that the low-frequency components of wave drift forces in irregular waves-even though relatively small in magnitude-can excite large-amplitude low- frequency horizontal motions in moored structures. It was shown for irregular waves that the drift forces contain components with frequencies coinciding with the natural frequencies of the horizontal motions of moored vessels. Combined with minimal damping of low-frequency horizontal motions of moored structures, this leads to large-amplitude resonant behavior of the motions (Fig. 1). Remery and Hermans established that low-frequency components in drift forces are associated with the frequencies of wave groups present in an irregular wave train.The vertical components of the second-order forces sometimes are called suction forces. SPEJ p. 563

Low Frequency Wave Loads and Damping of Four MODUs in Severe Seastates With Current

2020 ◽  
Vol 143 (1) ◽  
Author(s):  
Nuno Fonseca ◽  
Carl Trygve Stansberg ◽  
Kjell Larsen ◽  
Rune Bjørkli ◽  
Tjerand Vigesdal ◽  
...  
Keyword(s):  
Empirical Formula ◽  
Potential Flow ◽  
Transfer Functions ◽  
Low Frequency ◽  
Irregular Waves ◽  
Experimental Program ◽  
Frequency Wave ◽  
Numerical Predictions ◽  
Wave Drift ◽  
Semi Empirical

Abstract Model tests have been performed with four mobile offshore drilling units (MODUs) with the aim of identifying wave drift forces and low-frequency damping. The MODUs configuration is different, namely on the number and diameter of columns; therefore, the sample is representative of many of the existing concepts. The model scale is the same as well as the wave and current conditions. The experimental program includes irregular waves with systematic variations of the significant wave height, wave peak period, current velocity, and vessel heading. A nonlinear data analysis technique (cross bi-spectral analysis) is applied to identify the surge and sway quadratic transfer functions (QTFs) of the slowly varying excitation, together with the linearized low-frequency damping. The paper also presents a semi-empirical formula developed in the scope of the EXWAVE JIP to correct potential flow mean wave drift force coefficients of Semis in high seastates with current. The empirical QTFs are then compared with numerical predictions. Comparisons with potential flow coefficients lead to conclusions on the role of viscous drift. The semi-empirical formula is assessed based on comparisons with test results and concluded that it provides a significant improvement compared to potential flow predictions.

Three-dimensional asymmetric maximum weight lifting prediction considering dynamic joint strength

2021 ◽  
pp. 095441192098703
Author(s):  
Rahid Zaman ◽  
Yujiang Xiang ◽  
Jazmin Cruz ◽  
James Yang
Keyword(s):  
Experimental Data ◽  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Three Dimensional ◽  
Optimization Method ◽  
Weight Lifting ◽  
Joint Torque ◽  
Maximum Weight ◽  
Angular Velocities ◽  
Asymmetric Lifting

In this study, the three-dimensional (3D) asymmetric maximum weight lifting is predicted using an inverse-dynamics-based optimization method considering dynamic joint torque limits. The dynamic joint torque limits are functions of joint angles and angular velocities, and imposed on the hip, knee, ankle, wrist, elbow, shoulder, and lumbar spine joints. The 3D model has 40 degrees of freedom (DOFs) including 34 physical revolute joints and 6 global joints. A multi-objective optimization (MOO) problem is solved by simultaneously maximizing box weight and minimizing the sum of joint torque squares. A total of 12 male subjects were recruited to conduct maximum weight box lifting using squat-lifting strategy. Finally, the predicted lifting motion, ground reaction forces, and maximum lifting weight are validated with the experimental data. The prediction results agree well with the experimental data and the model’s predictive capability is demonstrated. This is the first study that uses MOO to predict maximum lifting weight and 3D asymmetric lifting motion while considering dynamic joint torque limits. The proposed method has the potential to prevent individuals’ risk of injury for lifting.

Motion Characteristics of Composite-Type Sea Cage under Pure Wave

2012 ◽  
Vol 490-495 ◽  
pp. 3405-3409
Author(s):  
Chun Liu Li ◽  
Yun Peng Zhao
Keyword(s):  
Experimental Data ◽  
Wave Height ◽  
Vertical Motion ◽  
Data Acquisition System ◽  
Horizontal Motion ◽  
Wave Condition ◽  
Composite Type ◽  
Motion Range ◽  
Motion Characteristics ◽  
Sea Cage

To study motion range changes with wave condition and motion relationship between cages, physical model experiments were carried out. The authors designed 2 models of composite-type sea cages. Experimental data obtained by the CCD data acquisition system. The experiment results showed that 1.in the same period, horizontal motion range,vertical motion range and inclination changes of float collar increase with wave height; 2.In the same wave height, horizontal motion range of the float collar increases with period; 3.The laws between vertical motion and period are not obvious 4.The laws between inclination changes and period are not obvious 5.Motion range of the first cage along the direction of waves is less than other cages.

Mean Wave Drift Force on a Barge-Type Floating Wind Turbine With Moonpools

2021 ◽  
Author(s):  
Lei Tan ◽  
Tomoki Ikoma ◽  
Yasuhiro Aida ◽  
Koichi Masuda
Keyword(s):  
Wind Turbine ◽  
Vertical Axis ◽  
Offshore Wind ◽  
Hydrodynamic Performance ◽  
Vertical Axis Wind Turbine ◽  
Rotating Speed ◽  
Wave Drift ◽  
Floating Offshore Wind Turbines ◽  
Drift Force ◽  
Gyroscopic Effects

Abstract The barge-type foundation with moonpool(s) is a promising type of platform for floating offshore wind turbines, since the moonpool(s) could improve the hydrodynamic performance at particular frequencies and reduce the costs of construction. In this paper, the horizontal mean drift force and yaw drift moment of a barge-type platform with four moonpools are numerically and experimentally investigated. Physical model tests are carried out in a wave tank, where a 2MW vertical-axis wind turbine is modelled in the 1:100 scale. By varying the rotating speed of the turbine and the mass of the blades, the gyroscopic effects due to turbine rotations on the mean drift forces are experimentally examined. The wave diffraction and radiation code WAMIT is used to carry out numerical analysis of wave drift force and moment. The experimental results indicate that the influence of the rotations of a vertical-axis wind turbine on the sway drift force is generally not very significant. The predictions by WAMIT are in reasonable agreement with the measured data. Numerical results demonstrate that the horizontal mean drift force and yaw drift moment at certain frequencies could be reduced by moonpool(s).

Calibration of a Time-Domain Hydrodynamic Model for A 12 MW Semi-Submersible Floating Wind Turbine

2021 ◽  
Author(s):  
Carlos Eduardo Silva de Souza ◽  
Nuno Fonseca ◽  
Petter Andreas Berthelsen ◽  
Maxime Thys
Keyword(s):  
Numerical Model ◽  
Wind Turbine ◽  
Time Domain ◽  
Quadratic Model ◽  
Wave Loads ◽  
Frequency Wave ◽  
Load Models ◽  
Wave Drift ◽  
Floating Wind Turbine ◽  
Decay Tests

Abstract Design optimization of mooring systems is an important step towards the reduction of costs for the floating wind turbine (FWT) industry. Accurate prediction of slowly-varying horizontal motions is needed, but there are still questions regarding the most adequate models for low-frequency wave excitation, and damping, for typical FWT concepts. To fill this gap, it is fundamental to compare existing load models against model tests results. This paper describes a calibration procedure for a three-columns semi-submersible FWT, based on adjustment of a time-domain numerical model to experimental results in decay tests, and tests in waves. First, the numerical model and underlying assumptions are introduced. The model is then validated against experimental data, such that the adequate load models are chosen and adjusted. In this step, Newman’s approximation is adopted for the second-order wave loads, using wave drift coefficients obtained from the experiments. Calm-water viscous damping is represented as a linear and quadratic model, and adjusted based on decay tests. Additional damping from waves is then adjusted for each sea state, consisting of a combination of a wave drift damping component, and one component with viscous nature. Finally, a parameterization procedure is proposed for generalizing the results to sea states not considered in the tests.

Fully Nonlinear Potential/RANSE Simulation of Wave Interaction With Ships and Marine Structures

2008 ◽  
Author(s):  
Pierre Ferrant ◽  
Lionel Gentaz ◽  
Bertrand Alessandrini ◽  
Romain Luquet ◽  
Charles Monroy ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Stokes Equations ◽  
Wave Interaction ◽  
Irregular Waves ◽  
Navier Stokes ◽  
Viscous Effects ◽  
Navier Stokes Equations ◽  
Fully Nonlinear ◽  
Nonlinear Potential ◽  
6 Degrees Of Freedom

This paper documents recent advances of the SWENSE (Spectral Wave Explicit Navier-Stokes Equations) approach, a method for simulating fully nonlinear wave-body interactions including viscous effects. The methods efficiently combines a fully nonlinear potential flow description of undisturbed wave systems with a modified set of RANS with free surface equations accounting for the interaction with a ship or marine structure. Arbitrary incident wave systems may be described, including regular, irregular waves, multidirectional waves, focused wave events, etc. The model may be fixed or moving with arbitrary speed and 6 degrees of freedom motion. The extension of the SWENSE method to 6 DOF simulations in irregular waves as well as to manoeuvring simulations in waves are discussed in this paper. Different illlustative simulations are presented and discussed. Results of the present approach compare favorably with available reference results.

scholarly journals A three-dimensional musculoskeletal model of the dog

2020 ◽  
Author(s):  
Heiko Stark ◽  
Martin S. Fischer ◽  
Alexander Hunt ◽  
Fletcher Young ◽  
Roger Quinn ◽  
...  
Keyword(s):  
Experimental Data ◽  
Body Size ◽  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Musculoskeletal Model ◽  
Muscle Synergy ◽  
Locomotor System ◽  
Wide Range ◽  
Joint Load

AbstractDogs are an interesting object of investigation because of the wide range of body size, body mass, and physique. In the last several years, the number of clinical and biomechanical studies on dog locomotion has increased. However, the relationship between body structure and joint load during locomotion, as well as between joint load and degenerative diseases of the locomotor system (e.g. dysplasia), are not sufficiently understood. In vivo measurements/records of joint forces and loads or deep/small muscles are complex, invasive, and sometimes ethically questionable. The use of detailed musculoskeletal models may help in filling that knowledge gap. We describe here the methods we used to create a detailed musculoskeletal model with 84 degrees of freedom and 134 muscles. Our model has three key-features: Three-dimensionality, scalability, and modularity. We tested the validity of the model by identifying forelimb muscle synergies of a beagle at walk. We used inverse dynamics and static optimization to estimate muscle activations based on experimental data. We identified three muscle synergy groups by using hierarchical clustering. Predicted activation patterns exhibited good agreement with experimental data for most of the forelimb muscles. We expect that our model will speed up the analysis of how body size, physique, agility, and disease influence joint neuronal control and loading in dog locomotion.

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