Numerical Modelling of Wash Waves Generated by Ships Moving over An Uneven Bottom

Unsteady wash waves generated by a ship with constant speed moving across an uneven bottom topography are investigated by numerical simulations based on a Mixed Euler–Lagrange(MEL) method. The transition is accomplished by the ship traveling from the depth h1 into the depth h2 via a step bottom. A small tsunami would be created after this transition. However, the unsteady wave-making resistance induced by this new phenomenon has not been well documented by literature. Therefore, the main purpose of the present study is to quantify the effects of an uneven bottom on the unsteady wash waves and wave-making resistance acting on the ship. An upwind differential scheme is commonly used in the Euler method to deal with the convection terms under free-surface condition to prevent waves in the upstream. Evidently, it cannot be applied to the present problem due to upstream waves generated by the ship would be dampened by the upwind scheme. The central differential scheme provides more accurate results,but it is not unconditionally stable. An MEL method is therefore employed to investigate the upstream wave generated by the ship moving over the uneven bottom. Simulation results show that the hydrodynamic interaction between the ship and the uneven bottom could initiate an upstream tsunami, as well as unsteady wave-making resistance on ships.The unsteady wave-making resistance oscillates periodically, and the amplitude and period of the oscillations are highly dependent on speed and water depth.

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.

Numerical and Experimental Study on Hydrodynamic Performance of A Novel Semi-Submersible Concept

The Multiple Column Platform(MCP) semi-submersible is a newly proposed concept, which differs from the conventional semi-submersibles, featuring centre column and middle pontoon. It is paramount to ensure its structural reliability and safe operation at sea, and a rigorous investigation is conducted to examine the hydrodynamic and structural performance for the novel structure concept. In this paper, the numerical and experimental studies on the hydrodynamic performance of MCP are performed. Numerical simulations are conducted in both the frequency and time domains based on 3D potential theory. The numerical models are validated by experimental measurements obtained from extensive sets of model tests under both regular wave and irregular wave conditions. Moreover, a comparative study on MCP and two conventional semi-submersibles are carried out using numerical simulation.Specifically, the hydrodynamic characteristics, including hydrodynamic coefficients, natural periods and motion response amplitude operators(RAOs), mooring line tension are fully examined. The present study proves the feasibility of the novel MCP and demonstrates the potential possibility of optimization in the future study.

EXPERIMENT STUDY ON SEDIMENT INCIPIENCE IN BACKWARD-FACING STEP FLOW

Flow over a backward-facing step was studied to investigate the effect of large-scale vortex structures on sediment incipience. The transient flow velocity field at the downstream of the backward-facing step was obtained using the technique of Particle Tracking Velocimetry （PTV）. The optical amplification technique was employed to measure the instantaneous flow velocities near the bed and the instantaneous bed shear stress was given. The experimental observations revealed a new insight into the oscillation of the large-scale structure and the three-dimensional characteristics of the flow. In particular, very high turbulence intensity, instantaneous horizontal velocity near the bed and the bed shear stress near the reattachment point were observed. The sediment incipient probability obtained from the sequent images of sediment particles near the bed indicates that the critical instantaneous shear stress of the sediment incipience is independent of flow conditions.