Ship Hull Slamming Analysis with Nonlinear Boundary Element Method

A boundary element method is developed for calculating the flare ship hull slamming problem. The nonlinear free surface elevation and the linear element assumption are employed. The method has been verified by comparisons with results for the water entry of wedges with various deadrise angles. Numerical results show that the pressure distribution varies greatly with the ship hull with different curvilinear equations, and the slamming features are also different; From the numerical simulation, the authors found that the structural damage of the flare hull might be caused by the increasing hydrodynamic pressure over an extensive area on the flare when the upper part of the flare comes into contact with water.

Review of Ship Slamming Loads and Responses

The paper presents an overview of studies of slamming on ship structures. This work focuses on the hull slamming, which is one of the most important types of slamming problems to be considered in the ship design process and the assessment of the ship safety. There are three main research aspects related to the hull slamming phenomenon, a) where and how often a slamming event occurs, b) slamming load prediction and c) structural response due to slamming loads. The approaches used in each aspect are reviewed and commented, together with the presentation of some typical results. The methodology, which combines the seakeeping analysis and slamming load prediction, is discussed for the global analysis of the hull slamming of a ship in waves. Some physical phenomena during the slamming event are discussed also. Recommendations for the future research and developments are made.

Experimental Investigation of Instantaneous Properties of Wave Slamming on the Plate

The purpose of this paper is to investigate the instantaneous properties of wave slanuning on the plate structure of an open structure. The advanced instantaneous measuring technique-Particle Image Velocimetry （PIV） is applied to acquire the instantaneous velocity field of wave slamming. From the cross-correlation analysis results of the images captured by the CCD camera, the flow fields of wave impacting on the structure are displayed visually, and the instantaneous whole- field fluid velocity vectors are obtained. The relation between the instantaneous peak impacting pressures and the instantaneous velocities of water particles is studied by probability analysis.

Sensitivity Analysis of the Effect of Speed and Inclination Angle on Water-Entry Slamming Pressure of the Bow

In this paper,a method about the water-entry slamming of a two-dimensional(2D)bow structure has been proposed based on the experimental and simulation results.According to this method,the sensitivity analysis has been carried out about the effect of speed and inclination angle on the slamming pressure of the bow.Firstly,a 2D ship bow experimental model was performed to obtain the slamming pressure distribution at different measuring points under different speeds.Then,numerical simulation for the water-entry slamming of this experimental model was conducted to obtain the pressure distribution on the experimental model under different working conditions.Finally,the experimental results were compared with the numerical simulation results to evaluate the effect of speed and inclination angle on the slamming pressure of the bow.The results show that the slamming pressure is more sensitive to speed variation within the low-speed range.The effect of inclination angle on the slamming pressure is more obvious in the small angle condition.When the inclination angle is larger than 45°,the effect is limited.

Strength Analysis on Brace Structure for Semi-Submersible in Consideration of Wave Slamming

Slamming on bracings of column stabilized units shall be considered as a possible limiting criterion under transit condition based on the requirements in DNV-OS-C103. However, the wave slamming loads under survival condition were ignored for the strength analysis of the brace structures in many semi-submersible projects. In this paper, a method of strength analysis of brace structure is proposed based on the reconstruction and extrapolation of numerical model. The full-scale mooring system, the wind, wave and current loads can be considered simultaneously. Firstly,the model tests of the semi-submersible platform in wind tunnel and wave tanker have been carried out. Secondly,the numerical models of the platform are reconstructed and extrapolated based on the results of model tests. Then, a nonlinear numerical analysis has been conducted to study the wave slamming load on brace in semi-submersible platform through the reconstructed and extrapolated numerical model. For the randomness of wave load, ten subcases under each condition have been carried out. The value of the 90% Gumble distribution values of the ten subcases are used. Finally, the strength on brace structure has been analyzed considering the wave slamming. The wave slamming loads have been compared between the survival condition and transit condition with the method. The results indicate that wave slamming under survival condition is more critical than that under transit condition.Meanwhile, the wave slamming is significant to the structural strength of the brace. It should be overall considered in the strength analysis of the brace structure.

Numerical Simulation of Large Diameter Cylindrical Structure Slamming

The water entry of large diameter cylindrical structure is studied by applying numerical simulation method. The processes of different diameter cyhndrical structures impacting water with various constant velocities are calculated numerically. Thereafter, analyzed are the distribution of slamming pressure on structure during slamming course and the influence of slamming velocity and cylindrical diameter on slamming process. Furthermore, presented herein is an equation being used to forecast the peak slamming force on a large diameter cylindrical structure.

Wave Slamming on An OWSC Wave Energy Converter in Coupled Wave-Current Conditions with Variable-Depth Seabed

Coastal wave energy resources have enormous exploitation potential due to shorter weather window,closer installation distance and lower maintenance cost.However,impact loads generated by depth variation from offshore to nearshore and wave-current interaction,may lead to a catastrophic damage or complete destruction to wave energy converters(WECs).This objective of this paper is to investigate slamming response of a coastal oscillating wave surge converter(OWSC)entering or leaving water freely.Based on fully nonlinear potential flow theory,a time-domain wave-current-structure interaction model combined with higher-order boundary element method(HOBEM),is developed to analyze the coupled hydrodynamic problem.The variable-depth seabed is considered in the model to illustrate the shallow water effect on impact loads and free surface profiles in coastal zone.A domain decomposition approach is utilized to simulate the overlapping phenomenon generated by a jet falling into water under gravity effect.Through a series of Lagrangian interpolation methods,the meshes on boundaries are rearranged to avoid the mismatch between element size on free surface and body surface.The present model is validated against the existing experimental and numerical results.Simulations are also provided for the effects of wave-current interaction and uneven local seabed on the slamming responses.It is found that the length of the splash jet increases for a following current and decreases for an opposing current,and that the slamming response of the OWSC device is sensitive to the geometric features of the uneven seabed.

Approximation Method for Flare Slamming Analysis of Large Container Ships in Parametric Rolling Conditions

Since the research of flare slamming prediction is seldom when parametric rolling happens, we present an efficient approximation method for flare slamming analysis of large container ships in parametric rolling conditions. We adopt a 6-DOF weakly nonlinear time domain model to predict the ship motions of parametric rolling conditions. Unlike previous flare slamming analysis, our proposed method takes roll motion into account to calculate the impact angle and relative vertical velocity between ship sections on the bow flare and wave surface. We use the Wagner model to analyze the slamming impact forces and the slamming occurrence probability. Through numerical simulations, we investigate the maximum flare slamming pressures of a container ship for different speeds and wave conditions. To further clarify the mechanism of flare slamming phenomena in parametric rolling conditions, we also conduct real-time simulations to determine the relationship between slamming pressure and 3-DOF motions, namely roll, pitch, and heave.

Development of Empirical Formulation for Bow Flare Slamming and Deck Wetness for Displacement Vessels

The paper presents an empirical method to calculate bow flare slamming pressure and the green water load. Many empirical formulae for various types of vessels have been provided by rules of ship classification societies. In the present work, attempt is made to develop generalized formulations for all types of displacement vessels. Extreme sea conditions are considered. Bow flare pressure is derived in terms of flare and waterline angles. Specific condition for limiting waterline angle is derived based on 2 D numerical simulations. Deck wetness is derived in terms of static and dynamic swell-up and the relative motion. Variation of static swell along the length is determined based on potential solution based analyses considering variation in vessels’ hull. 2 D wedge simulations are carried out to validate the formulation of dynamic swell-up. Results of the calculated bow flare and deck pressures are compared with various ship classification society formulations and the trends are found to be in good agreement in general barring at bow flare where lower pressure is found in most of the presented cases. Also IACS UR S21 A(2018) governing minimum pressure for deck scantlings is found to be conservative in few of the presented cases. Although scantlings assessment is not performed, the presented new formulations may help in realistic assessment of scantlings.

Waves of 3D Marine Structures Slamming at Different Initial Poses in Complex Wind-Wave-Flow Environments

Aimed at the hydrodynamic response for marine structures slamming into water, based on the mechanism analysis to the slamming process, and by combining 3D N-S equation and k-ε turbulent kinetic equation with structure fully 6DOF motion equation, a mathematical model for the wind-fluid-solid interaction is established in 3D marine structure slamming wave at free poses and wind-wave-flow complex environments. Compared with the results of physical model test, the numerical results from the slamming wave well correspond with the experimental results. Through the mathematical model, the wave-making issue of 3D marine structure at initial pose falls into water in different complex wind, wave and flow environments is investigated. The research results show that various kinds of natural factors and structure initial poses have different influence on the slamming wave, and there is an obvious rule in this process.

ELASTO-PLASTIC DYNAMIC BUCKLING AND POSTBUCKLING OF SQUARE PLATES UNDER SOLID-FLUID SLAMMING

The elasto-plastic dynamic buckling and postbuckling phenomena of square plates subjected to in-plane solid-fluid slamming are investigated. According to the plate's response, the critical criteria for dynamic buckling, dynamic plasticity and plastic collapse are defined, and the corresponding critical impulses are presented. Meanwhile, dynamic buckling modes and collapse models are observed. The effects of different boundary conditions and loading histories on the properties of buckling and postbuckling are discussed.

Hydroelastic Analysis of a Rectangular Plate Subjected to Slamming Loads

A hydroelastic analysis of a rectangular plate subjected to slamming loads is presented. An analytical model based on Wagner theory is used for calculations of transient slamming load on the ship plate. A thin isotropic plate theory is considered for determining the vibration of a rectangular plate excited by an external slamming force. The forced vibration of the plate is calculated by the modal expansion method. Analytical results of the transient response of a rectangular plate induced by slamming loads are compared with numerical calculations from finite element method. The theoretical slamming pressure based on Wagner model is applied on the finite element model of a plate. Good agreement is obtained between the analytical and numerical results for the structural deflection of a rectangular plate due to slamming pressure. The effects of plate dimension and wave profile on the structural vibration are discussed as well. The results show that a low impact velocity and a small wetted radial length of wave yield negligible effects of hydroelasticity.

Numerical research on slamming characteristics of aircraft landing on water

In order to investigate the impact characteristic of an aircraft landing on water,a computational fluid dynamics(CFD)simulation is conducted to explore the slamming characteristics of the NACA TN 2929 A model.The flow around the model is solved by using Reynolds-averaged Navier-Stokes equations with the shear stress transport(SST)k—ωturbulence model,based on finite volume method(FVM).The free surface is captured by using the volume of fluid(VOF)method,and the aircraft impact process is realized with help of overset mesh technology.Then,the effects of horizontal and vertical velocities and initial pitch angle on the slamming load,attitude change,impact pressure and flow field evolution are investigated.The results reveal that the horizontal velocity has a considerable influence on whether the aircraft’s horizontal tail hits the water,and further affects the maximum vertical load as well as the maximum pitch angle throughout the impact process.The vertical velocity determines the slamming load before the horizontal tail strikes the water,while the horizontal velocity has a significant effect on the load after the horizontal tail hits the water.A smaller initial pitch angle results in not only a heavier slamming load but also a more dramatic change of the posture after the aircraft impacts the water.The impact pressure of the aircraft is maximized at the junction of the approaching surface of the fuselage and the free surface.In some cases,the pressure is also concentrated on the undersurface of the horizontal tail.

基于多线激光雷达的井下斜坡道无人矿卡定位与建图方法

井下斜坡道的定位与建图是实现井下斜坡道无人驾驶的关键技术之一,矿山井下斜坡道区域为典型非结构化环境特征,且道路具有一定倾斜角度,采用传统SLAM算法无法获得精确里程计信息,导致定位与建图精度难以满足无人矿卡行驶需求。针对上述问题,通过研究激光SLAM(Simultaneous Localization And Mapping)算法LeGO-LOAM,笔者提出一种适用于矿山井下斜坡道环境的定位与建图方法。首先,针对井下斜坡道口两侧均为光滑水泥墙壁,特征点稀少问题,设计了基于人工路标的辅助增强定位方法,有效增加点云特征数量,从而优化位姿估计结果,避免建图漂移现象;然后在特征预处理阶段,提出了一种基于激光点云高度差与坡度信息融合的提取地面点高效算法,通过改善地面地点的选取策略,针对倾斜坑洼路面仍能有效识别地面点,解决了井下斜坡道定位与建图倾斜角度大、误差大等问题;其次,基于CVC(Curved-Voxel Clustering)聚类算法设计了一种斜坡道点云曲率体素聚类算法,采用曲率体素和基于哈希的数据结构对点云进行分割,大幅提高在井下稀疏、噪声环境下点云聚类的鲁棒性;最后,运用Scan-To-Map进行点云匹配,同时兼顾点云配准的性能与速度。在中钢集团山东某井下斜坡道的现场实验证明:与原算法相比精度提升13.15%,Z轴误差降低22.3%,地图质量明显提升,能有效解决井下无人驾驶建图及定位的难题。

动态场景下基于3D多目标追踪的实时视觉SLAM方法研究

近年来一些解决动态场景下的SLAM技术被提出,其中SLAM与MOT结合的技术路线不仅可解决动态场景问题,还可以提高系统对周围场景的理解,获得了更大关注。本文介绍了一种高效的实时在线视觉SLAMMOT融合系统,以双目视觉或RGBD作为输入,只须借助2D目标检测网络,便能高效、准确、鲁棒地跟踪相机以及动态目标的位姿,并生成稀疏点云地图。为提高多动态目标追踪的精度与准确度,引入了级联匹配与IOU匹配结合的策略;利用阿克曼转向模型来简化追踪目标的运动,减少求解动态目标位姿所需匹配点的数量;利用因子图将相机与动态目标的追踪结果进行联合优化,同时提高相机、追踪目标的位姿和地图点的精度。最后在KITTI跟踪数据集上与其他方法进行比较。结果表明,在满足实时性要求的前提下,该方法仍能准确地追踪相机以及动态目标位姿。

基于视觉同时定位与地图构建的水下图像增强式视觉三维重建方法

针对仿生机器鱼水下作业时面临的水下图像质量偏低、水下自主定位难的问题,提出一种颜色均衡与G-B通道先验融合的水下图像增强式算法。将该算法和视觉同时定位与地图构建(SLAM)方法结合,实现了水下图像增强式的视觉三维重建。在不同水域环境下进行了水下图像处理实验、水下环境视觉三维重建实验和运动轨迹跟踪实验,结果表明该方法有效提高了水下图像综合质量,特征匹配效率提高了16.03%,真实轨迹与估计轨迹的误差平均约为7.99 mm。

基于迭代卡尔曼滤波器的GPS-激光-IMU融合建图算法

在当前机器人导航和环境感知领域,室外大尺度场景下的三维激光SLAM一直是一个挑战性问题。由于GPS信号在某些环境下的不稳定性和激光SLAM的误差累积特性,传统算法在大尺度场景下表现不佳。针对室外大尺度场景下三维激光SLAM(同步定位和地图构建)存在的误差累积严重问题,本文提出了一种基于迭代卡尔曼滤波器的GPS-激光-IMU融合建图算法。该算法通过利用惯性测量单元(IMU)数据对机器人状态进行预测,同时以激光和全球定位系统(GPS)数据作为观测,更新机器人状态,推导出观测方程和雅可比矩阵,显著提高了建图的精度和鲁棒性。里程计中融合GPS数据的绝对位置信息以解决长时间运行中的误差累积问题。在特征稀疏的环境中,由于约束不足可能导致算法崩溃,GPS数据的引入可以提高系统的鲁棒性。此外,重力对于IMU数据预测机器人状态起到关键的作用。虽然重力是三维向量,但在不发生区域变化的情况下,其模长是不变的,因此被视为二自由度向量。通过将重力的优化转化为旋转矩阵群上的优化,成功避免了重力过参数化的问题,提高了算法的精度。在室外场景下与其他算法进行了性能测试对比并且验证了在大尺度场景下的鲁棒性和精度,结果表明:本文算法的均方根误差为0.089 m,与其他算法相比降低了54%。

改进ICP算法的激光雷达点云配准

针对传统ICP算法在激光雷达目标点云配准中存在匹配时间长,以及受初值影响导致该算法应用在无人车SLAM技术中容易存在定位精度不高和稳健性较差的问题,本文提出了一种结合KD-tree算法的NDT-ICP算法。首先,通过Voxel Grid滤波对激光雷达获取的点云数据进行预处理,利用平面拟合参数的方法去除地面点云;然后,利用NDT算法进行点云粗匹配,缩短目标点云与待匹配点云距离;最后,通过KD-tree邻近搜索法提高对应点查找速度,并通过优化收敛阈值,完成ICP算法的精匹配。试验结果表明,本文提出的改进算法相比于NDT算法和ICP算法,在点云配准速度和精度上有明显提高,且在地图构建上精度和稳健性更好。

基于激光SLAM辅助的陆用惯导行进间粗对准方法

目前常见的陆用惯导系统的行进间对准方法往往存在一些各自的问题,如GPS辅助时容易受到信号遮蔽影响;而里程计辅助时往往会受到机动路线约束的限制。针对这些问题,提出了一种激光SLAM系统信息辅助的陆用惯性导航系统(SINS)行进间粗对准算法,推导了基于激光SLAM系统视在速度观测矢量的姿态矩阵更新算法,利用基于REQUEST的双矢量定姿方法,实现初始常值姿态矩阵C_(b)^(n)(0)的求取,完成行进间的姿态粗对准和定位导航。在实验室无人车实验中,所提方法的对准姿态误差比里程计辅助的方法减小了约56%;同时与合作单位的综合实验验证结果表明,在进行250 s的行进间粗对准时,最终时刻的航向角误差为-0.0088°,实现5 min内达到1 mil的粗对准精度,所提算法可以有效实现激光SLAM信息辅助下的陆用惯导的行进间粗对准,并具有较快的收敛速度。

基于图优化的GNSS/双目视觉/惯性SLAM系统开发及应用

为提高机器人室外长航时定位精度,提出一种基于图优化的全球导航卫星系统(GNSS)/双目视觉/惯性同时定位与建图(SLAM)系统开发及应用。将空间中的线特征作为几何约束的补充,集成至前端的特征提取及后端的位姿优化线程,提升位姿解算精度。同时,以因子图构建联合优化的图结构,并推导出全局观测误差模型。近200 m的BullDog-CX机器人巡检结果表明,所提算法相比于VINSFusion和PL-VINS分别取得约12.6%及3.4%的定位精度提升,为室外机器人长航时导航提供了一种可行方案。