Mathematical Modeling of Moored Ship Motion in Arbitrary Harbor utilizing the Porous Breakwater

The motion of the moored ship in the harbor is a classical hydrodynamics problem that still faces many challenges in naval operations,such as cargo transfer and ship pairings between a big transport ship and some small ships.A mathematical model is presented based on the Laplace equation utilizing the porous breakwater to investigate the moored ship motion in a partially absorbing/reflecting harbor.The motion of the moored ship is described with the hydrodynamic forces along the rotational motion(roll,pitch,and yaw)and translational motion(surge,sway,and heave).The efficiency of the numerical method is verified by comparing it with the analytical study of Yu and Chwang(1994)for the porous breakwater,and the moored ship motion is compared with the theoretical and experimental data obtained by Yoo(1998)and Takagi et al.(1993).Further,the current numerical scheme is implemented on the realistic Visakhapatnam Fishing port,India,in order to analyze the hydrodynamic forces on moored ship motion under resonance conditions.The model incorporates some essential strategies such as adding a porous breakwater and utilizing the wave absorber to reduce the port’s resonance.It has been observed that these tactics have a significant impact on the resonance inside the port for safe maritime navigation.Therefore,the current numerical model provides an efficient tool to reduce the resonance within the arbitrarily shaped ports for secure anchoring.

A Hybrid BPNN-GARF-SVR Prediction Model Based on EEMD for Ship Motion

Accurate prediction of shipmotion is very important for ensuringmarine safety,weapon control,and aircraft carrier landing,etc.Ship motion is a complex time-varying nonlinear process which is affected by many factors.Time series analysis method and many machine learning methods such as neural networks,support vector machines regression(SVR)have been widely used in ship motion predictions.However,these single models have certain limitations,so this paper adopts amulti-model prediction method.First,ensemble empirical mode decomposition(EEMD)is used to remove noise in ship motion data.Then the randomforest(RF)prediction model optimized by genetic algorithm(GA),back propagation neural network(BPNN)prediction model and SVR prediction model are respectively established,and the final prediction results are obtained by results of three models.And the weights coefficients are determined by the correlation coefficients,reducing the risk of prediction and improving the reliability.The experimental results show that the proposed combined model EEMD-GARF-BPNN-SVR is superior to the single predictive model and more reliable.The mean absolute percentage error(MAPE)of the proposed model is 0.84%,but the results of the single models are greater than 1%.

Numerical Prediction of Added Resistance and Vertical Ship Motions in Regular Head Waves

The numerical prediction of added resistance and vertical ship motions of one ITTC （Intemational Towing Tank Conference） S-175 containership in regular head waves by our own in-house unsteady RANS solver naoe-FOAM-SJTU is presented in this paper. The development of the solver naoe-FOAM-SJTU is based on the open source CFD tool, OpenFOAM. Numerical analysis is focused on the added resistance and vertical ship motions （heave and pitch motions） with four very different wavelengths （ 0.8Lpp 〈 2 〈 1.5L ） in regular head waves. Once the wavelength is near the length of the ship model, the responses of the resistance and ship motions become strongly influenced by nonlinear factors, as a result difficulties within simulations occur. In the paper, a comparison of the experimental results and the nonlinear strip theory was reviewed and based on the findings, the RANS simulations by the solver naoe-FOAM-SJTU were considered competent with the prediction of added resistance and vertical ship motions in a wide range of wave lengths.

Modeling of Multi-Freedom Ship Motions in Irregular Waves with Fuzzy Neural Networks

In this paper, the neural network technology is combined with the fuzzy set theory to model the wave-induced ship motions in irregular seas. This combination makes possible the handling of a non-linear dynamic system with insufficient input information. The numerical results from the strip theory are used to train the networks and to demonstrate the validity of the proposed procedure.

Moored Ship Motions due to Tropical Cyclone Linda

Severe wind-wave due to tropical cyclone Linda can cause port downtime which affects port operations such as berthing, mooting and （un）loading of the ship. The ship motions are criteria for limiting the port operations, human safety and preventing the damage of port equipment and furniture. Therefore, this study discusses moored ship motions due to severe wind-wave during the tropical cyclone Linda which entered the Gulf of Thailand in November 1997. The ship motions are represented in the moored ship analysis at SRH （Sriracha Harbour Port） and BLCP （BLCP Coal-Fired Power Plant Port）, and are subject to the static environmental load on the ship in accordance with Spanish Standard （ROM 0.2-1990） [1]. The environment in numerical model is derived from the wave model and hydrodynamics model using the application of Delft3D-WAVE and Delft3D-FLOW. The model location includes Ao Udom Bay and Rayong Sea. The model results represent the environment at Rayong Sea which is more severe than Ao Udom Bay. The ship motions at BLCP are mostly larger than SRH.

Sloshing-Coupled Ship Motion Algorithm for Estimation of Slosh-Induced Pressures

The effect of coupling between sloshing and ship motions in the evaluation of slosh-induced interior pressures is studied. The coupling between sloshing loads and ship motions is modelled through a hybrid algorithm which combines a potential flow solution based on transient Green function for the external ship hydrodynamics with a viscous flow solution based on a multiphase interface capturing volume of fluid(VOF) technique for the interior sloshing motion. The coupled algorithm accounts for full nonlinear slosh forces while the external forces on the hull are determined through a blended scheme of linear radiationdiffraction with nonlinear Froude-Krylov and restoring forces. Consideration of this level of nonlinearities in ship motions is found to have non-negligible effects on the slosh-coupled responses and slosh-induced loads. A scheme is devised to evaluate the statistical measure of the pressures through long-duration simulation studies in extreme irregular waves. It is found that coupling significantly influences the tank interior pressures, and the differences in the pressures between coupled and uncoupled cases can be as much as 100% or more. To determine the RAO over the frequency range needed for the simulation studies in irregular waves, two alternative schemes are proposed, both of which require far less computational time compared to the conventional method of finding RAO at each frequency, and the merits of these are discussed.

Simulation System Design of 3-D Panorama of Ship Motions in Wave

In this paper a 3-D panoramic simulation system of a ship is described which is developed with the MAXSCRIPT language and VC++ as programming tools on the platform of 3Dsmax. The strip theory method is applied to the motion prediction of the mono-hull. The time history solutions of heave and pitch are obtained in the condition of head sea to provide the primary data on panoramic simulation. The simulation system has following functions: 1)digital simulation;2) panoramic simulation; 3) environmental set-up; 4) render preview and output.

A Time-Domain Numerical Simulation for Free Motion Responses of Two Ships Advancing in Head Waves

The constant panel method within the framework of potential flow theory in the time domain is developed for solving the hydrodynamic interactions between two parallel ships with forward speed.When solving problems within a time domain framework,the free water surface needs to simultaneously satisfy both the kinematic and dynamic boundary conditions of the free water surface.This provides conditions for adding artificial damping layers.Using the Runge−Kutta method to solve equations related to time.An upwind differential scheme is used in the present method to deal with the convection terms on the free surface to prevent waves upstream.Through the comparison with the available experimental data and other numerical methods,the present method is proved to have good mesh convergence,and satisfactory results can be obtained.The constant panel method is applied to calculate the hydrodynamic interaction responses of two parallel ships advancing in head waves.Numerical simulations are conducted on the effects of forward speed,different longitudinal and lateral distances on the motion response of two modified Wigley ships in head waves.Then further investigations are conducted on the effects of different ship types on the motion response.

Multipoint Heave Motion Prediction Method for Ships Based on the PSO-TGCN Model

During ship operations,frequent heave movements can pose significant challenges to the overall safety of the ship and completion of cargo loading.The existing heave compensation systems suffer from issues such as dead zones and control system time lags,which necessitate the development of reasonable prediction models for ship heave movements.In this paper,a novel model based on a time graph convolutional neural network algorithm and particle swarm optimization algorithm(PSO-TGCN)is proposed for the first time to predict the multipoint heave movements of ships under different sea conditions.To enhance the dataset's suitability for training and reduce interference,various filter algorithms are employed to optimize the dataset.The training process utilizes simulated heave data under different sea conditions and measured heave data from multiple points.The results show that the PSO-TGCN model predicts the ship swaying motion in different sea states after 2 s with 84.7%accuracy,while predicting the swaying motion in three different positions.By performing a comparative study,it was also found that the present method achieves better performance that other popular methods.This model can provide technical support for intelligent ship control,improve the control accuracy of intelligent ships,and promote the development of intelligent ships.

NUMERICAL SIMULATIONS OF WAVE-INDUCED SHIP MOTIONS IN TIME DOMAIN BY A RANKINE PANEL METHOD

A time domain prediction of wave-induced ship motions by a Rankine panel method is investigated. Linear boundary conditions on free surface and mean wetted body surface are adopted, while the numerical damping method is used for the radiation conditions. The motions of two ships in regular head waves are computed by the present method. The related numerical results are compared with the experiment data and those from linear strip theory. The comparison shows satisfactory agreements for pitch and heave transfer functions.

URANS simulations of ship motion responses in long-crest irregular waves

In this paper, numerical prediction of ship motion responses in long-crest irregular waves by the URANS-VOF method is presented. A white noise spectrum is applied to generate the incoming waves to evaluate the motion responses. The procedure can replace a decade of simulations in regular wave with one single run to obtain a complete curve of linear motion response, considerably reducing computation time. A correction procedure is employed to adjust the wave generation signal based on the wave spectrum and achieves fairly better results in the wave tank. Three ship models with five wave conditions are introduced to validate the method. The computations in this paper are completed by using the solver naoe-FOAM-SJTU, a solver developed for ship and ocean engineering based on the open source code OpenFOAM. The computational motion responses by the irregular wave procedure are compared with the results by regular wave, experiments and strip theory. Transfer functions by irregular wave closely agree with the data obtained in the regular waves, showing negligible difference. The comparison between computational results and experiments also show good agreements. The results better predicted by CFD method than strip theories indicate that this method can compensate for the inaccuracy of the strip theories. The results confirm that the irregular wave procedure is a promising method for the accurate prediction of motion responses with less accuracy loss and higher efficiency compared with the regular wave procedure.

Domain Decomposition and Matching for Time-Domain Analysis of Motions of Ships Advancing in Head Sea

A domain decomposition and matching method in the time-domain is outlined for simulating the motions of ships advancing in waves. The flow field is decomposed into inner and outer domains by an imaginary control surface, and the Rankine source method is applied to the inner domain while the transient Green function method is used in the outer domain. Two initial boundary value problems are matched on the control surface. The corresponding numerical codes are developed, and the added masses, wave exciting forces and ship motions advancing in head sea for Series 60 ship and S175 containership, are presented and verified. A good agreement has been obtained when the numerical results are compared with the experimental data and other references. It shows that the present method is more efficient because of the panel discretization only in the inner domain during the numerical calculation, and good numerical stability is proved to avoid divergence problem regarding ships with flare.

Retard function and ship motions with forward speed in time-domain

The time-domain calculations of retard function and ship motions in waves by the direct time-domain method （DTM） and the frequency to time-domain transformation method （FTTM） are compared and analyzed. A Wigley-hull-form ship and an $60 ship moving in waves are examined, and the corresponding retard functions are in good agreement with those given by DTM and FTTM. The comparison of retard functions in different forward speeds by the two methods is observed, and the results of ship motions in forward speed are also compared with the experimental data. On this basis, the advantage and disadvantage of them are discussed.

Numerical study on wave loads and motions of two ships advancing in waves by using three-dimensional translating-pulsating source

A frequency domain analysis method based on the three-dimensional translating-pulsating （3DTP） source Green function is developed to investigate wave loads and free motions of two ships advancing on parallel course in waves. Two experiments are carried out respectively to mea- sure the wave loads and the free motions for a pair of side-by- side arranged ship models advancing with an identical speed in head regular waves. For comparison, each model is also tested alone. Predictions obtained by the present solution are found in favorable agreement with the model tests and are more accurate than the traditional method based on the three dimensional pulsating （3DP） source Green function. Numer- ical resonances and peak shift can be found in the 3DP pre- dictions, which result from the wave energy trapped in the gap between two ships and the extremely inhomogeneous wave load distribution on each hull. However, they can be eliminated by 3DTP, in which the speed affects the free sur- face and most of the wave energy can be escaped from the gap. Both the experiment and the present prediction show that hydrodynamic interaction effects on wave loads and free motions are significant. The present solver may serve as a validated tool to predict wave loads and motions of two ves- sels under replenishment at sea, and may help to evaluate the hydrodynamic interaction effects on the ships safety in replenishment operation.

A TIME-DOMAIN METHOD TO PREDICT SHIP MOTIONS IN OBLIQUE SEAS AT FORWARD SPEEDS

Time-domain analysis is used to predict wave loading and motion responses for a ship travelling at a constant speed in regular oblique waves. The combined diffraction and radiation perturbations, caused by the steady forward speed of the ship and her motions , are considered as a distribution of normal velocities on the wetted hull surface. The ship-hull boundary condition is exactly fulfilled by expressing the fluid normal velocities as a finite series in terms of the body geometry and the incident wave potential. As far as the authors are aware, no similar work is published todate.The new theory is applied to predict forces and motions at forward speed for a Wigley ship-hull in head waves and a catamaran-ferry in oblique waves. Predictions are compared with published theoretical and experimental results for the Wigley ship-hull, and the comparison is good. For the catamaran, a self-propelled model is built and tested in the large towing tank and seakeeping basin of the China Ship Scientific Research Centre, Wuxi, China, in order to measure the six-degrees-of-freedom forces, moments and motions at forward speed in waves of different directions. Measurements are compared with predictions, and the comparison is generally good for the longitudinal motions thus verifying the analysis. For the transverse motions, acceptable discrepancies exist due to the non-inclusion in the analysis of rudder forces and viscous damping, and due differences in structural inertia properties between the physical model and the corresponding data used in the analysis. The inclusion of viscous damping in the time domain involves complex analysis and this problem is left to a future research.

Nonparametric Identification of Nonlinear Added Mass Moment of Inertia and Damping Moment Characteristics of Large-Amplitude Ship Roll Motion

This study aims to investigate the nonlinear added mass moment of inertia and damping moment characteristics of largeamplitude ship roll motion based on transient motion data through the nonparametric system identification method.An inverse problem was formulated to solve the first-kind Volterra-type integral equation using sets of motion signal data.However,this numerical approach leads to solution instability due to noisy data.Regularization is a technique that can overcome the lack of stability;hence,Landweber’s regularization method was employed in this study.The L-curve criterion was used to select regularization parameters(number of iterations)that correspond to the accuracy of the inverse solution.The solution of this method is a discrete moment,which is the summation of nonlinear restoring,nonlinear damping,and nonlinear mass moment of inertia.A zero-crossing detection technique is used in the nonparametric system identification method on a pair of measured data of the angular velocity and angular acceleration of a ship,and the detections are matched with the inverse solution at the same discrete times.The procedure was demonstrated through a numerical model of a full nonlinear free-roll motion system in still water to examine and prove its accuracy.Results show that the method effectively and efficiently identified the functional form of the nonlinear added moment of inertia and damping moment.

Effects of Deck Motion and Ship Airwake on Ski-Jump Takeoff Performance of Carrier-Based Aircraft

We first analyzed the force and motion of naval aircraft during launching process.Further,we investigated the ship deck with the form of a ramp and established deck motion model and ship airwake model.Finally,we conducted simulations at medium sea.Results showed that the effects of deck motion on takeoff varied with initial phases,and airwake could help reducing aircraft′s sinkage.We also found that the deck motion played a major role in the effects caused by the interaction of deck motion and ship airwake.

Disturbance Observer Based Sliding Mode Controller Design for Heave Motion of Surface Effect Ships

In order to damp the heave motion of surface effect ships(SESs),a sliding mode controller with a disturbance observer was designed.At first,a disturbance observer was proposed to estimate the unknown time-varying disturbance acting on SESs due to waves.Then,based on the disturbance,a slide mode controller was designed to minimize the magnitude of SES's heave motion position.It was theoretically proved that the designed sliding mode controller with the disturbance observer could guarantee the stability of the closed-loop heave motion control system of SESs.Simulations on a Norwegian Navy's SES were carried out and the simulation results illustrated the effectiveness of the proposed controller with the disturbance observer.

面向实船运动特性的轨迹发生器设计

为提高轨迹发生器生成的仿真数据与实船运动状态的符合性,设计了一种面向实船运动特性的船舶轨迹发生器。利用GPR-DBSCAN算法,将实测数据识别分割成不同运动状态,再结合船舶运动学和动力学方程,建立了不同运动状态的船舶运动数学模型,并给出了姿态速度和位置(AVP)、惯性测量单元(IMU)数据生成算法。最后利用非线性回归辨识模型中的未知参数,完成船舶轨迹发生器的构建。仿真和实测数据验证结果表明,构建的船舶轨迹发生器与PSINS工具箱中的轨迹发生器相比,位置、航速和航向准确度分别提高了46.73%、6.91%和40.71%,更符合实船运动特性。

智能船舶靠泊技术研究热点与趋势

在梳理近年来国内外智能船舶靠泊技术研究现状的基础上,首先从靠泊方式、数学模型和控制算法3个方面分别归纳靠泊技术的研究热点与应用情况,分析智能船舶靠泊技术在自主性、建模精度、路径规划、控制算法、节能效果和系统测试等方面尚待解决的问题。然后,从航海实际需求出发,提出下一步需要突破的有关信息融合、在线建模、智能决策、算法优化、绿色节能和测试技术等方面的核心理论和关键技术问题,努力提升靠泊技术的自主性、鲁棒性、快速性和“韧性”,助力实现安全、绿色、高效的智能航运目标。