An Essential Solution of Water Entry Problems and its Engineering Applications

For solving water entry problems, a numerical method is presented, which is a CFD method based on free surface capturing method and Cartesian cut cell mesh.In this approach, incompressible Euler equations for a variable density fluid are numerically calculated by the finite volume method.Then artificial compressibility method, dual time-stepping technique and Roe's approximate Riemann solver are adopted in the numerical scheme.Finally, some application cases are designed to show the ability of the current method to cope with water entry problems in ocean engineering.

Study on Characteristics of 3-D Translating-Pulsating Source Green Function of Deep-Water Havelock Form and Its Fast Integration Method

The singularities, oscillatory performances and the contributing factors to the 3-＇D translating-pulsating source Green function of deep-water Havelock form which consists of a local disturbance part and a far-field wave-like part, are analyzed systematically. Relative numerical integral methods about the two parts are presented in this paper. An improved method based on LOBATTO rule is used to eliminate singularities caused respectively by infinite discontinuity and jump discontinuous node from the local disturbance part function, which makes the improvement of calculation efficiency and accuracy possible. And variable substitution is applied to remove the singularity existing at the end of the integral interval of the far-field wave-like part function. Two auxiliary techniques such as valid interval calculation and local refinement of integral steps technique in narrow zones near false singularities are applied so as to avoid unnecessary integration of invalid interval and improve integral accordance. Numerical test results have proved the efficiency and accuracy in these integral methods that thus can be applied to calculate hydrodynamic performance of floating structures moving in waves.

Wave Motion Compensation Scheme and Its Model Tests for the Salvage of An Ancient Sunken Boat

The application of the vertical hoisting jack and wave motion compensation techniques to the salvage of an ancient sunken boat is introduced. The boat is wooden, loaded with cultural relics. It has been immersed at the bottom of the South China Sea for more than 800 years. In order to protect the structure of the boat and the cultural relics inside to the largest extent, an open caisson is used to hold the sunken beat and the silts around before they are raised from the seabed all together as a whole. In the paper, first, the seakeeping model test of the system of the salvage barge and the open caisson is done to determine some important wave response parameters. And then a further experimental study of the ap- plication of the vertical hoisting jack and wave motion compensation scheme to the salvage of the sunken boat is carried out. In the model tests, the techniques of the integrative mechanic-electronic-hydraulic control, wave motion forecast and wave motion compensation are used to minimize the heave motion of the open caisson. The results of the model tests show that the heave motion of the open caisson can be reduced effectively by the use of the present method.

Calculation of wave and current loads on launching offshore jacket

It’s very complicated to calculate and analyze the wave and current loads on naval architectures since the sea condition is uncertain and complicated and the determinants vary from different form types and dimensions. For calculating the wave and current loads on upright small-long-size pipe, the Morrison equation is practical and applied. Jacket platform is a kind of offshore space frame structure comprised of lots of poles that are circular cylinders with small diameter and in the oblique status relative to seabed. In this paper, based on Morrison equation, the specific method and procedure calculating the wave and current loads on launching jacket are given and applied on a typical launching jacket. The instance shows that the method and procedure are convenient and make the calculation and analysis in good agreement with actual launching.

Experimental Study on Effect of A New Vortex Control Baffler and Its Influencing Factor

The horseshoe vortex generated around the sail-body junction of submarine has an important influence on the non-uniformity of submarine wake at propeller disc. The flow characteristics in the horseshoe vortex generated area are analyzed, and a new method of vortex control baffler is presented. The influence of vortex control baffler on the flow field around submarine main body with sail is numerically simulated. The wind tunnel experiment on submarine model is carried out, and it is proved that the vortex control baffler can weaken the hoi-seshoe vortex and decrease the non-uniformity of the wake at propeller disc. It is shown from the experiment results that the effect of vortex control baffler depends on its installation position; with a proper installation position, the non-uniform coefficient of submarine wake would be declined by about 50%; the Reynolds number of submarine model has an influence on the effect of vortex control baffler too, and the higher the Reynolds number is, the better the effect of the vortex control baffler is.

Numerical Study on Scale Effect of Form Factor for DTMB5415, KCS,KVLCC2, and 4000TEU Container Ship

Four ships,a twin-propeller naval ship,two single-propeller container ships,and a single-propeller very large crude carrier(VLCC),were studied to investigate the scale effect of the form factor.The viscous flow fields of the ships at different scales were solved numerically via the Reynolds-averaged Navier–Stokes method combined with the shear stress transport k–ωturbulence model.The numerical method was validated through comparisons with experimental data,and numerical uncertainty analysis was carried out based on the ITTC recommended procedure.On this basis,scale effects of the form factor were analyzed using different friction lines,and scale effects of flow fields and the mean axial wake fractions were further analyzed in details.The results showed that the form factor exhibited scale effects when adopting the ITTC-1957 line,and it increased with the increase in the Reynolds number.The scale effect of the form factor reduces the prediction precision of the full-scale ship resistance.The friction line has a significant effect on the form factor.The form factor exhibits little dependence on the Reynolds number when using the numerical friction line or the Katsui line,which is useful for full-scale ship resistance predictions.With the increasing Reynolds number,the boundary layer thickness becomes thinner and the axial velocity contour contracts toward the center plane,and there is nearly a linear relationship between the reciprocal of mean axial wake fraction on propeller disc and Reynolds number in logarithmic scale for the three types of ship forms.

Artificial Neural Network Ability in Evaluation of Random Wave-Induced Inline Force on A Vertical Cylinder

An approach based on artificial neural network （ANN） is used to develop predictive relations between hydrodynamic inline force on a vertical cylinder and some effective parameters. The data used to calibrate and validate the ANN models are obtained from an experiment. Multilayer feed-forward neural networks that are trained with the back-propagation algorithm are constructed by use of three design parameters （i.e. wave surface height, horizontal and vertical velocities） as network inputs and the ultimate inline force as the only output. A sensitivity analysis is conducted on the ANN models to investigate the generalization ability （robustness） of the developed models, and predictions from the ANN models are compared to those obtained from Morison equation which is usually used to determine inline force as a computational method. With the existing data, it is found that least square method （LSM） gives less error in determining drag and inertia coefficients of Morison equation. With regard to the predicted results agreeing with calculations achieved from Morison equation that used LSM method, neural network has high efficiency considering its convenience, simplicity and promptitude. The outcome of this study can contribute to reducing the errors in predicting hydrodynamic inline force by use of ANN and to improve the reliability of that in comparison with the more practical state of Morison equation. Therefore, this method can be applied to relevant engineering projects with satisfactory results

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.

Mooring Tension and Motion Characteristics of A Submerged Fish Reef with Net in Waves and Currents Using Numerical Analysis

A numerical model was used to analyze the motion response and mooring tension of a submerged fish reef system. The system included a net attached to a rigid structure suspended up from the bottom with a single, high tension mooring by fixed flotation. The analysis was performed by using a Morison equation type finite element model configured with truss elements. Input forcing parameters into the model consisted of both regular and irregular waves, with and without a steady current. Heave, surge and pitch dynamic calculations of the reef structure were made. Tension response results of the attached mooring line were also computed. Results were analyzed in both the time and frequency domain in which appropriate, linear transfer functions were calculated. The influence of the current was more evident in the tension and heave motion response data. This is most likely the result of the large buoyancy characteristics of the reef structure and the length of the mooting cable. Maximum mooting component tension was found to be 13.9 kN and occurred when the reef was subjected to irregular waves with a co-linear current of 1.0 m/s velocity. The results also showed that the system had little damping （in heave） with damped natural periods of 2.8 s. This combination of system characteristics promotes a possible resonating situation in typical open sea conditions with similar wave periods.

Numerical Investigation of Submarine Hydrodynamics and Flow Field in Steady Turn

This paper presents numerical simulations of viscous flow past a submarine model in steady turn by solving the Reynolds-Averaged Navier-Stokes Equations（RANSE） for incompressible, steady flows. The rotating coordinate system was adopted to deal with the rotation problem. The Coriolis force and centrifugal force due to the computation in a bodyfixed rotating frame of reference were treated explicitly and added to momentum equations as source terms. Furthermore, velocities of entrances were coded to give the correct magnitude and direction needed. Two turbulence closure models（TCMs）, the RNG k-ε model with wall functions and curvature correction and the Shear Stress Transport（SST） k-ω model without the use of wall functions, but with curvature correction and low-Re correction were introduced, respectively. Take DARPA SUBOFF model as the test case, a series of drift angle varying between 0° and 16° at a Reynolds number of 6.53×10^6 undergoing rotating arm test simulations were conducted. The computed forces and moment as a function of drift angle during the steady turn are mostly in close agreement with available experimental data. Though the difference between the pressure coefficients around the hull form was observed, they always show the same trend. It was demonstrated that using sufficiently fine grids and advanced turbulence models will lead to accurate prediction of the flow field as well as the forces and moments on the hull.

THE INTERACTIONS BETWEEN WAVE-CURRENTS AND OFFSHORE STRUCTURES WITH CONSIDERATION OF FLUID VISCOSITY

Study of the how held around the large scale offshore structures under the action of waves and viscous currents is of primary importance for the scouring estimation and protection in the vicinity of the structures. But very little has been known in its mechanism when the viscous effects is taken into consideration. As a part of the efforts to tackle the problem, a numerical model is presented for the simulation of the how held around a fixed vertical truncated circular cylinder subjected to waves and viscous currents based on the depth-averaged Reynolds equations and depth-averaged k-epsilon turbulence model. Finite difference method with a suitable iteration defect correct method and an artificial open boundary condition are adopted in the numerical process. Numerical results presented relate to the interactions of a pure incident viscous current with Reynolds number Re = 10(5), a pure incident regular sinusoidal wave, and the coexisting of viscous current and wave with a circular cylinder, respectively. Flow fields associated with the hydrodynamic coefficients of the fixed cylinder, as well as corresponding free surface profiles and wave amplitudes, are discussed. The present method is found to be relatively straightforward, computationally effective and numerically stable for treating the problem of interactions among waves, viscous currents and bodies.

Experimental and Numerical Investigations of the Dynamic Response of Ring-Stiffened Cylinder Subjected to Underwater Explosion

Experimental and numerical investigations were carried out on the free-free end ring-stiffened cylinder subjected to underwater explosion loading. Numerical analysis was carried out by using the MSC.DYTRAN finite element code and the results were compared with experiment results. General coupling was used to simulate the interaction between fluid and structure. The strain rate effect, geometric nonlinearity and initial abnormity in shape were considered. The effective plastic stress and the strain of shell between ribs on different locations were compared and damage mechanism were analyzed..

Depth and Altitude Control of an AUV Using Buoyancy Control Device

A new method for depth control was developed for a spilled oil and blow out gas tracking autonomous buoy robot called SOTAB-I by adjusting its buoyancy control device. It is aimed to work for any target depth. The new method relies on buoyancy variation model with a depth that was established based on experimental data. The depth controller was verified at sea experiments in the Toyama Bay in Japan and showed good performance. The method could further be adapted to altitude control by combining the altitude data measured from bottom tracking through a progressive depth control. The method was verified at the sea experiments in Toyama in March 2016 and showed that the algorithm succeeded to bring the robot to the target altitude.

NONLINEAR DYNAMICS RESPONSE OF CASING PIPE UNDER COMBINED WAVE-CURRENT

The vortex-induced nonlinear vibration of casing pipes in the deep water was studied considering the loads of current and combined wave-current. The vortex-induced vibration equation of a casing pipe was set up considering the beam mode and Morison’s nonlinear fluid loads as well as the vortex-excited loads. The approach of calculating vortex-excited nonlinear vibration by Galerkin’s method was proposed. The natural vibration frequencies and modes were obtained, and the response including primary resonance induced by current and the composite resonance under combined wave-current for the 170 m long casing pipe in the 160m depth of water were investigated. The results show that the dynamics response of casing pipe obviously increases, and the complicated response behaviors of casing pipe are described under combined wave-current.

Tailoring strength-ductility balance of caliber-rolled AZ31 Mg alloy through subsequent annealing

Recently,multi-pass caliber rolling has been shown to be effective for Mg alloys.This study investigated the effect of subsequent annealing on the mechanical properties of a caliber-rolled AZ31 Mg alloy to modulate the strength-ductility relationship.This annealing gave rise to different trends in mechanical properties depending on the temperature regime.Low-temperature annealing(T≤473 K)exhibited a typical trade-off relationship,where an increase in annealing temperature resulted in increased ductility but decreased strength and hardness.Such a heat treatment did not degrade the high strength-ductility balance of the caliber-rolled alloy,suggesting that the mechanical properties could be tailored for different potential applications.In contrast,high-temperature annealing(T>473 K)caused a simultaneous deterioration in strength,hardness,and ductility with increasing annealing temperature.These differences are discussed in terms of the varying microstructural features under the different investigated annealing regimes.

Experimental Evaluation of the Post-ultimate Strength Behavior of a Ship＇s Hull Girder in Waves

Experimental investigations into the collapse behavior of a box-shape hull girder subjected to extreme wave-induced loads are presented.The experiment was performed using a scaled model in a tank.In the middle of the scaled model,sacrificial specimens with circular pillar and trough shapes which respectively show different bending moment-displacement characteristics were mounted to compare the dynamic collapse characteristics of the hull girder in waves.The specimens were designed by using finite element(FE)-analysis.Prior to the tank tests,static four-point-bending tests were conducted to detect the load-carrying capacity of the hull girder.It was shown that the load-carrying capacity of a ship including reduction of the capacity after the ultimate strength can be reproduced experimentally by employing the trough type specimens.Tank tests using these specimens were performed under a focused wave in which the hull girder collapses under once and repetitive focused waves.It was shown from the multiple collapse tests that the increase rate of collapse becomes higher once the load-carrying capacity enters the reduction path while the increase rate is lower before reaching the ultimate strength.

Stud welding for fixation of cryogenic insulation of membrane tanks in LNG ship building

The support plates including all of the inner hulls such as E grade steel, weld seams and SUS304L were considered to establish the optimal stud welding condition in LNG ship building. The stainless steel plate was especially applied to the bracket on the liquid dome. The polished and etched surfaces of the welded stud and support plate were examined if the bead was properly formed. With the micrographic examination, the fusion boundary of metal weld zone formed by stud welding was analyzed to optimize the welding parameters. And also the analysis of the unacceptable welding faults such as cold and hot weld were performed. The mechanical tests such as tensile tests and bending tests were carried out to reveal any abnormal variation in the relationship of process parameters and the strength.

Radar Cross Section Analysis Using Physical Optics and Its Applications to Marine Targets

Radar Cross Section (RCS) is one of the most considerable parameters for ship stealth design. As modern ships are larger than their predecessors, RCS must be managed at each design stage for its reduction. For predicting RCS of ship, Radar Cross Section Analysis Program (RACSAN) based on Kirchhoff approximation in high frequency range has been developed. This program can present RCS including multi-bounce effect in exterior and interior structure by combination of geometric optics (GO) and physical optics (PO) methods, coating effect by using Fresnel reflection coefficient, and response time pattern for detected target. In this paper, RCS calculations of ship model with above effects are simulated by using this developed program and RCS results are discussed.

Study on the automatic process of line heating for pillow shape plate

This paper focuses on the process for pillow shape plate by line heating technique, which is widely applied in the production of ship hull. Based on the analysis of primary parameters and experimental data in line heating process, the amount of local contraction generated by line heating has been illustrated. Then, combining with the computational result of local deformation determined by shell plate development, an optimization method for line heating parameters has been studied. This prediction system may provide rational arrangements of heating lines and technical parameters of process. By integrating the prediction system into the line heating robot for pillow shape plate, the automatic process of line heating for pillow shape plate can be achieved.

NONLINEAR DYNAMICS RESPONSE OF CASING PIPE UNDER COMBINED WAVE-CURRENT

The vortex-induced nonlinear vibration of casing pipes in the deep water was studied considering the loads of current and combined wave-current. The vortex-induced vibration equation of a casing pipe was set up considering the beam mode and Morison＇s nonlinear fluid loads as well as the vortex-excited loads. The approach of calculating vortex-excited nonlinear vibration by Galerkin＇s method was proposed. The natural vibration frequencies and modes were obtained, and the response including primary resonance induced by current and the composite resonance under combined wave-current for the 170 m long casing pipe in the 160 m depth of water were investigated. The results show that the dynamics response of casing pipe obviously increases, and the complicated response behaviors of casing pipe are described under combined wavecurrent.