Vessel Motion Research Articles

Practical implementation of parmetric identification of linear mathematical models of marine vessels by tables of maneuvering elements

The paper considers the practical implementation of the algorithm for identifying the parameters of linear mathematical models of Nomoto 1st and 2nd order of the marine vessels based on experimental data. Information from the maneuvering element tables containing information on the vessel’s circulation is used as experimental data. The initial data are presented in the form of discrete sampling, which allows obtaining the model parameters in a discrete form and then making the transition to a continuous form. The initial data are formed for each type of motion: a loaded vessel, a vessel in ballast, half-board and aboard, starboard and port aboard. The paper uses a method for determining the parameters of the transfer functions of the obtained models using the least squares method for transient characteristics. To improve the quality of the assessment of the parameters of the identified model, it is proposed to interpolate the initial data. The following methods are used in the paper: linear interpolation, interpolation by adjacent points, cubic and spline interpolation. To implement the proposed method, a program has been developed and implemented in the MatLab environment, which allows interpolation of the transient response by a method selected from the proposed ones, and then, based on the interpolated values, to determine the parameters of the transfer function. A block diagram and description of the algorithm for the operation of this program are provided. The result of its operation is a model with its own parameters for each case of vessel motion. The program displays graphs of transient processes for the initial data and calculated ones for each selected type of interpolation, and also displays the parameters of the transfer functions of the models. A description of the source data file used is provided. To assess the quality of software-implemented identification models, a model circulation trajectory is calculated and its graphic construction occurs. As a result of the program, the obtained linear mathematical models are proposed to be grouped and presented in interval form.

Limiting navigational and hydrographic factors when using 3D electronic navigation charts for ship handling during locks passage

A vessel is a qualitatively complex movable object, which motion can easily predicted when proceeding in unchanged navigation conditions. When navigation conditions become more difficult prediction of vessel requires the implementation of a complex set of actions to assess the position and parameters of the vessel’s motion relative to the limits and directions of the waterway. Lock approaches are characterized by significantly congested conditions and variable dimensions, tortuosity of the waterway, and spatial navigational hazards of complex form, to indicate which floating and land marks are used, organized in complex patterns. Thus, the complexity of navigational and hydrographic conditions has a limiting effect on the navigator’s ability to control the vessel. As navigation conditions become more complex, the navigator changes priorities in controlling the vessel motion, gradually shifting from controlling the course of the vessel, to controlling the vessel’s speed vector, and then to controlling the motion of the stem and stern. Navigating a vessel in difficult navigational and hydrographic conditions requires periodic clarification of navigational information, for which the navigator turns to the navigational chart, which is a visual source of navigational information. Notwithstanding use of modern aids to navigation to display navigation information, such as, for example, an electronic chart navigation and information system (ECDIS), approaches to locks usually present difficulties when taking into account navigation and hydrographic factors, due to the variability of navigation conditions and the static nature of the navigation equipment system waterway. The use of ECDIS, which enables displaying 3D electronic navigation charts (ENCs) to solve the navigator’s tasks enroute lock approaches, is new. The effectiveness of their use in the process of ship handling through locks, which is significant for the navigator, is performed by modern methods in this article.

Landslide-induced impacts on downstream vessels based on an accurate and robust smoothed particle hydrodynamics framework

Landslide-induced tsunami waves pose significant risks to vessels navigating or anchored in affected water bodies. To address this issue, a validated smoothed particle hydrodynamics (SPH) framework coupled with Delta-SPH method and Shifting Algorithm was assessed and then employed to investigate the impact of such waves on vessels, considering key influential factors such as landslide thickness, length, initial position, initial water depth, vessel width, and slope-to-vessel distance. The results indicate that the heave and sway motions of the vessel are primarily influenced by the initial wave, while the roll motion is mainly affected by the secondary waves. Among the parameters examined, the landslide thickness, slope-to-vessel distance, and initial water depth have the most significant effects on the maximum heave, sway, and roll values, with relative differences of 125.5%, 177.4%, and 223.0%, respectively. Variations in initial water depth led to different landslide motion patterns: the riverbed movement pattern and the chute movement pattern, which predominantly govern the generation process of secondary waves. Additionally, prediction equations for the maximum heave, sway, and roll motions of were proposed to quantitatively assess the impacts of various initial factors on vessel motion characteristics. The prediction equations reveal that the heave motion is predominantly affected by the landslide volume, the sway motion is predominantly affected by the slope-to-vessel distance, and the roll motion is primarily governed by the landslide length and initial water depth. The research provides insight into the dynamic responses of vessels under landslide-induced tsunami waves, offering valuable guidance for disaster prevention and mitigation efforts.

A review of research on transverse forces, developed by a ship's propulsion and steering system

In this article, the transverse component of forces developed by the ships propulsion and steering system and its dimensionless hydrodynamic coefficients have been investigated, as well as various methods of their estimation. System of the open propeller with rudder and system of propeller with swiveling nozzles were selected for this study since they are the most frequently used systems on river vessels. Formulas for finding transverse forces of different types of propulsion and steering complexes are unified. Calculations of the coefficients characterizing the transverse force according to the existing methods are carried out. The results of calculations are compared with the results obtained when identifying these coefficients according to the data of full-scale trials of ships. The significant discrepancy between the mentioned values allowed to conclude that modern calculation methods of ships propulsion and steering system transverse forces are not perfect enough for adequate modelling of controlled curvilinear motion of river vessels and require further improvement.

Seakeeping Performance of Warship Catamaran under Varied Hull Separation and Wave Heading Conditions

Seakeeping criteria significantly impact ship aspects like speed loss, operational optimization, and structural integrity. This study integrated experimental and numerical methods to evaluate the seakeeping performance of an asymmetrical hull with varying hull separations and wave headings. Experimental Fluid Dynamics (EFD) tests were conducted in a towing tank with irregular waves and a Pierson-Moskowitz spectrum. Concurrently, numerical simulations using the Boundary Element Method (BEM) computed Response Amplitude Operators (RAO) for heave, pitch, and roll motions. The numerical mesh demonstrated a high degree of agreement between RAO peak values from BEM simulations and experimental tests, with discrepancies between 1% and 5%, indicating BEM’s precision in predicting ship responses to wave conditions. The analysis demonstrates that wave heading significantly influences the heave, pitch, and roll motions of the catamaran, with beam seas (90°) presenting the most severe conditions for heave and roll, while head seas (180°) lead to the largest pitch motions. Optimal performance is observed at a separation-to-length (S/L) ratio of 0.4, which minimizes excessive motion across various wave headings. The analysis indicates that while both S/L and wave heading influence vessel motions, the impact of wave heading is more pronounced, with optimal S/L values varying based on specific wave angles. Overall, the findings underscore the critical relationship between hull separation and wave direction, indicating that larger S/L ratios contribute to improved seakeeping performance.

A hybrid FEM-Kriging approach for fatigue assessment of a steel pipe riser from field-measured motions

The establishment of monitoring systems for Floating Production Units motions provides an important input needed for real-time assessment of riser fatigue through Finite Element Method analysis. Standard practice relies on these simulations to obtain the loads required to calculate fatigue life along the riser, however, it is a CPU-intensive approach which makes it difficult to achieve results in real-time. Since interest often lies on few critical points on the riser, such as 1st weld and TDP, the number of outputs of is vastly reduced, making surrogate models an interesting and cost-effective alternative. Previous work such as DAMASCENO (2020) has shown Kriging to be a good choice for time series prediction, yielding adherent results for outputs such as forces and moments by having vessel motions as inputs. This method requires a short FEM simulation (~600 s) to train the models that will expand the output time-series to full 3,600 s duration, which will be shown to be far less CPU intensive. A case study for a SCR connected to a semi-submersible platform is presented, evaluating fatigue life from 5715 hours’ worth of data from the year of 2018 through both methods. Analysis of the obtained results yields additional tools which correlate damage to vessel motions, which are then used to prioritize sea states and evaluate the most cost-effective FEM and Kriging combination.

A hybrid active control method for a 3-DOF wave-compensated gangway

ABSTRACT Wave-compensated gangways are affected by forces from internal joint coupling and vessel motion, making the control process complex and challenging. Previously, three-degree-of-freedom gangways adopted passive compensation methods, utilizing end-effector sensor feedback for control. However, these methods are constrained by slow response times and significant lag. This study proposes an active hybrid compensation approach to enhance response speed and reduce tracking errors. The kinematics and dynamics of the gangway under vessel motion were analyzed. Subsequently, an improved velocity feedforward second-order super-twisting sliding mode control scheme was designed, complemented by fuzzy control for small torque compensation. Two experiments were conducted to evaluate and compare the performance of three control methods. Experiments demonstrated that the proposed hybrid control method exhibited superior performance in joint trajectory tracking, significantly reducing both root mean square and maximum errors, validating its effectiveness in improving tracking speed and accuracy.

Dynamic response analysis of the vessel under the action of motion compensation equipment

The importance of motion compensation equipment in mitigating wave-induced vessel motion has attracted widespread attention, and many scholars have researched and developed multi-degree-of-freedom motion compensation equipment for marine engineering. However, while compensating for wave-induced motions, motion compensation equipment also has unknown effects on the vessel's motions. To investigate the dynamic response of the vessel under the action of motion compensation equipment, a co-simulation system considering hydrodynamics, multi-body dynamics and control strategy is developed to analyze the dynamic behavior of the motion compensation equipment and the installed vessel. The simulation results show that as the load on the motion compensation equipment increases, the vessel becomes more unstable during the compensation process. A scaled-down shipboard Stewart platform prototype was fabricated and the reliability of the simulation was experimentally investigated in a laboratory tank. The numerical simulation and experimental results show good agreement, the findings of this study can guide the design and operation of the motion compensation equipment.

In-vivo cerebral artery pulsation assessment with Dynamic computed tomography angiography

Four-Dimensional Computed Tomography Angiography (4D CTA) seems a promising technique for capturing vessel motion of cerebral arteries, which may help to assess pathological conditions such as intracranial aneurysms. The goal of our current observational study is to capture the lumen diameter of cerebral arteries during three subsequent cardiac cycles with 4D CTA and to assess vessel motion, anticipating consistent expansion patterns within each cardiac cycle.Eighteen adult patients with unruptured and untreated intracranial aneurysms were recruited at Radboud University Medical Center. Three cardiac cycles were captured, on a wide detector CT system, using ECG-gated 4D CTA. To reduce the impact of small head movements during the acquisition, a rigid-body registration was employed. Three 10 mm segments of cerebral arteries were selected. The total deformation of the vessel lumen was calculated using a deformable registration algorithm and was used as a substitute measure for vessel motion.No pulsations could be registered, which was probably caused by pulsation motion below threshold of detection in combination with insufficient Signal-to-Noise Ratio. Further studies need to investigate if large intracranial structures can be evaluated and if using a novel scanner with a high spatial resolution would result in reproducible measurements of arteries this size.

An ADCP Attitude Dynamic Errors Correction Method Based on Angular Velocity Tensor and Radius Vector Estimation

An acoustic Doppler current profiler (ADCP) installed on a platform produces rotational tangential velocity as a result of variations in the platform’s attitude, with both the tangential velocity and radial orientation varying between each pulse’s transmission and reception by the transducer. These factors introduce errors into the measurements of vessel velocity and flow velocity. In this study, we address the errors induced by dynamic factors related to variations in attitude and propose an ADCP attitude dynamic error correction method based on angular velocity tensor and radius vector estimation. This method utilizes a low-sampling-rate inclinometer and compass data and estimates the angular velocity tensor based on a physical model of vessel motion combined with nonlinear least-squares estimation. The angular velocity tensor is then used to estimate the transducers’ radius vectors. Finally, the radius vectors are employed to correct the instantaneous tangential velocity within the measured velocities of the vessel and flow. To verify the effectiveness of the proposed method, field tests were conducted in a water pool. The results demonstrate that the proposed method surpasses the attitude static correction approach. In comparison with the ASC method, the average relative error in vessel velocity during free-swaying movement decreased by 20.94%, while the relative standard deviation of the error was reduced by 17.38%.

Improving O&M Simulations by Integrating Vessel Motions for Floating Wind Farms

This study presents an integrated methodology for evaluating operations and maintenance (O&M) costs for floating offshore wind turbines (FOWTs), incorporating vessel motion dynamics. By combining UWiSE, a discrete-event simulation tool, with SafeTrans, a voyage simulation software, vessel motion effects during offshore operations are modeled. The approach is demonstrated in a case study at two wind farm sites, Marram Wind and Celtic Sea C. Three major component replacement (MCR) strategies were assessed: Tow-to-Port (T2P), Floating-to-Floating (FTF), and Self-Hoisting Crane (SHC). The T2P strategy yielded the highest O&M costs—94 kEUR/MW/year at Marram Wind and 97 kEUR/MW/year at Celtic Sea C—due to the extended MCR durations (90–180 days), leading to lower availability (90–94%). In contrast, the FTF and SHC strategies offered significantly lower costs and downtime. The SHC strategy was most cost-effective, reducing costs by up to 64% while achieving 97–98% availability. The integrated approach was found to be either more restrictive or more permissive depending on the specific sea states influencing the motion responses. This variability highlights the critical role of motion-based dynamics in promoting safe and efficient O&M practices, particularly for advancing FOWT operations.

Dynamic modeling and robust control of a multi-cable payload transfer system for offshore cranes subjected to random waves and wind loads

The payload often experiences unpredictable motion due to the combined effects of random waves and wind loads, significantly impacting the safety and efficiency of offshore operations. To expand the effective working window for offshore transfer operations, this study introduces a multi-cable payload transfer system (MPTS). Using a 45-ton offshore crane mounted on a multipurpose vessel from COSCO Shipping Group as a prototype, this study establishes a dynamic model of MPTS, considering the effects of vessel motion, crane actions, and wind loads. The payload remains in an unstable state due to external disturbances. Additionally, variations in payload specifications and mass lead to considerable uncertainties in the dynamic parameters of MPTS. To address these uncertainties, a second-order linear observer is developed. Subsequently, an improved computed torque controller is proposed, and the boundedness of the tracking errors is proven using the Lyapunov theory. The transfer process is divided into three distinct phases: lifting, slewing, and lowering. The feasibility of the transfer scheme is verified through high-fidelity simulations and prototype experiments. This research provides a solid theoretical foundation for the subsequent engineering application of MPTS.

Self‐supervised vessel trajectory segmentation via learning spatio‐temporal semantics

AbstractThe study of vessel trajectories (VTs) holds significant benefits for marine route management and resource development. VT segmentation serves as a foundation for extracting vessel motion primitives and enables analysis of vessel manoeuvring habits and behavioural intentions. However, existing methods relying on predefined behaviour patterns face high labelling costs, which hinder accurate pattern recognition. This paper proposes a self‐supervised vessel trajectory segmentation method (SS‐VTS), which segments VTs based on their inherent spatio‐temporal semantics. SS‐VTS adaptively divides VTs into cells of optimal size. Then, it extracts split points on different semantic levels from the multi‐dimensional feature sequence of the VTs using self‐supervised learning. Finally, spatio‐temporal distance fusion module is performed on split points to determine change points and obtain VT segments with multiple semantics. Experiments on a real automatic identification system datasets show that SS‐VTS achieves state‐of‐the‐art segmentation results compared to seven baseline methods.

A Model-Free Adaptive Positioning Control Method for Underactuated Unmanned Surface Vessels in Unknown Ocean Currents

Aiming to address the problem of underactuated unmanned surface vehicles (USVs) performing fixed-point operations at sea without dynamic positioning control systems, this paper introduces an original approach to positioning control: the virtual anchor control method. This method is applicable in environments with currents that change slowly and does not require prior knowledge of current information or vessel motion model parameters, thus offering convenient usability. This method comprises four steps. First, a concise linear motion model with unknown disturbances is proposed. Then, a motion planning law is designed by imitating underlying principles of ship anchoring. Next, an adaptive disturbance observer is proposed to estimate uncertainties in the motion model. In the last step, based on the observer, a sliding-mode method is used to design a heading control law, and a thrust control law is also designed by applying the Lyapunov method. Numerical simulation experiments with significant disturbances and tidal current variations are conducted, which demonstrate that the proposed method has a good control effect and is robust.

Application for Predicting Vessel Motion Enhances Operability in Offshore Drilling

_ This article, written by JPT Technology Editor Chris Carpenter, contains highlights of paper OTC 35341, “Enhancing Energy Efficiency and Operability in Offshore Drilling Operations: Validation and Benefits of a Machine-Learning-Based Vessel-Motion-Prediction Application,” by Daniel A.C. Canache, Massimiliano Russo, and Rune Haakonsen, Kongsberg Maritime, et al. The paper has not been peer reviewed. Copyright 2024 Offshore Technology Conference. _ This paper delves into the framework of a new application that leverages advanced machine-learning (ML) techniques in conjunction with metocean forecasts to predict vessel motions and thruster loads. The discussion encompasses the key role of diverse input factors in shaping prediction accuracy and outlines strategies to address inherent uncertainties associated with methods, weather forecasts, and the stochastic nature of the underlying problem. Methods, Procedures, and Process Traditional Physics-Based Vessel Model. A physics-based model of the vessel is used to train the ML model. As such, the accuracy of the physics-based model is critical to the success of the ML model. The model is built using vessel-specific hydrodynamic data, mass data, and thruster-control software. The thruster-control software is extracted from the actual vessel to ensure that the same settings are being used in the model. The model is used to execute time-domain simulations, which include second-order effects, from which prediction targets [six degrees-of-freedom (DOF) motions and thruster usage] are extracted. As shown in Fig. 1, four environmental components are typically considered: wind waves, swell waves, wind, and current. To train an ML model capable of predicting in any given weather condition, environmental parameters are varied over thousands of simulations. Physics-Informed Neural Network (PINN) Architecture. The adopted architecture for the ML model is a PINN, a model architecture that offers several advantages. By integrating vessel-specific hydrodynamic data, the model becomes grounded firmly in the underlying physical phenomena. Furthermore, the architecture facilitates the model’s comprehension and assessment of the environment by enabling the compilation of individual loads into an overall load acting on the vessel. Ultimately, the analysis of resultant loads on the vessel provides a means to compare various environmental load cases directly in relation to the vessel’s response. Optimizing the Training Matrix. The optimal training matrix should span the environmental parameter space up to the vessel’s station-keeping capacity while minimizing the number of necessary load cases. Given the computational expense and prolonged execution times associated with time-domain simulations, it is important to maintain a manageable number of cases. While resultant loads facilitate the comparison across different environment load cases, a systematic algorithm is needed for case selection. To address this requirement, a similarity metric incorporating cosine similarity and Euclidean distance was implemented. The downside to the Euclidean distance is that, at low magnitudes, the distance will be low regardless of direction. This is mitigated to some extent by combining the measure with the cosine similarity. The cosine similarity will be high if two vectors are close in direction regardless of their magnitudes. For the specific problem described in the complete paper (vessel responses), it is desirable that the similarities at low loads stay high because the response also will likely be low.

Virtual prototype modeling and fuzzy control of the heave compensation system for a 500-ton deep-sea mining vessel

The unexpected heave motion of vessels generated by waves has always threatened the safe operation of mining vessels. The heave compensation system is a critical equipment for offshore cranes to ensure the safety and stability of the deep-sea mining vessel operation. Unfortunately, the nominal load of the mining vessel transporting minerals has become increasingly large, which has led to the dynamic performance of the heave compensation decline and a significant increase in energy consumption. To solve these problems, a semiactive heave compensation system and fuzzy logic-based controller are proposed in this paper. First, an active-passive hybrid heave compensation system is designed to reduce energy consumption greatly. The virtual prototype models of the proposed heave compensation system in a 500-ton deep-sea mining vessel are also built. Then, an adaptive tuning PID controller is developed based on the Transfer function of the heave compensation system and Mamdani-type fuzzy logic. Virtual prototype simulation results of AMESim-Simulink joint simulation illustrate that the accuracy of compensation for the four or six sea states reaches more than 90% with the proposed method and the power of the active compensation system is about 21% of the total power. Finally, the experimental results are included to demonstrate the effectiveness of the proposed semiactive heave compensation system.

Relative Residence Time Can Account for Half of the Anatomical Variation in Fatty Streak Prevalence Within the Right Coronary Artery.

The patchy anatomical distribution of atherosclerosis has been attributed to variation in haemodynamic wall shear stress (WSS). The consensus is that low WSS and a high Oscillatory Shear Index (OSI) trigger the disease. We found that atherosclerosis at aortic branch sites correlates threefold better with transverse WSS (transWSS), a metric which quantifies multidirectional near-wall flow. Coronary artery disease has greater clinical significance than aortic disease but computation of WSS metrics is complicated by the substantial vessel motion occurring during each cardiac cycle. Here we present the first comparison of the distribution of atherosclerosis with WSS metrics computed for moving coronary arteries. Maps of WSS metrics were computed using dynamic geometries reconstructed from angiograms of ten non-stenosed human right coronary arteries (RCAs). They were compared with maps of fatty streak prevalence derived from a previous study of 1852 RCAs. Time average WSS (TAWSS), OSI, transWSS and the cross-flow index (CFI), a non-dimensional form of the transWSS, gave non-significant or significant but low spatial correlations with lesion prevalence. The highest correlation coefficient (0.71) was for the relative residence time (RRT), a metric that decreases with TAWSS and increases with OSI. The coefficient was not changed if RRT was calculated using CFI, which captures multidirectional WSS only, rather than OSI, which encompasses both multidirectional and oscillatory WSS. Contrary to our earlier findings in the aorta, low WSS in combination with highly multidirectional flow correlates best with lesion location in the RCA, explaining approximately half of its anatomical variation.

Hydrodynamic Analysis of Different Formation Configurations of Catamaran in Regular Head Waves

When undertaking long-distance missions at sea, vessels aim to achieve an extended operational range through drag reduction and energy efficiency, while enhanced wave resilience also provides substantial benefits. In this work, the Delft-372 catamaran is utilized to investigate the feasibility of drag reduction and roll mitigation for catamaran formation sailing in waves, analyzing the effects of three different formation configurations and varying spacings. The overset grid method was employed to simulate vessel motions, while the Volume of Fluid (VOF) method captured the free surface. First, the numerical results of the catamaran’s resistance, pitch, and heave motion amplitudes under different wave conditions were compared with experimental data to verify the accuracy of the CFD numerical method, and a grid convergence analysis was performed. Next, numerical models of the Delft-372 catamaran were constructed in parallel, tandem, and lateral formations under wave conditions. The results of the single-ship simulation were employed as a benchmark to analyze the impact of different formation configurations and varying lateral and longitudinal spacings on the resistance, pitch, and heave motions of the catamarans. The study also examined the effects of wave interference between vessels and the combined influence of external waves on individual and overall hydrodynamic performance. Results indicated that the tandem formation outperformed the parallel and lateral formations, with optimal performance observed at the longitudinal distance of 1 LPP. Generally, during navigation, the follower catamaran should ideally be positioned in the trough of the stern wave of the leader catamaran.

Self‐organizing cooperative hunting for unmanned surface vehicles with constrained kinematics

SummaryThe article aims at solving a cooperative hunting problem for multiple unmanned surface vehicles (USVs) subject to constrained kinematics. In order to cooperatively trap the evader into the hunting domain, a velocity model with control variable for the pursuers is firstly proposed according to the Apollonius circle. Then, a flexible self‐organizing control strategy is developed, which enables the pursuers to approach the evader while forming an encirclement. The pursuers can dynamically adapt their strategies in real‐time by choosing the optimal control variable. Additionally, take into account the limitation imposed on the vessel's motion, the optimal control variable with constraint can be obtained by using the particle swarm optimization with log‐barrier method. The simulation results ultimately demonstrate the validity and superiority of the proposed cooperative hunting algorithm.

Path following of underactuated surface vessels based active disturbance rejection control considering lateral drift

To address the challenges posed by unmodeled dynamics, lateral drift, external disturbances, and the difficulty in measuring velocities in underactuated surface vessels (USVs) motion systems, an active disturbance rejection control (ADRC) with two linear extended state observers (LESO) is proposed for USV path following. Firstly, we employ the Backstepping technique to create a virtual heading angle while estimating lateral drift and unmodeled dynamics using LESO. Subsequently, the ADRC algorithm is employed to control the heading angle. Since measuring the velocities of USV is challenging, velocity observers are introduce to estimate surge and sway velocities. Finally, we utilize the MMG model with high precision to track straight-line and curved paths, respectively. Simulation results validate that our developed controller accurately follows the reference path even in the presence of disturbances, affirming the effectiveness of our proposed control strategy.