Ship Motion Research Articles

Bulbous Bow Shapes Effect on Ship Characteristics: A Review

Abstract Hydrodynamic optimization is an effective and robust design method that is indispensable in ship hull form performance. Marine engineering and naval architecture have displayed significant interest in integrating bulbous bows on combatant ships. This review aims to gather and assess the existing knowledge regarding the effects of bulbous bow shapes on the hydrodynamic characteristics of combatant ships in terms of historical background, design principles, and impacts of bulbous bow shapes on ship resistance, ship motion in seaways, squat, and seakeeping performance. The review evaluates the effects of bulbous bow shapes on hull hydrodynamics using computational fluid dynamics (CFD), model testing, and full-scale experiments. The text delves into the complexities of improving hull shape and how the bulbous bow design interacts with many operational factors like draft, speed, and sea conditions. This research offers scholars, naval architects, and marine engineers a comprehensive insight into the intricate effects of bulbous bow shapes on combatant ship performance. It aims to consolidate current material to enhance our comprehension of ship design and operation by identifying knowledge gaps and suggesting future research areas.

Simulated Cam Morphology of the Hip Changes Sacroiliac Motion During Hip Motion and Loading in a Cadaveric Model

Simulated Cam Morphology of the Hip Changes Sacroiliac Motion During Hip Motion and Loading in a Cadaveric Model

Study on numerical simulation and mitigation of parametric rolling in a container ship under head waves

To investigate the parametric rolling motion of container ships navigating in head seas, this study utilizes the unsteady RANS approach combined with dynamic overlapping grid technology to simulate parametric roll in a container ship under the coupled motions of roll, pitch, and heave. Initially, the model was validated against experimental results, demonstrating good agreement and thus confirming the reliability of the computational method. Furthermore, the paper investigates the impacts of the initial roll angle, encounter frequency, and the addition of bilge keels on parametric rolling. The research findings indicate that the initial angles of rolling impact the duration needed to attain a steady roll condition, yet they have minimal effect on the amplitude post-stabilization. The likelihood of parametric rolling arises when the frequency of encounters doubles that of the ship's inherent roll frequency. Furthermore, the likelihood of parametric rolling escalates when the wavelengths approach the length of the ship. Installing bilge keels markedly reduces the parametric rolling movement in vessels, and the occurrence of parametric rolling is also delayed.

Physiological, Perceptual, and Biomechanical Responses to Load Carriage While Walking at Military-Relevant Speeds and Loads—Are There Differences between Males and Females?

This study aimed to investigate the physiological, perceptual, and biomechanical differences between male and female soldiers across several military-relevant load and walking speed combinations. Eleven female and twelve male soldiers completed twelve 12 min walking trials at varying speeds (3.5 km·h−1, 5.5 km·h−1, 6.5 km·h−1) and with varying external loads (7.2 kg, 23.2 kg, 35.2 kg). Physiological (indirect calorimetry, heart rate), perceptual (perceived exertion), and biomechanical (spatiotemporal, kinematic, kinetic) outcomes were measured throughout each trial. Females had a lower aerobic capacity and lower body strength than males, which resulted in them working at a greater exercise intensity (%VO2peak and heart rate) but with a lower oxygen pulse. Females demonstrated higher breathing frequency and perceived exertion with specific loads. At selected loads and speeds, frontal and sagittal pelvis, hip, and knee motions and forces were greater for females. Females consistently displayed greater relative stride length and step width. In conclusion, this study demonstrates the importance of tailored interventions, periodisation, and nutritional strategies for female military personnel, given their higher relative work rate and increased injury risk during load carriage tasks. Understanding these differences is crucial for preparing female soldiers for the physical demands of military service.

Four-quadrant propeller hydrodynamic performance mapping for improving ship motion predictions

On the path toward fully autonomous sea vessels, forecasting a ship’s exact velocity and position during its route plays a crucial role in dynamic positioning, target tracking, and autopilot operations of the unmanned body navigating toward predetermined locations. This paper addresses the prediction of the operational performance of a free-running submarine advancing in a straight route (in surge motion). Along with the forward advancing vessel (straight-ahead motion) the study covers all possible scenarios of ship’s surge, including crash-ahead, crash-back, and astern motions. Conventional maneuvering models cannot handle motions other than forward advancement due to the absence of propeller data in all four quadrants of hydrodynamic performance map. This study proposes an approach for predicting submarine performance in all these surge conditions by utilizing four-quadrant propeller performance and resistance test data. We developed an in-house code, SMot4QP, to simulate ship speed and position in the time domain. We obtained satisfying results for the straight-ahead and crash-ahead motions, while the crash-back and astern maneuvers require further refinement due to propeller wake interaction with the hull. The proposed method is capable of predicting the motions of all types of vessels using the ship’s resistance and four-quadrant propeller test results. Thus, SMot4QP offers a fast and robust alternative to computationally expensive free-running self-propulsion simulations for operational performance prediction in broader naval applications.

Dynamic Positional Attention Fusion (DPAF): Adaptive Encoding and Weighted Attention for Ship Motion Attitude Prediction

Dynamic Positional Attention Fusion (DPAF): Adaptive Encoding and Weighted Attention for Ship Motion Attitude Prediction

Autonomous navigation decision-making for ships in complex estuarine waters: Methodology and validation

This study focused on key scientific issues in the autonomous navigation for ships, including constraints on environmental and navigation rules, limitations on ship maneuverability, and collision avoidance mechanisms, to address the challenges of autonomous navigation decision-making for ships in complex estuarine waters and validate the feasibility and accuracy of the proposed methodology. A novel autonomous navigation decision-making method that can dynamically adapt to residual errors in a system and the random movements of target ships was proposed. The predictive model used to calculate decision plans and the simulation model used to execute and validate decision plans were separated. Environmental constituent elements were classified and modeled to digitize the environment. A navigation scenario was constructed based on the fusion of virtual and real information. The control and process prediction methods were proposed based on the nonlinear ship maneuvering characteristics. Navigation rules were summarized, analyzed, and integrated into the decision-making and execution process. The collision avoidance mechanism and calculation method for feasible course and speed range were studied. Simulation experiments were conducted using the North Channel of the Yangtze River Estuary as an example. The results demonstrated that the proposed method can accurately make autonomous navigation decisions, safely avoid collisions, and timely track routes in nearly realistic scenarios.

A rapid motion forecast strategy for ships in waves using seakeeping and maneuvering modules

This paper develops a new navigation assisted system for ships with time-varying wave disturbances. A new framework is presented using seakeeping and maneuvering modules to achieve the fast forecast of ship motions. S175 containership and KVLCC2 tanker are adopted to verify the seakeeping module. Based on the validated module, the heave, roll and pitch motions of a cruise ship in different conditions are calculated by using three-dimensional Rankine panel method. The horizontal surge, sway and yaw motions of ships can be rapidly evaluated by using MMG model considering the wave drift forces. Finally, the motion amplitudes of 6°-of-freedom can be forecasted rapidly by using seakeeping and maneuvering modules. The study provides the insight into the motions of ships in waves. It is of great engineering application value to evaluate the total ship motion amplitudes and to improve the safety of navigation of ships in waves.

MMG 3DOF model identification with uncertainty of observation and hydrodynamic maneuvering coefficients using MCMC method

The trajectory prediction using ship maneuverability mathematical models is one of the essential technologies implemented in autonomous surface ship. Several ship maneuverability mathematical models and each one with a particular hydrodynamic coefficient approximation using towing tank tests are existed. However, it is presented difficult to directly inverse estimate the hydrodynamic maneuvering coefficients of a ship maneuverability mathematical model from operational data consisting of ship trajectory and maneuvering operation records. This paper proposed a method for estimating the hydrodynamic maneuvering coefficients of the MMG 3DOF model using three types of time-series ship motions (surge, sway, and yaw velocity) as observed data. In the assumption of this paper, there is uncertainty in observations and the hydrodynamic maneuvering coefficients of the MMG 3DOF model. The proposed method outputs samples of the simultaneous posterior probability distribution of the hydrodynamic maneuvering coefficients by the MCMC method using the observed data and stochastic model. A robust trajectory with a wide range can be presented by conducting ship maneuvering simulations using these samples. To verify the feasibility of the proposed method, this paper conducted observation system simulation experiments (OSSE) using the KVLCC2 L7 model and applied the proposed method to several free-running model ship tests. Results showed that on the assumption that MMG 3DOF model can explain the ship's state and trajectory in real world, the proposed method can estimate the ship hydrodynamic maneuvering coefficients of the MMG 3DOF model corresponding to the observed ship trajectory and control data including the error of observed data.

ALGORITHM FOR ESTIMATING THE PARAMETRIC ROLL MOTIONS

For a ship, both synchronous and parametric roll motions can be modelled by nonlinear second-order differential equations with the roll angle as dependent variable and the nonlinearities coming from the damping and restoring moments. In the absence of exact solution techniques, approximate solutions for such equations can be obtained, in principle, analytically or numerically. In this paper, we focused on a fast and accurate recursive scheme based on the segmentation of the time domain into a fine grid of intervals of equal lengths. Due to the smallness of each time subinterval, a reset of the terms of the initial nonlinear equation of motion allows replacing it with a linear one in which the constant coefficients represent approximate values of the former variable coefficients in the middle of each subinterval. The linear equation is solved via the Laplace transform and the resulting solution together with its first derivatives is used to generate the iterative algorithm. This technique was applied to the case of two typical roll equations. The first describes the synchronous roll of a vehicle ferry model equipped or not with bilge keels while the second estimates the parametric roll of a container ship model. In both cases, the analyzed recursive algorithm not only generated results in full agreement with those provided by the ode45 solver in Matlab but also lead to a gain in computation time and offered more flexibility in imposing some restrictive conditions associated, for example, with exceeding some oscillation amplitudes or to the ship capsizing. Key words: synchronous and parametric ship rolling, iterative scheme

Doctor, When Should I Start Walking? Revisiting Postoperative Rehabilitation and Weight-Bearing Protocols in Operatively Treated Acetabular Fractures: A Systematic Review and Meta-Analysis.

Background and Objectives: Management of acetabular fractures is aimed at anatomically reducing and fixing all displaced or unstable fractures, as the accuracy of fracture reduction has been demonstrated to strongly correlate with clinical outcomes. However, there is a noticeable gap in the literature concerning the perioperative and postoperative care of patients with acetabular fractures, which ultimately can be potential risk factors for adverse outcomes and permanent disabilities. This study aimed to systematically review the available literature regarding rehabilitation practices, including weight-bearing protocols, across time points in surgically treated acetabular fracture patients and correlate these practices with functional outcomes. Methods: We systematically reviewed the Medline and PubMed databases and the Cochrane Central Register of Controlled Trials in accordance with Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) guidelines. The inclusion criteria were studies with adult patients (19+ years), publications from the last 10 years, articles focusing on rehabilitation or mentioning any aspect related to rehabilitation (such as weight-bearing or muscle training), and describing the surgical management of acute, isolated acetabulum fractures. Specific information was collected, including the fracture classification, time to surgery, surgical approach, surgical time, blood loss, fixation strategy, quality of reduction, postoperative rehabilitation protocol, complication rate, type(s) of complication, and outcome measurement(s). The choice(s) of surgical approach, surgical time, blood loss, and fixation strategy were stratified based on the fracture classification. The complication rate and type(s) of complication were calculated for all studies. Fractures were classified based on the Letournel classification. Results: A total of 494 articles were identified from the initial search, of which 22 (1025 patients) were included in the final review. The most common rehabilitation protocol favored isometric quadriceps and abductor strengthening exercises starting on the first postoperative day, with passive hip movement at 1-3 days postoperatively and active hip movement ranging from the first postoperative day to 4 weeks postoperatively. Partial weight-bearing with a walker or a pair of crutches was permitted from 1 to 12 weeks after surgery, and full weight-bearing was allowed depending on the patient's general condition and fracture healing state (generally at the end of 3 months). In only three studies did the patients start bearing weight in the early postoperative period (≤1 week). Meta-regression analysis was not performed due to the discrepancy between studies that reported a weight-bearing protocol ≤1 week and >1 week postoperatively. Conclusions: Our study suggests that an accelerated postoperative rehabilitation protocol, including early permissive weight-bearing, does not appear to increase the risk of loss of reduction or the rate of complications after surgical treatment of acetabular fractures. However, a proper meta-analysis was not possible, and the heterogeneity of the included studies did not allow us to conclude anything about the potential biomechanical and clinical benefits nor the negative effects related to this rehabilitation regimen in terms of functional results. There is an inconsistent use of PROMs for objectively calculating the effect size of the accelerated protocol compared with restricted weight-bearing regimes. We pose the need for higher-level evidence to proof our hypothesis.

Ship pitch prediction method based on LSTMC and multi-head attention

When ships sail in the sea, ship motion is unstable and stochasticity due to the ever-changing weather and marine conditions. Aiming to address the issue of low prediction accuracy in traditional prediction methods, short term predictions of ship pitch at 1 step, 3 steps, 6 steps, and 12 steps in advance are conducted, and the impact of input-output ratios on the prediction model is studied. The seven types of data of the marine environment and ship motion are taken as model inputs, with pitch as the model output. When predicting 1 step in advance, a prediction model based on LSTM and multi-head attention (LMA) is proposed. This model firstly uses LSTM layer to extract the temporal feature of the input sequence, and then uses the multi-head attention layer to assign larger weights to the key information to enhance prediction accuracy. When predicting 3 steps, 6 steps, and 12 steps in advance, as the input-output ratio increases, the length of the input sequence keeps growing. The model needs to sufficiently capture the local spatial characteristic and long-range dependency between multi-variable inputs, a deep prediction model based on Conv2d and LMA model is proposed. The model firstly uses two-dimensional convolution layer to extract local spatial feature of long sequences, and then through the attention layer, assign larger weights to temporal information and spatial information that are conducive to continuous prediction in order to enhance prediction accuracy. Research on the input-output ratio indicates that, as the number of predicted steps increases, the appropriate ratio continuously decreases, but the length of the input sequence keeps increasing. Finally, four evaluation metrics are used to evaluate the proposed algorithms on real ship data, and the prediction stability and accuracy of the LMA model and the LCMA model are also verified.

Four-DOF Maneuvering Motion of a Container Ship in Shallow Water Based on CFD Approach

With the continuous increase in ship size combined with the generally slower increase in the sizes of waterways, the need for the prediction of ship maneuvering in shallow waterways continues to attract attention from the international scientific community. Ship behavior in shallow water is relevant in seabed effects that result in changing the hydrodynamic forces acting on a ship. In this study, the maneuvering characteristics of a container ship with four degrees of freedom in shallow water are analyzed. The Reynolds-Averaged Navier Stokes approach in Ansys Fluent code is used to produce the maneuvering coefficients through the simulations of forward running, static drift, static heel, circular motion, the combined motions, and the pure roll motion of the KRISO container ship. The maneuvering characteristics of the ship are estimated for evaluating the ship behaviors in shallow-water conditions. The obtained results show that the roll has a significant decrease and the ship’s turning diameter has a significant increase when the ship operates in a shallow waterway. The predictions of the maneuvering characteristics of the ship are in good agreement with those of free-running model tests, indicating that the numerical simulation based on the Computational Fluid Dynamics method has compromising capability to predict the maneuvering derivatives and the four-DOF ship maneuvering motion in shallow water as well.

Ship Anomalous Behavior Detection in Port Waterways Based on Text Similarity and Kernel Density Estimation

The navigational safety of ships on waterways plays a crucial role in ensuring the operational efficiency of ports. Ship anomalous behavior detection is an important method of water traffic surveillance that can effectively identify abnormal ship behavior, such as sudden acceleration or deceleration. In order to detect potential anomalous ship behavior in real time, a method for ship anomalous behavior detection in waterways is proposed based on text similarity and kernel density estimation. Under the assumption of known traffic patterns entering and leaving the port, this method can identify ship behaviors that violate traffic patterns in real time. Firstly, kernel density estimation is applied to construct a traffic pattern density model for ship trajectories entering and leaving the port, used to estimate the density values of ship motion states. Simultaneously, a semantic transformation method is used to convert traffic pattern trajectory into pattern trajectory text, which is used to identify the ship’s traffic pattern. Subsequently, the historical trajectory data of the target ship are transformed into textual trajectories, and text similarity is used to identify ship inbound and outbound traffic patterns. Furthermore, the constructed traffic pattern density model is used to estimate real-time density values of the state of ship motion, and the trajectory points that exceed the threshold of the anomaly factor are marked as anomalies. Finally, the effectiveness of the proposed method is validated using simulation data, and the results indicate an accuracy of more than 90% for the comprehensive detection of anomalous behavior. This study, approaching the detection of potential ship anomalous behavior from the perspective of port traffic patterns, enriches the methods of ship anomalous behavior detection in port waterways.

A data mining-then-predict method for proactive maritime traffic management by machine learning

Proactive traffic management is increasingly critical in maritime intelligent transportation systems. Central to this is maritime traffic forecasting, which leverages specific structures and properties of the problem. This study focuses on the traffic dynamics within convergent areas of inland waterways and proposes a method based on data mining followed by prediction using Automatic Identification System (AIS) data. This approach addresses uncertainties in ship voyage destinations and optimizes predictions for temporary stops in inland waterways. AIS data is processed to depict complete ship motion trajectories, grouping them into trajectory sets based on shared origin, destination, and route. These groups help represent maritime traffic patterns using the entrance and exit points of channels and the boundaries of the study area. Additionally, a stop detection model is applied to these trajectories to identify nodes within maritime traffic networks. A decision tree algorithm is then employed to train a classifier for predicting traffic patterns. The method was validated in the convergent area of the Yangtze River and the Hanjiang River, demonstrating effective pattern extraction from inland maritime traffic and high accuracy in predicting single ship trajectories, achieving a 96.7% accuracy rate and 80.9% precision. The findings suggest that the proposed method (1) effectively extracts and predicts traffic patterns, (2) identifies congestion in convergent waters, and (3) supports traffic management strategies.

Comparative study of nonlinear wave-induced global loads on a container ship in regular head waves predicted with numerical methods based on weakly nonlinear potential theory and Reynolds-averaged Navier-Stokes equations

ABSTRACT Wave-induced loads on the ship hull are of significant interest for many reasons. These loads, however, are highly nonlinear in realistic wave conditions and consequently difficult to predict. In this paper, we analysed and compared wave-induced loads acting on a container vessel in regular head waves computed with a newly developed weakly nonlinear potential theory-based code and a flow solver based on the Reynolds-averaged Navier-Stokes Equations. We investigated both long and short waves with moderate steepness. Initially, the vessel was completely fixed and the ship motions were suppressed, then the vessel was free to heave and pitch motion. We compared time-histories of the computed wave-induced longitudinal and vertical global forces as well as the pitch moment and we deeply analysed nonlinear effects by applying a Fourier transformation and comparing the corresponding harmonic amplitude up to the fourth order. Our results demonstrated satisfactory agreement between the two numerical methods, especially when the ship was free to heave and pitch. Additionally, the results provided detailed information about the capabilities and limitations of the weakly nonlinear potential theory-based approach.

Estimation of near-coastal bathymetry using AIS ship movements

In near coastal environments, nautical charts provide crucial information for navigation and routing both in real-time operations and during planning stages. The cost of data collection as well as capacity constraints in the processing pipeline make reliable bathymetric information in such areas sparse. Prioritization rules can help guide the efforts to where information is the most valuable. AIS data provide accounts of real ship movements, indicating both desirable paths and minimum depths. We propose a statistical model for combining sparse bathymetric soundings with AIS observations for improved prediction of depths for generation of feasible transportation corridors. The method relies on viewing AIS draughts as censored observations of the true depth. A case-study is performed for the southern archipelago of Gothenburg using the program R-INLA. The non-stationarity caused by having boundaries with known (zero) depth and holes (land) in the domain is handled through discretization. Varying amounts of AIS data, ranging from none to 1824 observations, are used in the experiments. Results show predicted depths within the range of data values, and that inclusion of AIS data serve to push the field down to ensure that traverseable areas are predicted as such revealing corridors in narrow passages where bathymetric soundings are lacking.

Sensitivity analysis of parameters impacting the performance of an energy ship using airborne wind energy

This study assesses the impact of different model parameters on the power performance of energy ship systems using point-mass models, focusing on two operational modes. The first mode involves a kite operating in a pumping mode with adjustable tether lengths, aided by additional propellers for ship propulsion. It utilizes a quasi-steady kite model coupled with ship motion’s drag force and velocity triangles. The second mode features a kite pulling the ship, while underwater hydraulic turbines harness energy from ship velocity. Derived from a sail-based model, calculations deploy the force balance equation in line with ship motion, considering the drag forces of the ship and hydraulic turbines, alongside the propulsive force resulting from the kite’s interaction with the ship. The investigated parameters influencing the power performance include kite surface, ship length, wind speed, the angle between the ship’s motion direction and wind direction, and, for the pumping mode, ship speed. The power production of the propulsion mode is generally lower, with differences of at least 72%, depending on the combination of considered parameters.

Prediction of Wave-Induced Nonlinear Ship Motions Based on an IRF-LSTM Hybrid Approach

Prediction of Wave-Induced Nonlinear Ship Motions Based on an IRF-LSTM Hybrid Approach

Treatment of common femoral artery steno-occlusive disease: a comprehensive review of anatomical and hemodynamic considerations.

Open surgical repair, often in the form of endarterectomy, is still the gold standard for steno-occlusive disease in the common femoral artery, despite the success of lower-risk endovascular alternatives in other peripheral arterial regions. Stenting in the common femoral artery is not widely adopted due to the proximity of the artery to the mobile hip joint, and the perceived risk this has on the stent structure due to kinking. The purpose of this review was to assess how hip movement contributes to the anatomical and biomechanical challenges proposed in the common femoral artery, and how these challenges impact the hemodynamics with both open surgical and endovascular stent treatments. The findings demonstrated that the common femoral artery is a fixed arterial segment which does not bend or twist as previously perceived. However, high degrees of bending and twisting are evident in the vessels directly proximal and distal to the common femoral artery. Mechanical testing suggests that the latest generation braided Nitinol stents could be well-suited to these challenges. Both endarterectomy and stenting provide good hemodynamic results regarding limb perfusion. However, other hemodynamic parameters, such as wall shear stress, may not be optimized with either modality, increasing the risk of chronic restenosis. As a high proportion of common femoral artery disease extends into the adjacent arterial segments, further research is warranted to ascertain the optimum hemodynamic stent configuration, as a lower-risk alternative to open surgery.