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A Weibull Distribution-Based Parametrization for Encounter Wave Spectra 基于威布尔分布的遇波谱参数化
Pub Date : 2022-06-05 DOI: 10.1115/omae2022-79264
Lariuss Zago, A. Kawano, A. Simos, Rodolfo T. Gonçalves
The continuous monitoring of sea states is important for many activities, from gathering oceanographic data to the planning of ship operations. There are several means to infer sea conditions, with variable levels of accuracy. Among these, the methods based on on-board measurements of vessel motions have been addressed by many researchers, attracted mainly by its practicality regarding installation and maintenance issues. However, the idea of using vessels as wave sensor also brings restrictions, mainly associated with the filtering of short waves that causes no significant motions of the hull, and, furthermore, the vessel speed introduces considerable complexity in the mathematical inference procedure. A significant part of this complexity is associated with the triple-value problem related to stern wave conditions. In the context of a research that addresses an alternative method for the parametric estimation of sea waves based on vessels with forward speed, this article deals with the problem of devising a proper parametric representation of the wave energy distribution as seen in the ship’s reference frame, i.e., the encounter wave spectrum. A Weibull-distribution parametrization is proposed, for its ability to handle the significant variations of encounter wave spectrum shapes. Analyses performed for several combinations of wave directions, peak frequencies and vessel’s speed show that this approach is indeed capable of providing proper representation of the spectral shapes based on few parameters, both for bow and stern waves.
从收集海洋学数据到规划船舶作业,对海况的持续监测对许多活动都很重要。有几种方法可以推断海况,准确度各不相同。其中,基于船载运动测量的方法受到了许多研究者的关注,主要是由于其在安装和维护问题上的实用性。然而,使用船只作为波浪传感器的想法也带来了限制,主要与短波的过滤有关,这些短波不会引起船体的明显运动,此外,船只的速度在数学推理过程中引入了相当大的复杂性。这种复杂性的一个重要部分与与尾波条件有关的三值问题有关。在一项研究的背景下,研究了一种基于船舶前进速度的海浪参数估计的替代方法,本文讨论了在船舶参考坐标系中(即遇波谱)所看到的波浪能量分布的适当参数表示的问题。提出了一种威布尔分布参数化方法,因为它能够处理遇波谱形状的显著变化。对波浪方向、峰值频率和船舶速度的几种组合进行的分析表明,这种方法确实能够根据几个参数,为艏波和尾波提供正确的频谱形状表示。
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引用次数: 1
Spatial Distribution of Impact Pressure Impulse on a Semi-Submersible in Irregular Waves 半潜器在不规则波浪中冲击压力脉冲的空间分布
Pub Date : 2022-06-05 DOI: 10.1115/omae2022-80037
Nian-Qin Zhang, Longfei Xiao, Handi Wei, X. Teng, Yi-zhi Guo
Semi-submersible platforms have been widely used in offshore oil and gas exploitation due to their excellent performance, but wave impacts in extreme sea states remain a major concern. For the design of offshore structures with sufficient structural capacity, scholars have pointed out the wave pressure impulse obtained by time integration is more crucial compared with the peak impact pressure. In this study, wave basin experiments were carried out under a series of irregular waves to study the spatial variations of pressure impulse on a semi-submersible. To capture more wave impact events and get more accurate local impact pressures, a large number of impact load measurement units were compactly installed on two adjacent surfaces at the corner of test model. The probability statistical method is adopted to analyze the nonlinear features and spatial variations. The results show that the pressure impulse on a semi-submersible in irregular waves has strong variability and its spatial distribution presents local concentration features. It is found that wave impacts on the column are more serious and the variations of pressure impulse on the column are greater than that on the side of deck box under head sea state. Spatial variations of pressure impulse on a semi-submersible are severely affected by significant wave height Hs and spectral peak period Tp of irregular waves. Meanwhile, the number of wave seeds used in model tests have a decisive influence on the estimation and spatial variation of wave pressure impulses. The perspectives given in this study may provide references for the structure design of semi-submersible platforms and lay a foundation for improving the laboratory experiment of wave impacts.
半潜式平台由于其优异的性能在海上油气开发中得到了广泛的应用,但极端海况下的波浪影响仍然是一个主要问题。对于具有足够结构承载力的海上结构设计,学者们指出,与峰值冲击压力相比,通过时间积分得到的波浪压力脉冲更为关键。本文通过波浪盆试验,研究了半潜器在一系列不规则波浪作用下压力脉冲的空间变化规律。为了捕获更多的波浪冲击事件,获得更精确的局部冲击压力,在试验模型的转角相邻的两个表面上密集安装了大量的冲击载荷测量单元。采用概率统计方法对非线性特征和空间变化进行分析。结果表明:半潜器在不规则波浪中的压力脉冲具有较强的变异性,其空间分布呈现局部集中特征;结果表明,在首海状态下,波浪对柱体的冲击更大,柱体上压力脉冲的变化也比甲板箱侧更大。不规则波的显著波高Hs和谱峰周期Tp严重影响半潜器压力脉冲的空间变化。同时,模型试验中使用的波粒数对波压力脉冲的估计和空间变化具有决定性的影响。本研究提供的观点可为半潜式平台的结构设计提供参考,并为改进波浪冲击的室内实验奠定基础。
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引用次数: 0
Leading-Edge Tubercles Applied Onto a Flapped Rudder 前缘小结节在扑翼舵上的应用
Pub Date : 2022-06-05 DOI: 10.1115/omae2022-80807
Moritz Troll, Weichao Shi, Callum Stark
The addition of a trailing edge flap is an effective way to enhance the lift generated by marine rudders. This is achieved through camber being introduced into the foil section when the flap is deflected. But the strong curvature in the flow around the flap’s leading edge makes it prone to early flow separation and increased drag. Leading-edge tubercles offer a means to control flow separation whilst improving lifting performance at post-stall angles of attack (AOA). Therefore, this study aims to investigate the tubercle leading edge’s (TLE) ability to improve the hydrodynamic performance of a flapped rudder. A finite-span reference rudder with a 20% trailing-edge flap and its TLE modification were numerically analysed using Detached Eddy Simulations (DES) for fully turbulent flow at a Reynolds number of 1.15 × 106. Flow separation severity and progression were controlled and minimised through the TLE modifications. As a result, the TLE rudder produced up to 15% higher maximum lift and up to 25% more post-stall lift. The rudder efficiency also improved for various rudder and flap angle combinations.
后缘襟翼的加入是提高船舶舵升力的有效途径。这是通过当襟翼偏转时引入箔段的弧度来实现的。但是,在襟翼前缘周围的强曲率使得其易于早期流动分离和增加阻力。前缘结核提供了一种控制流动分离的手段,同时提高了失速后攻角(AOA)的升力性能。因此,本研究旨在探讨结节前缘对襟翼舵水动力性能的改善作用。采用分离涡模拟(DES),对具有20%尾缘襟翼的有限跨度参考舵及其TLE改型进行了雷诺数为1.15 × 106的完全湍流流场数值分析。通过对TLE进行修改,控制并最小化了流动分离的严重程度和进展。结果,TLE方向舵产生了高达15%的最大升力和高达25%的失速后升力。在不同的舵角和襟翼角度组合下,舵效率也有所提高。
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引用次数: 0
Hydrodynamic Analysis of a Triple Thruster Unit Via a BEM/RANS Interactive Method 基于BEM/RANS交互方法的三联推装置水动力分析
Pub Date : 2022-06-05 DOI: 10.1115/omae2022-81026
Seunghyun Kim, S. Kinnas, Ray Thomas Grebstad, Jahn Terje Johannessen
In this paper, a boundary element method (BEM) is used to predict the unsteady performance of ducted propellers in open water and ship behind conditions. The model propeller adopted includes the non-axisymmetric duct appendages (e.g., gearbox, brackets, and vertical structure connected to the hub), which induce severe shedding vortices on the propeller plane. This study thus investigates the effects of separation from the duct appendages as well as the upstream hull on the unsteady ducted propeller performance under different loading conditions. To improve the accuracy of a potential flow solver for highly viscous problems with separated flow near a blunt body, the present method is coupled with a viscous Reynolds-Averaged Navier-Stokes (RANS) solver. The former solves the ducted propeller problem to produce the propeller-induced flow field and body forces, with which the latter solves the total flow field based on a finite volume method. This approach is implemented in an iterative manner until the predicted 3D effective wake on the propeller surface becomes fully converged. An automated interface is developed to facilitate this process. A complete analysis of the propeller performance (i.e., predicted effective wake, flow-field, unsteady forces, and circulations on the blade) is presented at various operating conditions to investigate how the flow field inside and outside the nozzle is influenced by the viscous interaction among the incoming flow, propeller, its appendages, and upstream hull. For the sake of validation, the predicted results are compared with experimental measurements and results from unsteady full-blown RANS simulations. The presented results show satisfactory agreement among the results from different approaches, which makes the BEM/RANS coupling scheme adequate and computationally efficient for practical applications.
本文采用边界元法(BEM)对导管式螺旋桨在开阔水域和船后工况下的非定常性能进行了预测。所采用的模型螺旋桨包括非轴对称风道附件(如齿轮箱、托架、与轮毂连接的垂直结构),这些附件在螺旋桨平面上产生严重的脱落涡。因此,本文研究了不同载荷条件下,与管道附属物分离以及上游船体分离对非定常导管螺旋桨性能的影响。为了提高钝体附近具有分离流的高粘性问题的势流求解器的精度,将该方法与粘性reynolds - average Navier-Stokes (RANS)求解器相结合。前者解决了导管式螺旋桨问题,产生了螺旋桨诱导的流场和体力,后者基于有限体积法求解了总流场。该方法以迭代的方式实现,直到预测的螺旋桨表面三维有效尾迹完全收敛。开发了一个自动化界面来促进这一过程。对不同工况下的螺旋桨性能(即预测的有效尾迹、流场、非定常力和叶片上的循环)进行了完整的分析,以研究来流、螺旋桨及其附属物和上游船体之间的粘性相互作用对喷管内外流场的影响。为了验证预测结果,将预测结果与实验测量结果和非定常全面RANS模拟结果进行了比较。结果表明,不同方法的计算结果具有较好的一致性,表明BEM/RANS耦合方案具有较好的计算效率。
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引用次数: 1
Evaluation of Hydrodynamic Loads on a Concrete Gravity-Based Offshore Structure in Extreme Waves 极端波浪条件下混凝土重力式近海结构的水动力荷载评估
Pub Date : 2022-06-05 DOI: 10.1115/omae2022-78578
M. Zaman, A. Akinturk
The oil and gas companies extended their activities in the offshore area of the North Seas. The presence of extreme environmental waves imparts extra risks to the operations of the offshore fixed and floating structures in these areas. The operation and safety of these offshore structures are considerably disturbed during the propagation of large waves over the region. The Newfoundland coast experienced very high waves during an intense ever storm in 2018 that brought waves with very large wave heights at various locations. This paper reports the loadings of such high waves on the shaft of a Gravity-Based Structure (GBS). A 3D non-linear dispersive mass, momentum, and energy model (MME) with second-order in wave amplitudes, and OrcaFlex™, a commercial numerical tool are used for the simulation of loads on the structure. The 3D numerical model describes the characteristics of the wavefield in terms of mass, momentum, and energy flux conservation equations. OrcaFlex™ is a 3D non-linear time-domain finite element implicit and explicit software that uses lumped mass elements to simplify equations, has diffraction capability, and makes the computation efficient. In the simulations, parameters for incident wave conditions are varied systematically to study various cases and data comparisons between the two numerical simulators are made. The geometry of the GBS was kept constant. The water depth is assumed to be 80m and the shaft length is 95m with a diameter of 30m. The simulation is carried out for 3 hours in each case. New data and information that would be produced from this work are important for possible use in the design method of a GBS and thus increase structural and operational safety exclusively in the harsh environment or in the existence of freak waves.
石油和天然气公司扩大了在北海近海地区的活动。极端环境波浪的存在给这些地区近海固定和浮动结构的运行带来了额外的风险。大浪在该地区传播时,这些近海结构的运行和安全会受到很大干扰。纽芬兰海岸在 2018 年的一次强风暴中经历了非常大的海浪,在不同地点带来了浪高非常大的海浪。本文报告了这种大浪对重力式结构(GBS)轴的荷载。本文使用了具有二阶波幅的三维非线性弥散质量、动量和能量模型(MME)以及商业数值工具 OrcaFlex™ 来模拟结构上的载荷。三维数值模型根据质量、动量和能量通量守恒方程描述了波场的特征。OrcaFlex™ 是一款三维非线性时域有限元隐式和显式软件,它使用块状质量元素来简化方程,具有衍射功能,计算效率高。在模拟过程中,系统地改变了入射波条件的参数,以研究各种情况,并对两种数值模拟器进行了数据比较。GBS 的几何形状保持不变。假设水深为 80 米,竖井长度为 95 米,直径为 30 米。每种情况下的模拟时间均为 3 小时。这项工作所产生的新数据和信息对可能用于 GBS 的设计方法非常重要,从而提高了在恶劣环境或怪浪情况下的结构和运行安全性。
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引用次数: 0
Data-Driven Propeller and Rudder Modeling for Maneuvering Analysis of the ONR Tumblehome 基于数据驱动的旋翼机螺旋桨和舵模型
Pub Date : 2022-06-05 DOI: 10.1115/omae2022-79139
Bradford G. Knight, K. Silva, K. Maki
The accurate prediction of ship maneuvering characteristics requires accurate representation of the forces on the propellers and rudders. Computational Fluid Dynamics (CFD) can accurately predict the maneuvering characteristics of a vessel, but the expense is dominated by the discretization of the propellers, and long-time simulations are too expensive for practical use. Propeller and rudder models can reduce the computational cost, but can also reduce the accuracy. The objective of this work is to accurately model the Office of Naval Research (ONR) Tumblehome performing both turning circle and zig-zag maneuvers with high-fidelity data-driven propeller and rudder models. The use of the data-driven propeller and rudder models significantly reduces the computational cost of performing a maneuver. The forces of the propeller and rudder are calculated as a function of the propeller revolution rate, the rigid body velocity of the vessel, and the rudder angle. The propeller and rudder models are trained with a select number of CFD simulations with the discretized propeller and rudder operating in the behind condition. The propeller and rudder models maintain the accuracy of using a discretized propeller and rudder with respect to CFD simulations used for validation. The models calculate the multi-degree of freedom force acting on the propellers and rudders of the vessel. For comparison, the maneuvering characteristics of the vessel are also analyzed with a simplified body-force propeller and a Whicker and Fehlner rudder model.
要准确地预测船舶的操纵特性,就必须准确地表示作用在螺旋桨和舵上的力。计算流体动力学(CFD)可以准确地预测船舶的机动特性,但其成本主要集中在螺旋桨的离散化上,且长时间的模拟成本过高,难以实际应用。螺旋桨和方向舵模型可以减少计算成本,但也会降低精度。这项工作的目标是通过高保真数据驱动的螺旋桨和方向舵模型,精确模拟海军研究办公室(ONR)的Tumblehome进行转弯和之字形机动。数据驱动的螺旋桨和方向舵模型的使用大大降低了执行机动的计算成本。螺旋桨和舵的力是作为螺旋桨转速、船体刚体速度和舵角的函数来计算的。采用一定数量的CFD仿真,对离散化后的螺旋桨和方向舵模型进行了训练。对于用于验证的CFD模拟,螺旋桨和方向舵模型保持了使用离散螺旋桨和方向舵模型的精度。该模型计算了作用在船舶螺旋桨和舵上的多自由度力。为了进行比较,还采用简化体力螺旋桨模型和惠勒费纳舵模型分析了该船的操纵特性。
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引用次数: 0
Life-Cycle Cost Analysis on a Marine Engine Innovation for Retrofit: A Comparative Study 船用发动机创新改造全寿命周期成本分析:比较研究
Pub Date : 2022-06-05 DOI: 10.1115/omae2022-79488
Khanh Q. Bui, L. Perera, J. Emblemsvåg, Halvor Schøyen
Stricter regulations and ambitious targets regarding air emissions from ships have led the shipping industry to a tipping point necessitating disruptive technologies for green and ecological operation. This study introduces a dual-fuel engine innovation with ultra-high energy conversion efficiency, thereby reducing exhaust gas emissions. However, the total cost performance of such an innovation throughout its long lifespan can be a matter of concern for decision makers (i.e. ship owners) if they decide to retrofit their existing fleet. The purpose of this study is to provide insights into the economic performance of such an innovative dual-fuel engine when it is utilized as the main propulsion system. From a cradle-to-grave perspective ranging from construction, operation, maintenance to end-of-life, the life-cycle costing (LCC) framework is proposed to evaluate the long-term cost performance of the dual-fuel engine with that of a conventional diesel engine. By using the net present cost (NPC) as an evaluation indicator, the research results reveal that the dual-fuel engine is considered as a cost-effective option except for the high fuel price differential scenario, meaning that fuel prices are the most critical factor for ship owners. In addition, the environmental impact of these engines is included in the evaluation to show that 33% reduction in emissions of carbon dioxide (CO2) can be achieved when running the dual-fuel engine, compared to the diesel engine. The proposed framework could conceivably be beneficial in selecting marine engine innovation that takes not only the environmental impact but also the economic performance into consideration.
更严格的法规和雄心勃勃的船舶空气排放目标使航运业达到了一个临界点,需要颠覆性技术来实现绿色和生态运营。本研究介绍了一种具有超高能量转换效率的双燃料发动机创新,从而减少了废气排放。然而,如果决策者(即船东)决定改造现有船队,这种创新在其长寿命期间的总成本表现可能是他们关注的问题。本研究的目的是为这种创新的双燃料发动机作为主要推进系统时的经济性能提供见解。从从摇篮到坟墓的角度,从建造、运行、维护到使用寿命结束,提出了生命周期成本(LCC)框架,以评估双燃料发动机与传统柴油发动机的长期成本性能。以净当前成本(NPC)作为评价指标,研究结果表明,除了高燃油价格差异情景外,双燃料发动机被认为是一种具有成本效益的选择,这意味着燃油价格是船东最关键的因素。此外,这些发动机的环境影响也包括在评估中,表明与柴油发动机相比,使用双燃料发动机可以减少33%的二氧化碳排放量。所提出的框架可以被认为有利于选择既考虑环境影响又考虑经济性能的船用发动机创新。
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引用次数: 3
Life Cycle Assessment of Different Marine Fuel Types and Powertrain Configurations for Financial and Environmental Impact Assessment in Shipping 船舶财务和环境影响评估中不同船用燃料类型和动力系统配置的生命周期评估
Pub Date : 2022-06-05 DOI: 10.1115/omae2022-78774
H. Taghavifar, L. Perera
The fuel type selection according to optimal pathway from extraction of a raw material (feedstock) to its processing to transportation and finally its use in marine engines (well to wheel) based on the cost and emission criteria is the main motivation factor to conduct the current investigation. The undertaken procedure has been customized based on the available data (ship/bunker route and mileage, the ship powertrain system, etc.) of the shipping industry under the SeaTech H2020 project (seatech2020.eu). The selected modeling platform is utilized for the life cycle assessment of three potential fuels of diesel, methanol, and liquefied natural gas (LNG). Different fuel production pathways and powertrain dual-fuel technologies have been taken into account as the main variables, while the subsidiary factors such as transportation parameters (fuel economy and Avg. speed) are included in the calculations. The economic aspect and emission reduction trade-off for various scenarios are conducted to introduce the optimal solution based on the stakeholder interest in the shipping industry. The study also considers the fuel transport to the respective ports for a selected vessel from diverse fuel export locations and travelled routes according to datasets available for the same project. The results provide a guideline to the shipping industry on selecting possible conventional/renewable fuel resources to use in marine engines with emission content during each adopted pathway, where the respective subsequent expenditure per 1 MJ of each fuel sample as the functional unit has been evaluated.
根据成本和排放标准,从原料(原料)的提取到加工到运输,最后在船用发动机(从油井到车轮)中使用的最佳路径选择燃料类型是进行当前研究的主要动机因素。在SeaTech H2020项目(seatech2020.eu)下,根据航运业的可用数据(船舶/燃料舱路线和里程,船舶动力系统等)定制了所承担的程序。所选择的建模平台用于柴油、甲醇和液化天然气(LNG)三种潜在燃料的生命周期评估。考虑了不同的燃料生产途径和动力系统双燃料技术作为主要变量,同时考虑了运输参数(燃油经济性和平均速度)等辅助因素。通过对不同情景下的经济方面和减排权衡,引入基于航运业利益相关者利益的最优解决方案。根据同一项目的现有数据集,该研究还考虑了从不同燃料出口地点和旅行路线的选定船舶到各自港口的燃料运输。研究结果为航运业选择可能的常规/可再生燃料资源以用于船舶发动机提供了指导,其中每种燃料样品作为功能单位的每1mj各自的后续支出已被评估。
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引用次数: 0
Advanced Data Analytics Based Hybrid Engine-Propeller Combinator Diagram for Green Ship Operations 基于先进数据分析的绿色船舶混合动力发动机-螺旋桨组合图
Pub Date : 2022-06-05 DOI: 10.1115/omae2022-79490
L. Perera, K. Belibassakis, E. Filippas, M. Premasiri
Ship owners should comply with the forthcoming IMO legislations that mandates a reduction of ship emissions of at least 40% by 2030 compared with the 2008 baseline. However, it is unlikely that the shipping industry will be able to achieve its 2030 and 2050 emission reduction targets relying only on existing vessel technologies. Hence, the required green ship technologies that relate to industrial digitalization and AI applications should be utilized onboard vessels to achieve these emission reduction targets. This study proposes to analyze a hybrid engine-propeller combinator diagram from both theoretical calculations, i.e. from the vessel hull design, as well as data driven calculations, i.e. from ship performance and navigation data sets, to compare their performance in a single model framework. That would consist of various machine learning applications to create AI. It is expected that such combinations will support to understand the variations among system-model uncertainties in vessels and ship systems as a system of systems and that can also support industrial digitalization in shipping. Furthermore, the hybrid engine-propeller combinator diagram can be utilized to establish the basis for advanced data analytics that will be used to identify optimal vessel navigation and ship system operational conditions.
船东应遵守即将出台的国际海事组织立法,该立法要求到2030年,与2008年的基线相比,船舶排放量至少减少40%。然而,仅依靠现有船舶技术,航运业不太可能实现其2030年和2050年的减排目标。因此,应在船上利用与工业数字化和人工智能应用相关的所需绿色船舶技术来实现这些减排目标。本研究提出从理论计算(即船体设计)和数据驱动计算(即船舶性能和导航数据集)两方面分析混合动力发动机-螺旋桨组合图,以便在单一模型框架下比较它们的性能。这将包括各种机器学习应用程序来创建人工智能。预计这种组合将有助于理解船舶和船舶系统作为系统的系统模型不确定性之间的变化,并且还可以支持航运业的工业数字化。此外,混合动力发动机-螺旋桨组合图可用于建立高级数据分析的基础,这些数据分析将用于确定最佳船舶导航和船舶系统运行条件。
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引用次数: 0
Machine Learning Based Prediction of Wave-Induced Vessel Response 基于机器学习的波浪诱导血管响应预测
Pub Date : 2022-06-05 DOI: 10.1115/omae2022-78261
A. Cetin, Vegard R. Solum, Cristina M. Evans
“Waiting on weather” is a costly restraint on offshore vessel operability. Vessel operating windows are determined based on the relationships between the weather and vessel movement, and uncertainties in these predictions may result in vessel operations being ceased prematurely. To improve the efficiency of offshore operations, existing assumptions and calculations based on conventional response amplitude operators (RAOs) should be challenged and improved. A machine learning approach is presented as a means of enriching these conventional RAOs with data. The machine learning model uses sea state forecasts to predict vessel response spectra. The model is cleverly formulated to use any existing RAO as a fallback solution in the absence of sufficient data. When applied to a comprehensive real-world scenario, the model predominantly outperforms the “best” available existing RAO. The results can be used not only to improve wave-vessel response predictions, but also to improve our understanding of existing RAOs and their shortcomings. Ultimately, the work can contribute to reducing overconservatism in weather-based restrictions on offshore vessel operability.
“等待天气”对近海船舶的可操作性是一种代价高昂的限制。船舶作业窗口是根据天气和船舶运动之间的关系确定的,这些预测的不确定性可能导致船舶作业过早停止。为了提高海上作业的效率,现有的基于常规响应振幅算子(RAOs)的假设和计算应该受到挑战和改进。提出了一种机器学习方法,作为用数据丰富这些传统rao的一种手段。机器学习模型使用海况预测来预测船舶的响应谱。该模型被巧妙地制定为在缺乏足够数据的情况下使用任何现有的RAO作为备用解决方案。当应用于一个全面的真实世界场景时,该模型的表现明显优于“最佳”可用的现有RAO。这些结果不仅可以用于改进波浪-容器响应预测,而且可以提高我们对现有rao及其缺点的理解。最终,这项工作有助于减少海上船舶可操作性受到天气限制时的过度保守。
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引用次数: 0
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Volume 5A: Ocean Engineering
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