Knowledge

Optimisation of energy efficiency and operational performance as well as assessment of safety levels and emissions of marine operations require detailed information about the acting wave system. It is possible-with an analogy to classical wave buoys-to estimate the directional wave spectrum by processing sensor measurements of wave-induced responses (e.g., motions and structural responses) from a ship. Compared to other sources of wave data (e.g., buoys, satellites, third-generation wave models), estimation concepts using the ship itself as a buoy provide the wave spectrum at the exact spatio-temporal point, potentially increasing accuracy and with minimal associated cost. This paper gives an overview of the technology, discusses associated uncertainties, and highlights new developments made for estimating waves via measured ship responses.

Ship-to-ship (STS) bunkering of liquid fuel, e.g., LNG, has emerged as a more practical way to ensure high bunkering volumes and good access without regional restrictions and upgrading of existing infrastructures at the port. Wave resonance in the narrow gap between side-by-side receiving vessel and bunkering vessel happens when the wave frequency is close to the natural frequency of the gap flow. Large wave elevation in the gap and hydrodynamic forces on the
ships are expected, thus reducing the time window of the bunkering operation and even risking the safety of the crew. It is well known that the wave frequency and amplitude can be affected by the presence of current. Correspondingly, the waves and loads on marine structures will be somewhat different from the scenario without current, which will have significant influence on the bunkering operation. However, few previous studies have reported in the literature for wave resonance considering current effect. In the present work, the finite-amplitude fluid resonance inside the gap between two ship cross-sections in side-by-side configuration is studied under combined waves and currents. Both a uniform current and a shear current with constant vorticity are considered. A fully nonlinear numerical wave tank is established based on the commercial CFD package STAR-CCM+. The unsteady Reynolds averaged Navier-Stokes turbulence model is applied to consider viscous dissipation. The volume of fluid method is applied to capture the free surface, and the flow field analytically obtained from the stream function method is specified in the forcing zones at upstream and downstream boundaries, respectively, by the user-defined wave elevation and velocity. The influence of following current on the wave amplitude in the gap and hydrodynamic load on the cross-sections is investigated by comparison with the cases without current. The relation between the wave or force amplitude and the vorticity of the shear is further analysed. The present study may provide useful results about gap resonance and hydrodynamic loads on two approaching marine structures during the bunkering operation in wave-current environment.

There have been a number of recent papers in the literature that investigate the relationship between ship speed and required power, or between ship speed and fuel consumption. Using regression analyses for selected case studies these papers show that in many cases the traditional “cube law” is not valid, and exponents lower than 3 (and in some cases lower than 2 or even below 1) are more appropriate. Perhaps more important, they use these results to derive implications on the validity (or lack thereof) of policies to reduce greenhouse gas (GHG) emissions from ships through slow steaming. This paper reviews some of these papers and shows that their results are partially based on pitfalls in the analysis which are identified. Policy implications particularly on the quest to reduce GHG emissions from ships are also discussed.

Offshore jacket foundations for wind turbine generators are in risk of metal fatigue at the weldedjoints due to the highly dynamic wind and wave loading. The complex multiaxial stresses occurringat the welded joints can be non­proportional and lead to increased fatigue damage as compared toproportional stresses. Furthermore, several random effects influence the response of the offshorestructures and the fatigue lives of the welded joints.

In this thesis, the fatigue response of welded joints in offshore jacket structures is assessed. The influence of non­proportional stress states on the fatigue life has been examined using experimental fatigue data from literature by modelling the published experiments using the finite element method (FEM) and assessing the stress states using the notch stress approach. The results show that a nonzero phase­shift between the governing normal and shear stress at the weld toe leads to increased damages at the weld. An approach for determining the non­proportionality penalty factors for obtaining correct fatigue life estimations has been proposed.

To quantify the level of non­proportionality in the stress states at welds a new quantification approach has been developed based on the principal component analysis (PCA). The approach is easy to implement and simple to interpret, which is often difficult for many of the already published methods. The PCA­based approach is furthermore extended to be used with variable amplitude stress states. By implementing the developed quantification approaches in the fatigue life calculation framework, it is possible to determine if non­proportionality occurs and to account for this in the fatigue life estimation automatically using the estimated penalty factors.

The stochastic finite element method (SFEM) has been used to implement approaches for considering the spatial variability occurring in the jacket structures and welds. Closed­form solutions to the stochastic stiffness and stress stiffness matrices have been proposed, making it possible to easily implement the spatial variability of the bending rigidity and other parameters in beam FE models. The matrices have been developed for both classical Euler­Bernoulli and Timoshenko beam theory and are based on the Karhunen­Loéve (KL) expansion for random field discretization. The KL expansion is then further used to formulate a stochastic size effect that takes into account that longer welds tend to fail earlier than shorter welds when considering fatigue. Other approaches for taking into account the size effect are often based on statistical evaluation of fatigue experiments which is used to determine a deterministic calibration factor. The stochastic size effect makes it possible to simulate the randomness in a full weld independently of the highest stressed zones. Using this method, the quality of the welding can be simulated and used to predict more accurate fatigue lives.

In order to design more fatigue resistant welded joints in offshore jacket structures, automatic optimization of the welded joints is required. Already published approaches to do so, often focus on only a few simple fatigue criteria. For an optimization framework to be efficient it has to take into account the complex multiaxial non­proportional fatigue and the stochastic effects of the welds. In the thesis, an optimization framework for fatigue life estimation using the developed PCA­based quantifier and the stochastic size effect has been developed. The framework is easy to use and based on simple formulations, making it possible to implement many types of fatigue criteria without having to reformulate the optimization procedure. The framework has been used to optimize the weld locations in a cast steel jacket insert and shows that considerable mass savings can be achieved by automatic
optimization.

Cyber-resilience is an increasing concern for autonomous navigation of marine vessels. This paper scrutinizes cyber-resilience properties of marine navigation through a prism with three edges: multiple sensor information fusion, diagnosis of not-normal behaviours, and change detection. It proposes a two-stage estimator for diagnosis and mitigation of sensor signals used for coastal navigation. Developing a Likelihood Field approach, the first stage extracts shoreline features from radar and matches them to the electronic navigation chart. The second stage associates buoy and beacon features from the radar with chart information. Using real data logged at sea tests combined with simulated spoofing, the paper verifies the ability to timely diagnose and isolate an attempt to compromise position measurements. A new approach is suggested for high level processing of received data to evaluate their consistency, which is agnostic to the underlying technology of the individual sensory input. A combined generalized likelihood ratio test using both parametric Gaussian modelling and Kernel Density Estimation is suggested and compared with a detector using only either of two. The paper shows how the detection of deviations from nominal behaviour is possible when the navigation sensor is under attack or defects occur.

Marine autonomy research has focused on algorithmic and technical developments, targeting autonomous craft in restricted areas where international rules and regulations are not prioritised. This paper addresses the system engineering aspect of a highly complex system in which the seamless, predictable, and secure interoperability of vendorspecific hardware and software subsystems is a fundamental requirement for designing and implementing cyber-physical systems with artificial intelligence to assist or replace the navigating officer, such as autonomous marine surface vehicles. It addresses international rules in the sector and exhibits a system architecture that can fulfil the criteria for safe behaviour in foreseen occurrences and the capacity to request human aid if the autonomous system cannot manage a problem. The system thinking and engineering provided in this article have been applied to The GreenHopper, a harbour bus currently under construction and intended to undergo certification and enter commercial service.

This paper presents a new approach to attain estimates of the sea state based on short-time sequences of wave-induced ship responses. The present sea state estimation method aims at reconstructing the incident wave profiles in time domain. In order to identify phase components of the incident waves, the Prolate Spheroidal Wave Functions (PSWF) are employed. The use of PSWF offers an explicit expression of phase components in the measured responses and incident waves, indicating that estimations can be efficiently attained. A method to estimate the relative wave heading angle based on the response measurements and pre-computed transfer functions of the responses is also proposed. The method is tested with numerical simulations and experimental measurements of ship motions, i.e. heave, pitch, and roll, together with vertical bending moment and local pressure in a post-panamax size containership. Validation is made by comparing the reconstructed wave profiles with the incident waves. The accuracy and efficiency of the present approach are promising. At the same time, it is shown that the use of responses, which are more broad-banded in their frequency characteristics, is an effective means to cope with high frequency noise in reconstructed waves.

This work is part of the ongoing implementation of generalized modes for ship hydroe- lasticity inside the OceanWave3D-seakeeping solver. The solver has been developed by the Mar- itime Group at DTU- Civil & Mechanical Engineering based on solving the linearized potential flow problem using a high-order finite difference method on overlapping grids. The focus of this paper is a comparison between the hydroelastic solutions obtained using two different implementations of the hydrostatic restoring force coefficients. The first hydrostatic model is according to Newman, and the second model is based on Malenica and Bigot. These two hydrostatic models agree for the rigid modes, but are slightly different for the flexible modes. The results are validated using both numerical and experimental solutions for two different ship geometries at zero forward speed.

Offshore pipelines and structures require regular marine growth removal and inspection to ensure structural integrity. These operations are typically carried out by Remotely Operated Vehicles (ROVs) and demand reliable and accurate feedback signals for operating the ROVs efficiently under harsh offshore conditions. This study investigates and quantifies how sensor delays impact the expected control performance without the need for defining the control parameters. Input-output (IO) controllability analysis of the open-loop system is applied to find the lower bound of the H-infinity peaks of the unspecified optimal closed-loop systems. The performance analyses have shown that near-structure operations, such as pipeline inspection or cleaning, in which small error tolerances are required, have a small threshold for the time delays. The IO controllability analysis indicates that off-structure navigation allow substantial larger time delays. Especially heading is vulnerable to time delay; however, fast-responding sensors usually measure this motion. Lastly, a sensor comparison is presented where available sensors are evaluated for each ROV motion’s respective sensor-induced time delays. It is concluded that even though off-structure navigation have larger time delay tolerance the corresponding sensors also introduce substantially larger time delays.

Stricter regulations imposed on emissions are motivating the scientific community to consider studying alternative fuels to achieve low emission, high efficient dual-fuel (DF) marine engines. In this context, three dimensional computational fluid dynamic (CFD) simulations are performed to study the combustion and emission formation under two-stroke, dual-fuel marine engine-like conditions. The DF engine configuration consists of a pilot diesel fuel and a high-pressure, direct injection (HPDI) of natural gas (NG). The simulation results are validated under both high load (high charge density) and low load (low charge density) operating conditions. Detailed analysis of the flame development and emission formation are performed. The interaction between the pilot diesel jets and the methane flame jets is studied. Based on the results, the further methane jets penetration in the low load case leads to better air–fuel mixing and a higher combustion intensity than that in the high load. Effects of the pilot fuel injection timing on combustion and emission formation and the governing mechanisms are also investigated in detail. Results indicate that the intense combustion of the accumulated methane expands the methane flame towards the piston when the pilot injection timing is retarded. The NO formation is lower in the high load case with higher charge density due to the lower combustion intensity. Also, retarding the pilot injection timing decreases the NO formation.