Mooring systems are required to keep floating wave energy converters (WECs) on station. The mooring concept might impact the performance of the WEC, its cost and its integrity. With the aim of clarifying the pros and cons of different mooring designs, we present the results from physical model experiments of three different mooring concepts in regular and irregular waves, including operational and survival conditions. The parameters investigated are the tension in the cables, the motions of the device in the different degrees of freedom and the seabed footprint in each case. We can see that the mooring system affects the performance of the wave energy converter, but the magnitude of the impact depends on the parameter analysed, on the mode of motion studied and on the conditions of the sea. Moreover, different configurations have similar performances in some situations and the choice of one over another might come down to factors such as the type of soil of the seabed, the spacing desired between devices, or environmental impacts. The results of our experiments provide information for a better selection of the mooring system for a wave energy converter when several constraints are taken into account (power production, maximum displacements, extreme tensions, etc).
Floating wave energy converters (WECs) operating in the resonance region are strongly affected by non-linearities arising from the interaction between the waves, the WEC motion and the mooring restraints. To compute the restrained WEC motion thus requires a method which readily accounts for these effects. This paper presents a method for coupled mooring analysis using a two-phase Navier-Stokes (VOF-RANS) model and a high-order finite element model of mooring cables. The method is validated against experimental measurements of a cylindrical buoy in regular waves, slack-moored with three catenary mooring cables. There is overall a good agreement between experimental and computational results with respect to buoy motions and mooring forces. Most importantly, the coupled numerical model accurately recreates the strong wave height dependence of the response amplitude operators seen in the experiments.
Efficient control schemes of Autonomous underwater vehicle (AUV) are challenging due to uncertainties and highly nonlinearities. In this paper, improved fractional order PID controller is proposed for the control of AUV motion with six degrees of freedom (DOF). Genetic algorithm and Particle Swarm Optimization (PSO) are employed to find suboptimal coefficients of FOPID controller to improve performance of the AUV motion. These optimal adjusted coefficients of FOPID controllers minimize the step response characteristics such as maximum deviation and settling time. Simulation results are presented to verify the advantages of the FOPID with respect to the previous works specially proportional-integral-derivative controller (PID).
A major part of the world fleet of more than 47,000 merchant ships operates under conditions that hamper energy efficiency and efforts to cut CO2 emissions. Valid and reliable data sets on ships' energy consumption are often missing in shipping markets and within shipping organizations, leading to the non-implementation of cost-effective energy efficiency measures. Policy makers are aiming to remedy this, e.g., through the EU Monitoring, Verification and Reporting scheme. In this paper, current practices for energy consumption monitoring in ship operations are explored based on interviews with 55 professionals in 34 shipping organizations in Denmark. Best practices, which require several years to implement, are identified, as are common challenges in implementing such practices—related to data collection, incentives for data misreporting, data analysis problems, as well as feedback and communication problems between ship and shore. This study shows how the logic of good energy consumption monitoring practices conflict with common business practices in shipping companies – e.g., through short-term vessel charters and temporary ship organizations – which in turn can explain the slow adoption of energy efficiency measures in the industry. This study demonstrates a role for policy makers or other third parties in mandating or standardizing good energy consumption monitoring practices beyond the present requirements.
In this article, we examine the relations between global value chain governance and environmental upgrading in maritime shipping. Drawing from interviews with global shipping companies and major buyers of shipping services (cargo-owners), we reveal the key issues and challenges faced in improving the environmental performance of maritime transportation. Contributing to the Global Value Chain (GVC) literature, we compare and analyze the influence of three main external drivers on environmental upgrading in the tanker, bulk and container shipping segments: regulation, cooperation and buyer demands. Our findings suggest that environmental upgrading is more likely to occur when global value chains are characterized by unipolar governance and where the lead firms are consumer-facing companies with reputational risks. Furthermore, environmental upgrading in shipping is not likely to materialize without clear and enforceable global regulation and stronger alignment between regulation and voluntary sustainability initiatives.
Low-speed marine diesel engines are mostly operated on heavy fuel oils, which have a high content of sulfur and ash, including trace amounts of vanadium, nickel, and aluminum. In particular, vanadium oxides could catalyze in-cylinder oxidation of SO2 to SO3, promoting the formation of sulfuric acid and enhancing problems of corrosion. In the present work, the kinetics of the catalyzed oxidation was studied in a fixed-bed reactor at atmospheric pressure. Vanadium oxide nanoparticles were synthesized by spray flame pyrolysis, i.e., by a mechanism similar to the mechanism leading to the formation of the catalytic species within the engine. Experiments with different particle compositions (vanadium/sodium ratio) and temperatures (300–800 °C) show that both the temperature and sodium content have a major impact on the oxidation rate. Kinetic parameters for the catalyzed reaction are determined, and the proposed kinetic model fits well with the experimental data. The impact of the catalytic reaction is studied with a phenomenological zero-dimensional (0D) engine model, where fuel oxidation and SOx formation is modeled with a comprehensive gas-phase reaction mechanism. Results indicate that the oxidation of SO2 to SO3 in the cylinder is dominated by gas-phase reactions and that the vanadium-catalyzed reaction is at most a very minor pathway.
This paper deals with uncertainty modelling of wave-vessel transfer functions used to calculate or predict wave-induced responses of a ship in a seaway. Although transfer functions, in theory, can be calculated to exactly reflect the behaviour of the ship when exposed to waves, uncertainty in input variables, notably speed, draft and relative wave heading, often compromises results. In this study, uncertainty modelling is applied to improve theoretically calculated
transfer functions, so they better fit the corresponding experimental, full-scale ones. Based on a vast amount of full-scale measurements data, it is shown that uncertainty modelling can be successfully used to improve accuracy (and reliability) of theoretical transfer functions.
This paper investigates the simultaneous optimization problem of routing and sailing speed in the context of full-shipload tramp shipping. In this problem, a set of cargoes can be transported from their load to discharge ports by a fleet of heterogeneous ships of different speed ranges and load-dependent fuel consumption. The objective is to determine which orders to serve and to find the optimal route for each ship and the optimal sailing speed on each leg of the route so that the total profit is maximized. The problem originated from a real-life challenge faced by a Danish tramp shipping company in the tanker business. To solve the problem, a three-index mixed integer linear programming formulation as well as a set packing formulation is presented. A novel Branch-and-Price algorithm with efficient data preprocessing and heuristic column generation is proposed. The computational results on the test instances generated from real-life data show that the heuristic provides optimal solutions for small test instances and near-optimal solutions for larger test instances in a short running time. The effects of speed optimization and the sensitivity of the solutions to the fuel price change are analyzed. It is shown that speed optimization can improve the total profit by 16% on average and the fuel price has a significant effect on the average sailing speed and total profit.
In this paper speed optimization of an existing liner shipping network is solved by adjusting the port berth times. The objective is to minimize fuel consumption while retaining the customer transit times including the transhipment times. To avoid too many changes to the time table, changes of port berth times are only accepted if they lead to savings above a threshold value. Since the fuel consumption of a vessel is a non-linear convex function of the speed, it is approximated by a piecewise linear function. The developed model is solved using exact methods in less than two minutes for large instances. Computational experiments on real-size liner shipping networks are presented showing that fuels savings in the magnitude 2–10% can be obtained. The work has been carried out in collaboration with Maersk Line and the tests instances are confirmed to be representative of real-life networks.
This article discusses the role of private regulators within the international legal framework of Arctic shipping. The role of private actors has been acknowledged both in legal scholarship and policy papers; but it has not yet been placed in the centre of attention. This article does so by analysing the role of private actors under the Polar Code and three types of private regulation — guidelines of classification societies, requirements of insurance industry and private contracting. It concludes that private actors have an essential role both in developing and effectuation of public international law and thus in achieving sustainable Arctic shipping.