Underwater acoustic imaging: image due to a specular reflector in the geometrical-acoustics limit

In underwater acoustic imaging, which is used to produce high-quality images in turbid waters, a specular reflector can produce a “pseudoimage” of the receiving array at the reflecting surface. Based on the “geometrical approximation” (which is similar to geometrical acoustics), formulae are derived for the size and shape of the pseudoimage for both flat and curved reflectors. For curved reflectors, described by two principal radii of curvature, the formulae also assume the “large-range approximation.” The formulae allow radii of curvature to be determined from an image. Also discussed briefly are some possible extensions and the role of nongeometrical effects.     

Market based framework for multiple AUVs cooperation

A“Market” based framework for multiple AUVs team is introduced in this paper. It is a distributed meta-level task allocation framwork. The formulation and the basic concepts of the “Market” such as “goods” and “price” are discussed first, then the basic algorithm of the “auction”. The loosely coupled v-MDTSP tasks are considered as an example of the task allocation mission. A multiple AUV team controller and a detailed algorithm are developed for such applications. The simulation results show that the controller has the advantages such as robustness and low complexity and it can achieve better optimization results than the classical central controller （ such as GA） in some tasks. And the comparison of two different local solvers also implies that we should get the reasonable task allocation even not using the high quality algorithm, which can considerably decrease the cooperation computation.     

Ship inspection support system using a product model

 Recently, the significance of ship inspections has been increasingly recognized because sea pollution and safety problems are occurring more and more frequently. However, current ship inspections rely on the experience of the workers. Therefore, it is difficult to understand, and hence to improve, the state of ship inspections. In this paper, ship inspection is directed into three stages (plan, do, and check), and the configurations of a total system to support ship inspections are discussed. A prototype system for the “plan” and “do” stages is developed. This is realized by organizing the information that relates to inspection, and defining data models for damage and inspection states. Then the proposed system is integrated with a shipbuilding computer integrated manufacturing (CIM) system so that the ship's structural information can be used effectively. In addition, functions to calculate the damage-finding probability, and functions to generate information about damage and the inspection state are introduced. Therefore, in the planning stage, as inspector can execute a virtual ship inspection, and then the damage-finding probability of each hull part and oversight areas are calculated automatically. Further, by carrying this system into an inspection, an inspector can generate damage information and inspection information simply and easily. Some examples of the proposed system are shown at the end of the paper. Received: November 12, 2001 / Accepted: January 30, 2002     

Fuzzy logic based decision making system for collision avoidance of ocean navigation under critical collision conditions

This paper focuses on a fuzzy logic based intelligent decision making system that aims to improve the safety of marine vessels by avoiding collision situations. It can be implemented in a decision support system of an oceangoing vessel or included in the process of autonomous ocean navigation. Although Autonomous Guidance and Navigation (AGN) is meant to be an important part of future ocean navigation due to the associated cost reduction and improved maritime safety, intelligent decision making capabilities should be an integrated part of the future AGN system in order to improve autonomous ocean navigational facilities. In this study, the collision avoidance of the Target vessel with respect to the vessel domain of the Own vessel has been analyzed and input, and output fuzzy membership functions have been derived. The if–then rule based decision making process and the integrated novel fuzzy inference system are formulated and implemented on the MATLAB software platform. Simulation results are presented regarding several critical collision conditions where the Target vessel fails to take appropriate actions, as the “Give way” vessel to avoid collision situations. In these situations, the Own vessel is able to take critical actions to avoid collisions, even when being the “Stand on” vessel. Furthermore, all decision rules are formulated in accordance with the International Maritime Organization Convention on the International Regulations for Preventing Collisions at Sea (COLREGs), 1972, to avoid conflicts that might occur during ocean navigation.     

An experimental testbed for mobile offshore base control concepts

 The concept of a mobile offshore base (MOB) reflects the need to stage and support military and humanitarian operations anywhere in the world. A MOB is a self-propelled, modular, floating platform that can be assembled into lengths of up to 2 km, as required, to provide logistic support to US military operations where fixed bases are not available or adequate. It accommodates the take-off and landing of C17 aircraft, and can be used for storage, as well as to send resources quickly to shore. In most concepts, the structure is made of three to five modules, which have to perform long-term station-keeping in the presence of winds, waves, and currents. This is usually referred to as dynamic positioning (DP). In the MOB, the alignment is maintained through the use of thrusters, connectors, or a combination of both. In this paper, we consider the real-time control of scaled models of a MOB. The modules are built at the 1 : 150 scale, and are kept aligned by rotating thrusters under a hierarchical hybrid control scheme. This paper describes a physical testbed developed at the University of California, Berkeley, under a grant from the US Office of Naval Research, for the purpose of evaluating competing MOB control concepts. Received: June 4, 2002 / Accepted: October 30, 2002 Acknowledgments. This material is based on work supported by the MOB Program of the US Office of Naval Research under grant N00014-98-1-0744. The authors would like to thank the Link Foundation for its support. Many thanks go to Stephen Spry for his experimental work. The photographs are courtesy of Bill Stone, Gerald Stone, and Jay Sullivan of the PATH Publications staff. Address correspondence to: A.R. Girard (e-mail: anouck@eecs.berkeley.edu)     

Information models and functions for CIM in shipbuilding

In order to make significant progress in design and manufacturing systems, all industries must consider integration. This paper considers information models and functions for a computer integrated design and manufacturing system in shipbuilding. The authors propose the product model and several alterative functions for designing a ship's structure, and develop a “ship definition system for computer integrated design and manufacturing.” This system is called SODAS (System of Design and Assembly for Shipbuilding). An object-oriented concept is used to develop this system. In order to define a ship's structure, the authors propose the product models of “parts member” and “parts connection,” and the product models of “Room,” “Unit,” and “Module” are introduced to define the compartments, internal structures and intermediate products of a ship. Therefore, all information about a product from the design to the production stage is stored in the product model. As well as the product model, the “design function,” “cutting function,” and “virtual assembling function” are introduced. By using the design function, any type of ship's structure can be designed, and by using the cutting function, the design of a ship's structure can be cut into smaller elements. By using the virtual assembling function, a simulation of the manufacture of a ship's structure can be carried out.     

大洋勘探船钻探系统总体方案设计

针对大洋科学钻探的实际需求,确定大洋勘探船钻探系统总体布置原则,开展提升系统、深孔钻进补偿系统、管柱自动化系统、钻探取芯及岩芯输送系统等关键系统的选型研究,确定目标勘探船提升系统采用绞车提升系统方案、深孔钻进补偿系统采用天车补偿方案、管柱自动化系统采用柱式排管系统方案,在此基础上完成钻探系统总体方案设计,为大洋勘探船钻探系统工程建造提供依据。     

Structural safety assessment of a pontoon-type VLFS considering damage to the breakwater

 A structural safety assessment of a pontoon-type very large floating structure (VLFS) surrounded by a gravity-type breakwater was carried out for extreme wave conditions by considering the damage to the breakwater. Bending and shear collapses are considered to be a failure mode of the floating structure, while overturning damages the breakwater. The probability of the breakwater overturning, and the transmitted wave height before and after damage to the breakwater, are evaluated using design formulae for port and harbor facilities in Japan. The ultimate bending and shear strengths of the floating structure are calculated by the idealized structural unit method (ISUM) and FEM, respectively. The calculated failure probability for the floating structure is compared with the specified target safety level. It was found that the floating structure under consideration is most likely to fail by bending in transverse waves, and that the corresponding failure probability satisfies the target level. Received: September 12, 2002 / Accepted: October 4, 2002 Acknowledgment. The authors are grateful to Dr. Shigeo Ohmatsu, National Maritime Research Institute, Japan, for allowing us to use the program of hydroelastic response analysis. Address correspondence to: M. Fujikubo (e-mail: fujikubo@naoe.hiroshima-u.ac.jp) Updated from the Japanese original, which won the 2002 SNAJ prize (J Soc Arthit Jpn 2002;190:337–345)     

新型半潜钻井平台D90

首先回顾了石油钻井平台的进化过程,然后分船舶和钻井两部分,介绍了新型第六代半潜钻井平台D90的各系统的组成,作用、主要设计参数,也提及新的合拢工艺.     

S^2 BHCA Multiple AUVs cooperation oriented control architecture

Oceanographic survey, or other similar applications should be the applications of multiple AUVs. In this paper, the skill ＆ simulation based hybrid control architecture （S^2BHCA） as the controller＇s design reference was proposed. It is a multi-robot cooperation oriented intelligent control architecture based on hybrid ideas. The S^2BHCA attempts to incorporate the virtues of the reactive controller and of the deliberative controller by introducing the concept of the ＂skill＂. The additional online task simulation ability for cooperation is supported, too. As an application, a multiple AUV control system was developed with three ＂skills＂ for the MCM mission including two different cooperative tasks. The simulation and the sea trials show that simple task expression, fast reaction and better cooperation support can be achieved by realizing the AUV controller based on the S^2BHCA.     

Computer-based support for the evaluation of ship handling exercise results

One of the most important parts of the simulator exercise is the evaluation of the students’ results by the instructor both during and after the training session. This should be performed in two ways: first, during the exercise run to ensure that the training objective can be achieved and second after exercise completion in order to give the students an indication of their performance during the simulation run. For these purposes software tools have been created and implemented at the Maritime Simulation Centre in Warnemünde: the “Surveillance Tool”, allows for a monitoring during the run and the “Evaluation Tool” will enable a detailed evaluation by the instructor after the run. It allows for in-depth search within the replay data and at the same time facilitates the calculation of the final score for the student’s performance based on measurement factors as penalties for exceeding quality limits. Within this paper a brief overview of the principles of these methods is high-lighted and selected examples of applications are described.     

Numerical simulations of fatigue crack initiation and propagation based on re-tensile plastic zone generating load criterion for in-plane gusset welded joints

Many accidents are caused by fatigue in welded built-up steel structures, and so it is important to estimate the fatigue lives of such structures quantitatively for safety reasons. By assuming that fatigue cracks cannot grow without an accumulation of alternating tensile/compressional plastic strain, one of the authors identified an improved effective stress intensity factor range ΔK _RPG based on the re-tensile plastic zone generating (RPG) load, which represents the driving force for fatigue cracks, and suggested that ΔK _RPG should be used as the parameter to describe fatigue crack growth behavior. The “FLARP” numerical simulation code in which ΔK _RPG is implemented as the fatigue crack growth parameter, was developed in order to predict fatigue crack initiation and propagation behavior. In this paper, it is demonstrated that FLARP gives accurate estimates for fatigue life by comparing the estimated fatigue crack growth curves and S–N curves with the experimental results for in-plane gusset welded joints, which are used in many welded steel structures. Moreover, the effect of induced bending moment due to the linear misalignment in the out of plane direction on the fatigue strength of in-plane gusset welded joints is investigated through numerical simulations.     

Distributions of oxygen and carbon stable isotopes and CFC-12 in the water masses of the Southern Ocean at 30°E from South Africa to Antarctica: results of the CIVA1 cruise

This study presents oceanic distributions of stable isotopes (δ¹⁸O of water and δ¹³C of ΣCO₂) and CFC-12 from samples collected during the CIVA1 cruise (February/March 1993), across the Southern Ocean, along a meridian section at 30°E, from South Africa (44°S) to Antarctica (70°S). The isotopic measurements show important variations between the subantarctic surface waters with low δ¹⁸O–high δ¹³C values and the antarctic surface waters with very low δ¹⁸O–low δ¹³C values. The surface distributions of δ¹³C values follow the major frontal oceanic structures; the vertical distribution shows the progressive upwelling from the subantarctic zone to the antarctic divergence of ¹³C-depleted CO₂ derived from remineralization of organic matter. Along the Antarctic continental shelf, between 2500 and 4000 m, a core of water with δ¹⁸O values close to −0.1‰ is associated with a relative maximum in CFC-12 concentration, although this core is not detected by its temperature and salinity parameters. This water mass, which corresponds to recently formed deep water, may originate from the eastward extension of the Weddell gyre or from bottom waters coming from the East and formed near Prydz Bay.     

Drift force on a bottom-mounted slightly porous vertical cylinder fixed in regular waves

 Explicit expressions are derived for the drift force that will act on a bottom-mounted, slightly porous vertical cylinder fixed in regular waves. The drift-force expressions derived both from the near-field and the far-field are shown. It is indicated, and numerically demonstrated, that the conventional far-field formula does not hold for a porous body, but needs the additional term of a near-field body-surface integration. Received: July 4, 2002 / Accepted: November 6, 2002 Acknowledgment. The author would like to acknowledge Prof. Kashiwagi, of Kyushu University, for indicating the work of Havelock relating to Eq. 20. Address correspondence to: H. Kagemoto (e-mail: kagemoto@k.u-tokyo.ac.jp)     

Second-order sum-frequency wave diffraction by a truncated surface-piercing cylinder in bichromatic waves

This work considers the second-order sum-frequency diffraction problem for a stationary truncated surface-piercing circular cylinder in bichromatic waves. The solution method was based on a semianalytical formulation of the second-order sum-frequency diffraction potential. The boundary conditions were properly satisfied by introducing the “locked” and the “free” wave components of the nonlinear velocity potential. The method was validated by comparing the calculated results with numerical data previously reported by other authors. Particular attention was paid to the second-order sum-frequency heave forces and the change in the wave run-up configuration due to the existence of the lower fluid domain underneath the truncated cylinder.     

Study on real-time estimation of the ship motion cross spectra

 Time-varying coefficient vector autoregressive (T-VVAR) modeling with instantaneous responses is applied to spectrum analysis based on the nonstationary motion data of ships. Because of the ship's maneuvers, changes such as course and speed, the ship motions in waves are regarded as a nonstationary random process, although the seaway can be considered as a stationary stochastic process. The T-VVAR model is transformed into a state space model, and the time-varying coefficients can be evaluated by using the Kalman filter algorithm. Using the estimated time-varying coefficients, the instantaneous cross spectra of the ship motions can be calculated at every moment. In order to examine the reliability of the proposed procedure, on-board tests were carried out. Under stationary conditions, at a constant speed and course, the proposed method shows good agreement with stationary vector autoregressive (SVAR) modeling analysis. Moreover, it is confirmed that the proposed method can estimate the instantaneous cross spectra of the ship motions even under nonstationary conditions, showing that this is a powerful tool for on-line analysis of the nonstationary motion data of ships. Received: August 2, 2002 / Accepted: November 28, 2002 Acknowledgments. The authors thank the captain and crew of the training ship Shioji Maru, Tokyo University of Mercantile Marine. Address correspondence to: T. Iseki (iseki@ipc.tosho-u.ac.jp) Updated from the Japanese original, which won the 2002 SNAJ prize (J Soc Nav Archit Jpn 2001;190:161–168)     

Mixed analysis of shell and solid elements using the overlaying mesh method

 This article presents a mixed method of analyzing shell elements and solid elements using the overlaying mesh method. In the structural design of a ship's hull, the shell elements are used for the global model. However, the solid elements are necessary to analyze the stress concentration zones or the vicinity of a crack. In such cases, the models are analyzed using zooming analysis, in which the results of a global model analysis are transferred to a local model analysis by imposing boundary conditions. This method is more advantageous than zooming analysis in terms of the accuracy of the solution and the modeling flexibility. Some examples of a plate model with a cracked surface or with a projection are shown in order to demonstrate the effectiveness of the method. Received: August 6, 2002 / Accepted: November 25, 2002 Address correspondence to: S. Nakasumi (sumi@nasl.t.u-tokyo.ac.jp) Updated from the Japanese original, which won the 2002 SNAJ prize (J Soc Nav Archit Jpn 2001;189:219–224; and 190:655–662)     

A study on the estimation of the seaquake response of a floating structure considering the characteristics of seismic wave propagation in the ground and the water

 Seaquakes, which are characterized by the propagation of vertical earthquake motion at the sea bottom as a compression (longitudinal) wave, are reported to cause damage to ships, and their effect on floating structures is a matter of great concern. To comprehend the basic properties of seaquakes, we first discuss a method to calculate the displacement of the seabed when it is subjected to hydrodynamic pressure. To investigate the interrelationship between the vibration of a floating structure and the deformation of the seabed, a new boundary integral equation is derived which assumes that the seabed is a semiinfinite homogeneous elastic solid in order to analyze the seaquake-induced hydrodynamic pressure acting on the floating structure. By considering the propagation of the seismic wave in the ground and in the water, the incident wave potential in seaquake problems is also deduced and its characteristics are discussed. Finally, the response of a very large floating structure in a seaquake is investigated using a fluid force analysis method, and considering the interrelationship between the vibration of the floating structure and the deformation of the seabed. Received: August 19, 2002 / Accepted: November 11, 2002 Address correspondence to: H. Takamura (hiroaki_takamura@nishimatsu.co.jp) Updated from the Japanese original, which won the 2002 SNAJ prize (J Soc Nav Archit Jpn 2001;189:87–92,93–100 and 190:381–386)     

Universal jurisdiction as obligation to prosecute or extradite

Before searching for new legal solutions to manage maritime piracy problems, especially those related to jurisdiction, it is essential to examine and analyse the existing international legal framework to determine whether current international legal instruments are already appropriate to face off this threat. One such principle is the “Aut dedere aut iudicare” principle, which has been also codified into SUA Convention, at art. 6 par. 4. This obligation comes from an international treaty, so it cannot be disregarded by any state (short of becoming susceptible to international liability), neither can it be amended by a national law. If a state party has inadequate law resources to establish its jurisdiction, or if unable or unwilling to prosecute the pirate, then such state party has no choice but extradite the pirate. If we consider the above principle as a conventional obligation, then it should be limited only to state parties, and it should be applied only under conditions stated by SUA Convention. Instead, if we consider it as a customary law principle, because piracy—as crimen iuris gentium—offends international community as a whole, then such principle shall be binding without any limit or condition.