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1.
Parametric rolling prediction in irregular seas using combination of deterministic ship dynamics and probabilistic wave theory 总被引:1,自引:0,他引:1
Atsuo Maki Naoya Umeda Shigeaki Shiotani Eiichi Kobayashi 《Journal of Marine Science and Technology》2011,16(3):294-310
In recent years there have been reports of serious accidents of parametric rolling for modern container ships and car carriers.
For avoiding such accidents, a prediction method of parametric rolling in irregular seas is required. Since parametric rolling
is practically non-ergodic, repetitions of numerical simulations or experiments could be not feasible to ascertain the behaviour.
Therefore, in this paper, a method combining a stochastic approach with a deterministic approach in order to estimate the
probabilistic index without such simple repetitions is developed. The ship's response in regular seas is estimated by solving
an averaged system of the original 1-DoF roll model, and random waves necessary for occurrence of parametric rolling is achieved
by using Longuet-Higgins’s or Kimura’s wave group theory. As a result, a fast and robust computation method of the probabilistic
index is established. Finally, it is concluded that the proposed method is considered to be one of the useful tools for discussing
the new IMO Intact Stability Code. 相似文献
2.
Toshihiro Maki Tamaki Ura Takashi Sakamaki 《Journal of Marine Science and Technology》2012,17(4):523-531
This paper proposes a path-planning and guidance strategy for an autonomous underwater vehicle (AUV) to perform detailed inspections of jacket structures such as the support legs of offshore platforms. Inspections of such structures are important for maintenance, security, and environmental assessment. These tasks can be carried out at a less cost by using AUVs than through conventional methods. The path-planning method generates a set of waypoints to facilitate the complete coverage of the surface of the target from a constant distance based on the given information about the configurations of both the target and the vehicle. The guidance method actually controls the vehicle such that it follows the waypoints, under the assumption that the position and attitude of the vehicle are being estimated in real time with adequate accuracy. By combining these methods with the localization method we had previously proposed (Maki et al., J Mar Sci Technol [1]) an AUV can perform a fully autonomous observation of jacket structures with prior knowledge of only their configuration. The performance of the method was verified though tank experiments using the AUV Tri-Dog 1. A simple model of a jacket was installed in a test tank, and the vehicle succeeded in inspecting the target. 相似文献
3.
A ship operating in following and/or quartering seas may be susceptible to broaching-to preceded by the surf-riding phenomenon. Therefore, for the safety assessment of fast vessels such as destroyers and patrol craft, the estimation of the surf-riding condition is important. As shown by previous research, there are two boundaries for ship motion in following and quartering seas. These are the surf-riding threshold and wave-blocking threshold. In this study, the theoretical methods to estimate both boundaries are obtained by making use of Melnikov’s method. In order to validate the formulae, free-running model experiments are conducted in the towing tank. Comparisons between the results obtained from calculations and experiments show good agreement. It is concluded that the formulae based on Melnikov’s method could be applicable to the safety assessment of surface ships. 相似文献
4.
Atsuo Maki Jun Arai Tatsuhiro Tsutsumoto Keisuke Suzuki Yoshiki Miyauchi 《Journal of Marine Science and Technology》2016,21(2):344-358
It is well known that a decrease in ship resistance may be achieved due to the installation of a stern flap. Therefore, so far, a considerable amount of research on stern flaps has been conducted. Previous research has demonstrated that the primary mechanism by which a stern appendage reduces resistance is a change in the pressure distribution over the aft body of the hull, and secondly through effects on the running attitude, near and far field wave generation, and local transom flow among other phenomena. However, the change in pressure distribution is influenced by the other components. Hence, there is still room for argument about the relative contribution of each component to the pressure distribution. Therefore, as the first step of the research, by conducting the model experiment in towing tank and CFD (Computational Fluid Dynamics) analysis, we examined the effect of running attitudes and wave making at the after portion of the hull on resistance reduction. As a result, it is concluded that a flap affects a change in the wave generated at the transom part and it could lead to a decrease in wave-making resistance. 相似文献
5.
The chaos that appears in the ship roll equation in beam seas known as the escape equation has been intensively investigated
because it is closely related to capsizing incidents. In particular, many applications of the Melnikov integral formula have
been reported in the literature; however, in all the analytical works concerning the escape equation, the Melnikov integral
is formulated utilizing a separatrix for the Hamiltonian part or a numerically obtained heteroclinic orbit for the non-Hamiltonian
part of the original escape equation. To overcome such limitations, this article attempts to utilise an analytical expression
for the non-Hamiltonian part. As a result, an analytical procedure is provided that makes use of a heteroclinic orbit of the
non-Hamiltonian part within the framework of the Melnikov integral formula. 相似文献
6.
Thet(l4;18)chromosomaltranslocationsarerecognizedasacytogeneticabnormalityinB-celllymphomas,especiallyinfollicularlymphomas',>.Aputativeoncogeneonchromosome18bandq2ltermedB-cellleukemia-lymphoma-2(bcl-2)isjux-taposedtosegmentsoftheimmunog1obulin(Ig)heavy-chaingenelocatedonchromosome14bandq32.Bcl-2rearrangementsarecommonlyfoundinfollicularlymphomasintheAmericant2i.Howev-er,theconflictingresultsregardtoincidenceofthetranslocationinJapaneseB-ce1llymphomashasyieldedusingcytogeneticana1ysisandSo… 相似文献
7.
Jun Han Akira Asada Tamaki Ura Yukinaga Yamauchi Yasunobu Yagita Toshihiko Maki 《Journal of Marine Science and Technology》2007,12(3):183-189
A new and effective seafloor geodetic observing robot network system, which consists of several submarine stations situated
in regions susceptible to interplate earthquakes, has been proposed and is under construction in Japan. Each station, equipped
with an autonomous underwater vehicle (AUV) dock, is connected to a land facility by cables providing power and communication.
Near the AUV dock, three or four seafloor reference stations will be set up for geodetic observations. In this system, a noncontact
power supply is required for a battery-driven AUV to conduct observations for extended durations. A small, intelligent, efficient,
high-power noncontact feed system of 400 W capacity with an inverting efficiency of 77% in salt water has been developed.
It has been shown to be effective in a water tank experiment in which the noncontact power supply automatically fed power
to an AUV for 3 days. 相似文献
8.
Application of A* algorithm for real-time path re-planning of an unmanned surface vehicle avoiding underwater obstacles 总被引:1,自引:0,他引:1
Thanapong Phanthong Toshihiro Maki Tamaki Ura Takashi Sakamaki Pattara Aiyarak 《船舶与海洋工程学报》2014,13(1):105-116
This paper describes path re-planning techniques andunderwater obstacle avoidance for unmanned surface vehicle (USV)based on multi-beam forward looking sonar (FLS). Near-optimalpaths in static and dynamic environments with underwaterobstacles are computed using a numerical solution procedure basedon an A algorithm. The USV is modeled with a circular shape in 2degrees of freedom (surge and yaw). In this paper, two-dimensional(2-D) underwater obstacle avoidance and the robust real-time pathre-planning technique for actual USV using multi-beam FLS aredeveloped. Our real-time path re-planning algorithm has beentested to regenerate the optimal path for several updated frames inthe field of view of the sonar with a proper update frequency of theFLS. The performance of the proposed method was verifiedthrough simulations, and sea experiments. For simulations, theUSV model can avoid both a single stationary obstacle, multiplestationary obstacles and moving obstacles with the near-optimaltrajectory that are performed both in the vehicle and the worldreference frame. For sea experiments, the proposed method for anunderwater obstacle avoidance system is implemented with a USVtest platform. The actual USV is automatically controlled andsucceeded in its real-time avoidance against the stationary underseaobstacle in the field of view of the FLS together with the GlobalPositioning System (GPS) of the USV. 相似文献
9.
Atsuo Maki Naoya Umeda Martin Renilson Tetsushi Ueta 《Journal of Marine Science and Technology》2010,15(3):218-229
Making use of Melnikov’s method, a generalized formula for predicting the surf-riding threshold is developed as an extension
to the applications of Kan and Spyrou. A new analytical formula for calculating the surf-riding threshold of a ship in following
seas is also proposed in light of nonlinear dynamical system theory. By applying a continuous piecewise linear approximation
to the wave-induced surge force, a heteroclinic bifurcation point is obtained analytically with an uncoupled surge equation.
Results calculated using these formulae are presented, and they show good agreement with those obtained utilizing numerical
bifurcation analysis. Further, it was confirmed that the surf-riding threshold obtained using the proposed formulae agrees
reasonably well with that obtained experimentally for an unconventional vessel. 相似文献
10.
Toshihiro Maki Hayato Mizushima Tamaki Ura Takashi Sakamaki Masao Yanagisawa 《Journal of Marine Science and Technology》2012,17(3):330-339
Underwater jacket structures or support legs of on-water platforms, such as ports and oil rigs, need to be periodically inspected for maintenance, environmental monitoring, and security reasons. Autonomous underwater vehicles (AUVs) can potentially make these tasks more inexpensive and reliable compared to conventional methods that involve the use of divers and remotely operated vehicles. This paper proposes a robust and practical self-localization method for an underwater vehicle navigating around jacket structures, where the performance of conventional acoustic positioning suffers from multipath degradation. The key idea is to stochastically update the vehicle??s horizontal position and heading relative to the structures using two types of perceptional sensors, sonar and camera, assuming that the configuration of the structure is known. The performance of the method was verified with tank experiments using a jacket mock-up and the AUV Tri-Dog 1. 相似文献