Nonlinear model predictive dynamic positioning control of an underwater vehicle with an onboard USBL system

This paper presents a novel optimization-based approach for dynamic positioning (DP) of a fully actuated underwater vehicle equipped with an onboard ultrashort baseline transceiver to provide relative position information of two earth-fixed transponders near the vehicle. The DP system error is defined by the transponders’ positions compared to the desired values, which occur at the vehicle’s target pose (position and orientation). The proposed DP strategy is composed of two loops in a hierarchical structure. In the kinematic loop, the nonlinear model predictive control is used to generate the desired velocity by optimizing a cost function of the predictive trajectories under the constraints of velocity and transponder bearings over a limited time horizon. In the dynamic loop, the neural network model reference adaptive control with pseudo control hedging is utilized to ensure the asymptotical convergence of velocity tracking errors in the presence of uncertainties associated with unknown model parameters, currents and thruster dynamics. The effectiveness of the proposed control scheme is illustrated by comprehensive simulations.     

A new method for calibration of unidirectional double-peak spectra

This study aims at presenting a new approach in calibrating standard two-peak design spectra for specific regions in absence of wind data. The main principle in these kinds of fitting for a new area is to minimize the least square error between measured and fitted spectra and there has been less attention to double-peak spectra individual characteristic as co-existence of wind-sea and swell parts in one spectrum. Here, separation frequency, approximately dividing such parts, is implemented to virtually extract wind-sea and swell components of a measured spectrum considering their intrinsic overlap near the separation frequency. Then, they have been easily utilized to calibrate two parts of standard double-peak spectrum in a revisory manner. To verify benefits of this new methodology, it has been applied on Ochi-Hubble as well as Torsethaugen spectra regarding field measurements in a coastal region at Gulf of Oman, Chabahar bay. Results obviously show a better adjustment of formula to field spectrum using this simple approach when compared with output of calibration on integrated field spectrum irrespective of its main characteristic such as availability of two-wave systems.     

Comparison of computational and analytical methods for evaluation of failure pressure of subsea pipelines containing internal and external corrosions

In the designing stage of subsea pipelines, the design parameters, such as pipe materials, thickness and diameters, are carefully determined to guarantee flow assurance and structural safety. However, once corrosion occurs in pipelines, the operating pressure should be decreased to prevent the failure of pipelines. Otherwise, an abrupt burst can occur in the corroded region of the pipeline, and it leads to serious disasters in the environment and financial loss. Accordingly, the relationship between the corrosion amount and failure pressure of the pipeline, i.e., the maximum operating pressure, should be investigated, and then, the assessment guideline considering the failure pressure should be identified. There are several explicit type codes that regulate the structural safety for corroded subsea pipelines, such as ASME B31G, DNV RF 101, ABS Building and Classing Subsea Pipeline Systems, and API 579. These rules are well defined; however, there are some limitations associated with describing precise failure pressure. Briefly, all of the existing rules cannot consider the material nonlinearity, such as elastoplasticity effect of the pipeline, as well as the actual three-dimensional corrosion shape. Therefore, the primary aim of this study is to suggest a modified formula parameter considering the above-mentioned pipeline and corrosion characteristics. As a result, the material nonlinearity as well as the corrosion configuration, i.e., axial/circumferential corrosion length, width and depth, is reflected in a set of finite element models and a series of finite element analysis considering the operation conditions are followed. Based on the comparative study between the simulation and analytical results, which can be obtained from the classification society rules, the modified formulae for failure pressure calculation are proposed.     

A hybrid analytical model of sterilization effect on marine bacteria using microbubbles interacting with shock wave

The present paper reports on a hybrid analytical model consisting of a biological probability model and a physical impact model proposed to predict the cell viability ratio of a sterilization method for marine bacteria using microbubbles interacting with a shock wave. The physical impact model of interaction between a microbubble and a shock wave is developed on the basis of the bubble motion analysis with experimental pressure data and a one-dimensional numerical simulation. An underwater shock wave produced by microbubble motion is simulated using a second-order finite differential scheme by means of bubble surface velocity variation obtained from Herring’s bubble motion equation, and the radius of the sterilized space around a microbubble is estimated by the critical pressure that just causes cell wall damage of marine bacteria. The sterilization effect predicted by the present hybrid analysis shows a good agreement with the bio-experimental result.     

Analyzing the dispersion of cargo vapors around a ship’s superstructure by means of wind tunnel experiments

In a previous study, it was found that cargo tank operations like cleaning and venting, lead to higher cargo vapor concentrations around the ship’s superstructure. Can wind tunnel experiments confirm these findings? Is there an improvement when using higher outlets at high velocities compared to lower outlets with a low outlet velocity? Is there a relation between relative wind speed and measured concentration? These questions were investigated in the Peutz wind tunnel. By using a tracer gas for the wind tunnel experiments, concentration coefficients have been calculated for various settings. The study shows that using high-velocity outlets is an efficient way to keep concentrations as low as possible. The only exception is for relative wind directions from the bow. In this last case using a manhole as ventilation outlet leads to lower concentrations. With increasing wind speeds the building downwash effect resulted in higher concentration coefficients near the main deck. This study confirms our on-board measurements and suggests the lowering of the ventilation inlet of the accommodation, so that the high-velocity outlet can be used safely at all times.     

The UN’s 2030 Agenda for sustainable development and the maritime transport domain: the role and challenges of IMO and its stakeholders through a grounded theory perspective

In September 2015, the United Nations (UN) officially adopted the 2030 Agenda for Sustainable Development together with 17 sustainable development goals (SDGs) (UN, 2016). The attainment of the SDGs requires a strong commitment by all UN Member States, not least by the Member States at the International Maritime Organization (IMO). This empirical research aims to identify the role and challenges of stakeholders at IMO, when implementing the UN’s 2030 Agenda in the international maritime transport domain using a grounded theory approach. This paper describes the methodology and the analytical process undertaken and presents the main findings based on empirical data. The results are presented as a set of six propositions. The first proposition presents the phenomena engulfing Member States at IMO stemming out from lack of knowledge and policy incoherency on the 2030 Agenda at national level. The other five propositions suggest how these challenges could potentially be best alleviated through an IMO-led strategy on sustainable development within the context of the 2030 Agenda, supported by an appropriate governance structure that sees the introduction of strategic actors for coordinating the implementation of the SDGs at national level. With the support of a Task Force, and by also making use of the IMO Member State Audit Scheme (IMSAS), to create more awareness and ownership, the strategic actors could work towards balancing the three dimensions of sustainable development—the economic, the environmental, and the social dimensions—which were found to be imbalanced in the international maritime transport domain.     

基于NAPA的螺旋桨几何造型和图形生成方法研究

螺旋桨设计是船舶设计中重要的组成部分之一．基于船舶设计NAPA软件平台,使用NAPA自带的NAPA BASIC语言,利用坐标变换方法,根据螺旋桨桨叶的伸张轮廓和叶切面形状,得到了桨叶几何造型所需的三维坐标值,同时研究了桨叶二维图形的生成方法,从而有效地将船舶设计软件与螺旋桨的几何造型紧密结合起来,节省了大量的人力物力,提高了工作效率,推动了计算机技术在螺旋桨设计领域的应用,为船用螺旋桨的精确和高效绘图寻求了一条新途径．     

大连港成为东北亚航运中心的几点建议

从大连港的优势及不足着手,从加强优势、弥补不足的思路出发,对进一步加强大连港建设。进而加快把大连建设成为东北亚航运中心提出几点建议。     

航运物流市场整合的策略

为了适应国际航运市场日趋激烈的竞争需要,各个航运企业都把大力发展航运物流、整合物流市场作为发展策略.针对航运物流市场整合的策略进行分析,提出整合的基本思路,同时列举了具体的整合方法.     

A review of the effect of a／W ratio on fracture toughness （Ⅰ）—experimental investigation in EPFM

Many experimental investigations have previously been performed and recently done on different shipbuilding structural steels where the specimens size and crack depth/specimen width (a/W) were varied. A series of interesting results have been gained. It is worthwhile to have a review on the effect of a/W ratio on fracture toughness, and further theoretical analysis is necessary. In this paper, experimental work in elasticplastic fracture mechanics (EPFM) was discussed. Tests had been carried out on 10 kinds of strength steels. Results showed that J _i and δ₁ values increased with decreasing a/W when a/W<0.3 for three-point bend specimens and that shallow crack specimens which have less constrained flow field give markedly higher values of toughness than deeply notched specimens. However, for a/W>0.3, the toughness was found to be independent of a/W. Slip line field analysis shows that for shallow cracks, the hydrostatic stress is lower than that from standard deeply cracked bend specimen which develops a high level of crack tip constraint, provides a lower bound estimate of toughness, and will ensure an unduly conservative approach when applied to structure defects especially if initiation values of COD/J-integral are used.