2.

019 Design of Ocean Systems

Lecture 5

Seakeeping (I)

February 18, 2011

Six-Degree-of-Freedom Motion of a Floating Body in Waves

Waves P
ropagati
ng

β
z
U yaw
y
ay
sw

heave
pitch

sur
ge
roll

x
Image by MIT OpenCourseWare.

Translation in x: surge ζ1(t)

Translation in y: sway ζ2(t);

Translation in z: heave ζ3(t);

Rotation with x: roll ζ4(t);

Rotation with y: pitch ζ5(t);

Rotation with z: yaw ζ6(t);

 Examples of Seakeeping and Wave Load Problems for Ships and

Offshore Structure

Wave bending moments and shear forces

Accelerations

Water on deck
Local motions
Effect of breaking waves

Liquid sloshing in Tanks Slamming

Image by MIT OpenCourseWare.
 Concerns of Seakeeping in FPSO Design

• Increasing maximum loads (due to dynamic pressure)

• Affecting operation
– Production by Risers
– Gas-oil, oil/water separation
– Normally, heave amplitude < 4m, pitch amplitude < 5 degrees,
roll amplitude < 10 degrees, excursion < (5~8)% water depth
• Vibration of superstructures
• Fatigue life of hull structures, risers, etc.
• Survival in extreme seas
• Local extreme structure damage (bottom slamming,

breaking wave impact, green water on deck etc.)

• Human safety
 Hydrodynamic Forces on a Body in Unbounded Fluid

Ub (1) Uf =0, Ub (t) 6= 0

F F (t) = dUb (t)

−ma dt
Uf
ma : Added mass
Depending on body
D
geometry, motion
direction, fluid density
(2) Uf (t) 6= 0, Ub =0
Morrison’s formula:
dUf (t) dUf (t) ρ: Fluid density
F (t) = ρ∇ dt + ma dt ∇: Body volume
Froude-Krylov force Added mass effect

(3) Uf (t) 6= 0, Ub (t) 6= 0

n o
dUf (t) dUf (t) dUb (t)
F (t) = ρ∇ dt + ma dt − dt
 Potential Flow

ƒ In typical marine engineering applications such as ships, offshore platforms,

UL
Re = ν = 106∼10
Thus, viscous effect can be neglected in general.

ƒ Flow can be considered as a irrotational flow (i.e. vorticity ∇ × ~v = 0)

except under some special conditions where flow separation occurs.

ƒ Fluid motion in the ocean is normally assumed as a potential flow:

Velocity: ~v (x, y, z, t) = ∇φ(x, y, z, t)

Continuity equation: ∇2 φ = 0

p(x,y,z,t)
Momentum eqaution: ρ = − ∂φ
∂t − 1
2 |∇φ| 2
− gz

ƒ The key is to solve the Laplace equation with certain boundary conditions for the
velocity potential φ(x, y, z, t)
Linearized (Airy) Wave Theory

• Boundary-Value Problem (BVP) for linearized (Airy) wave: y=0

y=-h

• Given velocity potential φ, find free-surface elevation η and pressure p:

 Solution of 2D Periodic Progressive (Airy) Waves

Potential:

Free-surface elevation: η = A cos(kx − ωt)

A = H/2: wave amplitude; k= 2π/λ: wavenumber; ω =2π/T : frequency

Dispersion relation: ω 2 = gk tanh kh

λ
p
g
Phase velocity:
Vp
≡
T
=
ω

k
=
k
tanh kh

 Characteristics of a Linear Plane Progressive Wave

• Velocity Field:
• Pressure Field:

 Wave Energy

dω
• Wave energy propagation speed: group velocity: Vg = dk
 Example: Wave Loads on Vertical Wall

A vertical wall is located at x=0 in in a water of depth h:

η(x, t) = A cos(kx − ωt) + A cos(kx + ωt)

gA cosh k(y+h)
φ(x, y, t) = ω cosh kh [sin(kx − ωt) − sin(kx + ωt)]

cosh k(y+h)
p(x, y, t) = −ρ ∂φ
∂t − ρgy = ρgA cosh kh [cos(kx − ωt) + cos(kx + ωt)]−ρgy

p(x = 0, y, t) = 2ρgA cos ωt cosh k(y+h)

cosh kh − ρgy

R0
Fx = −h
p(x = 0, y, t)dy
2ρgA cos ωt
R0 R0
= cosh kh
−h
cosh k(y + h)dy − −h
ρgydy
2ρgA ρgh2

= k tanh kh cos ωt + 2
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2.019 Design of Ocean Systems

Lecture 6

Seakeeping (II)

February 21, 2011

 Wave Radiation Problem

ζ3 (t) = ζ̄3 cos(ωt)

ζ̇3 (t) = −ωζ̄3 sin(ωt)
ω, λ, Vp , Vg z ζ¨3 (t) = −ω2 ζ̄3 cos(ωt)

x
2a

~n
Total: P (t) = −ρ ∂φ
∂t − ρgz Hydrodynamic: Pd (t) = −ρ ∂φ
∂t = P̄d cos(ωt − ψ)

Hydrodynamic Force: Z Z
F3 (t) = − Pd nz dS = F¯3 cos(ωt − ψ)
SB
= F¯3 cos ψ cos(ωt) + F¯3 sin ψ sin(ωt)
F¯3 cos ψ F¯3 sin ψ
= − ¯ 2 ζ̈3 (t) − ¯
ζ̇3 (t)
ζ3 ω ζ3 ω
= −A33 ζ̈3 (t) − B33 ζ̇3 (t)
A33: Added mass; B33: Wave damping
 Physical Meaning of Wave Damping
ζ3 (t) = ζ¯3 cos(ωt)
ζ̇3 (t) = −ωζ̄3 sin(ωt)
ω, λ, Vp , Vg z ζ̈3 (t) = −ω2 ζ̄3 cos(ωt)

x
2a
Energy
flux out
EVg Control Volume Energy
flux out
EVg
Averaged power into the fluid by the body:
Z T
1
Ēin = {−F3 (t)} ζ̇3 (t)dt
T 0
Z T n o
1
= A33 ζ̈3 (t)ζ̇3 (t) + B33 ζ̇3 (t)ζ̇3 (t) dt = B33 (ζ̄3 ω)2 /2
T 0

Averaged energy flux out of the control volume: Ēf lux = 2Vg E ∼ 2Vg a2
dĒ
Conservation of energy:
dt ≡ Ēin − Ēf lux = 0

B33 ∼ (a/ζ̄3 )2 > 0

• B33 =0 if a=0 corresponding to ω = ∞, 0
 Mathematical Formulation of Heave Radiation Problem
z
ζ3 (t) = cos(ωt)
y

Φtt + gΦz = 0 x η(t) = −Φt /g

~n
Radiation condition:
Deep water condition:
Generated waves 2
∇ Φ(x, y, z, t) = 0
must propagate away ∇Φ → 0 as z → −∞
from the body

Hydrodynamic Pressure: Pd (x, y, z, t) = −ρΦt

R
Radiation Force:
F~R (t) = − SB Pd~nds
R
Radiation Moment:

M~ R (t) = − Pd (~x × ~n)ds

SB
 Frequency-Domain Formulation of Heave Radiation Problem

ζ¯
3 = 1
y

−ω 2 φ3 + gφ3z = 0 x η̄ = −iωφ3 /g

Radiation condition ~n Deep water condition:

∇φ3 → 0 as z → −∞
∇2 φ3 (~x) = 0
Let: R
f3R = iρω φ3 n3 ds
ζ3 (t) = cos ωt = <{eiωt } SB

Φ(~x, t) = <{φ3 (~x)eiωt } F3R (t) = −A33 ζ̈3 (t) − B33 ζ̇(t) = <{[ω 2 A33 − iωB33 ]eiωt }
η(x, y, t) = <{η̄(x, y)eiωt } Thus,
iωt
n R o n R o
Pd (~x, t) = <{pd (~x)e } A33 = < iρ
φ3 n3 ds , B33 = −= iρ SB φ3 n3 ds
ω SB
F~R (t) = <{f~eiωt } n o n R o
R
M~ R (t) = <{me
~ iωt } A13 = < iρ
φ3 n1 ds , B13 = −= iρ SB φ3 n1 ds
ω SB

pd = −iρωφ3 (~x) A23 , B23 , ..., A63 , B63

R
f~ = − SB pd~ndS
R • Aij and Bij are symmetric, i.e. Aij = Aji, Bij =Bji, i=1, …, 6; j=1, …, 6
m~ = − SB pd (~x × ~n)dS • Aij and Bij are functions of frequency ω
 |ζ3 |
A

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 Examples: Added Mass at Low Frequency

At low frequencies, i.e. ω → 0:

d2 Φ
dt2 ∼ ω2 → 0 as ω → 0
Thus, the free surface boundary conditoin becomes: Φz =0

(1) slender vertical circular cylinder (2) slender ship with a semi-circle
cross section

Surge added mass Sway added mass

m11 = ρπR2 h πR2

m11 = ρ 2 L
Wave damping =0 Wave damping =0
 Examples: Added Mass at High Frequency

At high frequencies, i.e. ω → ∞:

d2 Φ
dt2 ∼ ω2 → ∞ as ω → ∞
Thus, the free surface boundary conditoin becomes: Φ=0

Slender ship with a semi-circle cross section:

πR2
Heave added mass: m33 = ρ 2 L

Wave damping =0
 Hydrostatic Restoring Effect in Body Motion
ζ3 (t)
z

t=0 ~n

Wetted body surface: S0 SB (t) = S0 + ∆S(t)

Hydrostatic pressure: Ps = −ρgz
Hydrostatic restoring effect
R R R
~s = −
Hydrostatic force: F P ~nds = − S0 Ps~nds − ∆S(t) Ps ~nds
SB (t) s

Balanced by other forces at equilibrium

R
Fs3 (t) = ρg V ol dV ol = F¯s3 − ρgSwl ζ3 (t)
Swl : Water plane surface area of the body
C33 = ρgSwl : Hydrostatic restoring coefficient (i.e. spring constant)
R R R
~
Ms = − SB (t) Ps (~x × ~n)ds = − S0 Ps (~x × ~n)ds − ∆S(t) Ps (~x × ~n)ds
Hydrostatic moment:

Hydrostatic restoring force/moment: Fsi3 (t) = −Ci3 ζ3 (t), i = 1, . . . , 6

P
In general Fsij (t) = − 6j=1 Cij ζj , i = 1, . . . , 6 where Cij is 6×6 restoring coef. matrix
 Wave Diffraction Problem

z Body is fixed
y

Φtt + gΦz = 0 x η(t) = −Φt /g

Radiation condition:
diffracted waves must ~n Deep water condition:
propagate away from the ∇Φ → 0 as z → −∞
body
∇2 Φ(x, y, z, t) = 0
~ E =???
F~E , M
Total potential: Φ(~x, t) = ΦI (~,xt) + ΦD (~x, t)

ΦI : Incident wave potential (of a plane progressive wave)

ΦD : Diffracted (or scattered) wave potential

Total dynamic pressure: Pd = −ρΦIt − ρΦDt Diffraction effect

R R
~E (t) =
Total wave excitations (force/moment): F ρΦIt~nds + ρΦIt~nds = F~I + F~D
SB SB
Froude-Krylov force

R R
~ E (t) =
M ρΦIt (~x × ~n)ds + ~I +M
ρΦDt (~x × ~n)ds = M ~D
SB SB
 Frequency-Domain Formulation of Wave Diffraction Problem
z y

−ω 2 φD + gφDz = 0 x η̄D = −iωφD /g

∂φD
Radiation condition:
~n ∂n = − ∂φ
∂n
I

diffracted waves must Deep water condition:

propagate away from the ∇φD → 0 as z → −∞
2
body ∇ φD (x, y, z) = 0

ηI (x, y, t)
Incident wave: = a cos(ωt − kx) = <{ae−ikx eiωt } = <{η̄I eiωt }
ΦI (~x, t) = −(ga/ω) sin(ωt − kx)ekz = <{(−iga/ω)ekz−ikx eiωt } = <{φI eiωt }
Diffraction potential: ΦD (~x, t) = <{φD (~x)eiωt }

x, t) = <{pd (~x)eiωt },
Total dynamic pressure: Pd (~ pd (~x) = pI + pD
pI = −iρωφI , pD = −iρωφD

Total wave excitations: F~E (t) = <{f~E eiωt }, f~E = f~EI + f~ED
R R
~
Froude-Krylov force: fEI = − SB pI ~nds = iρω SB φI ~nds
R R
Diffraction force: f~ED = − SB
pD ~nds = iρω φD ~nds
SB

~ E (t) = <{m
M ~ E eiωt }, m
~E =m
~ EI + m
~ ED
 Heave Response of A Floating Body to Ambient Waves

z ζ3 (t) = <{ζ̄3 eiωt }, ζ̄3 =???

Incident wave:
ηI = a cos(ωt − kx) y

Φtt + gΦz = 0 x η(t) = −Φt /g

~n Deep water condition:

∇Φ → 0 as z → −∞
∇2 Φ(x, y, z, t) = 0

• Decompose the total problem into a sum of diffraction problem and radiation problem:

Φ(~x, t) = ΦI (~x, t) + ΦD (~x, t) + ΦR (~x, t)

Diffraction problem Radiation problem

• From the diffraction problem:

Wave excitation force: FE3 (t) = <{fE3 eiωt }, fE3 = f3I + f3D
• From the radiation problem:
Wave radiation force: FR3 (t) = −A33 ζ̈3 (t) − B33 ζ̇3 (t) = <{(−ω 2 A33 − iωB33 )ζ̄3 eiωt }

Hydrostatic restoring force: Fs3 = −C33 ζ3 (t) = <{(−C33 ζ̄3 )eiωt }

 • Total hydrodynamic and hydrostatic forces:

FE3 + FR3 + Fs3 = <{[fE3 − (ω2 A33 + iωB33 + C33 )ζ̄3 ]eiωt }

• Applying Newton’s second law:

FE3 + FR3 + Fs3 = mζ¨3 (t)

<{(−ω 2 m)eiωt } = <{[fE3 − (−ω 2 A33 + iωB33 + C33 )ζ̄3 ]eiωt }

Equation of Motion: [−ω 2 (m + A33 ) + iωB33 + C33 ]ζ̄3 = f3I + f3D

f3I +f3D

• Heave motion amplitude:

ζ̄3 = −ω 2 (m+A33 )+iωB33 +C33

Response Amplitude Operator (RAO): ζ̄3 (ω) (f3I + f3D )/a

=
a
−ω 2 (m + A33 ) + iωB33 + C33

¯ ¯
¯ (f3I + f3D )/a
¯ iα
¯
=
¯
2 ¯ e

−ω (m + A33 ) + iωB33 + C33

¯

³
´
12
Heave natural frequency: C33
−ωn3 (m + A33 ) + C33 = 0 → ω3n = m+A33
 Analogy to a Simple Mass-Spring-Dashpot System

Body displacement

Body mass
Excitation force

Spring constant
Damping coefficient

Equation of motion: mẍ + bẋ + cx = f (t)

For harmonic excitation, f (t) = f0 cos ωt, we have harmonic response: x(t) = x0 cos(ω + α), x0 =??

³ ´
f0 −bω
From equation of motion, we obtain: x0 = [(c−mω )2 +b2 ω 2 ]1/2
2 and α = tan−1 c−mω 2

Natural frequency: ωn = (c/m)1/2 x0 1

= , at ω=0
f0 c
x0 1
= , at ω=ωn
f0 bωn
x0
→ 0, as ω → ∞
f0
x0 1
f0 bωn

1
c
ωn ω
α ωn
ω
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2.019 Design of Ocean Systems

Lecture 7

Seakeeping (III)

February 25, 2011

 Motions and Wave Loads on a Barge

z
y

B
x
D

L
Image by MIT OpenCourseWare.

A regular plane progressive incident wave in deep water travels along the x-direction:

ηI (x, t) = a cos(ωt − kx)

ΦI (x, y, z, t) = − ga
ω ekz
sin(ωt − kx)
To find the wave force and motion of the barge in the vertical direction using long-
wave and strip theory assumptions.
 Heave Wave Excitation on a Barge (I)
FE3 = FI3 + FD3
Using the strip theory (which is valid for B/L << 1), we have:
R L/2 R L/2 R L/2
FE3 = −L/2
fE3 (x)dx, FI3 = −L/2
fI3 (x)dx, FD3 = −L/2
fD3 (x)dx

Froude Krylov force component:

Z B/2
fI3 (x) = − PI (x)nz dy
−B/2
Z B/2
= (−ρΦt (x, y, z = −D, t)dy
−B/2

= Bρgae−kD cos(ωt − kx)

Z L/2
FE3 = fE3 (x)dx
−L/2
Z L/2
= Bρgae−kD cos(ωt − kx)dx
−L/2
µ ¶
2 −kD kL
= ρgaB e sin cos ωt
k 2
In the limit ω → 0: FE3 → ρgaBL cos ωt = ρgη(t)(BL)
 Heave Wave Excitation on a Barge (II)

Long-wave assumption: wave motion is a flow slowly varying in space and time.
The wave diffraction effect is approximated by the added mass effect.

fD3 (x, t) fD3 (x, t) = A2D ˙

33 (x)V (x, t)

V (x, t) = ΦIz (x, z = −D/2, t)

gak −kD/2
= − e sin(ωt − kx)
ω

V̇ (x, t) = −gake−kD/2 cos(ωt − kx)

V̇ (t)
fD3 (x, t) = −gake−kD/2 A2D
33 cos(ωt − kx)

R L/2 −kD/2 2D kL
FD3 (t) = −L/2
fD3 (x, t)dx = −2gae A 33 sin 2 cos ωt

In the limit ω → 0: FD3 → 0

 Heave Wave Excitation on a Barge (III)

£ ¤ ¡ 2
¢
FE3 (t) = FI3 + FD3 = ρgaBe −kD
− gA2D
33 kae −kD/2
k sin kL
2 cos ωt

Froude Krylov Added mass effect

£ π ¤

A2D
33
2
= Ca ρ 2 (B/2) , Ca ∼ 1.0

100
Heave force/wave amplitude

Added mass
Fraude-Krylov
Total
50

-50
0 1 2 3 4
Ship length/wavelength

Image by MIT OpenCourseWare.

 Radiation Force

R L/2 2D 2D
Added mass coefficient: A33 = −L/2
A 33 (x)dx = LA 33

Wave damping coefficient: B33 → 0 with long-wave assumption

Radiation force: FR3 = −A33 ζ̈3 (t) = −LA2D
33 ζ̈3 (t)

Restoring Force

FS3 = −C33 ζ3 (t) = −ρgBLζ3 (t)

Equation of Motion
(M + A33 )ζ̈3 + Bv ζ̇3 + ρgBLζ3 (t) = FE3 (t)
If Bv =0, ζ3 (t) = ζ̄3 cos(ωt)

[ρgaBe−kD −gA2D kae −kD/2

]( k2 ) sin kL
ζ¯3 (ω) = 33
−ω 2 (M +A33 )+ρgBL
2
In the limit ω → 0:

ζ¯3 = ρgBLa
−ω 2 (M +A33 )+ρgBL =a

ζ3 (t) = a cos ωt = η(x = 0, t)

Barge responds to move like a fluid particle in the limit of very long wave.

Natural Frequency

−ωn2 (M + A33 ) + ρgBL = 0

³ ´1/2 ³ ´1/2 ³ ´1/2
ρgBL gB g

ωn = M +A33 = BD+A2D
= D+Ca (π/8)B

33

2π
Natural period: Tn = ωn Tn increases with D and B.

For example, for D=20m, B=60m, we have Tn = 13s.

 Sample Results for Heave Motion

Draft: D=12 m
Width: B=40 m

Natural period: Tn= 11.4 s

Bv = 8% critical damping

FE3

RAO
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 Pitch Motion and Wave Loads on a Barge
Z L/2
Wave Excitation: FE5 (t) = −xfE3 dx
−L/2
h iZ L/2
−kD −kD/2
= ρgBae − gkae A2D
33 [−x cos(ωt − kx)]dx
−L/2

R L/2
Added mass and wave damping: A55 = −L/2
x2 A2D
33 dx , B55 = 0 as ω → 0

Radiation moment: FR5 = −A55 ζ̈5 (t) − B55 ζ̇5 (t)

R
Hydrostatic restoring moment: FS5 = −C55 ζ5 (t) = −[ρg∇(ZB − BG ) + ρg Awp
x2 ds]ζ5 (t)

R L/2
Moment of inertia: I55 = ρDB −L/2
x2 dx

From the equation of motion for pitch, we can get pitch motion: ζ5 (t) = ζ̄5 sin ωt

ζ̄5
a = .....
 Sample Results for Pitch Motion

Draft: D=12 m
6000
Width: B=40 m
Added mass
FE5

Pitch moment/wave amplitude

Fraude-Krylov

Bv = 8% critical damping 4000 Total

MN/m

2000

-7000
0 1 2 3 4
Ship length/wavelength

0.9
Pitch angle/wave amplitude

0.6

Degrees/m

0.3

RAO

0
0 1 2 3 4
Ship length/wavelength

Images by MIT OpenCourseWare.

Deck elevation at bow:

ZD = ζ3 (t) − (L/2)ζ5 (t) + H where H is deck height

Bottom elevation at bow:

ZB = ζ3 (t) − (L/2)ζ5 (t) − D where D is draft

Wave elevation at bow:

Zw = η(x = L/2, t) = a cos(ωt − kL/2)

If ZD < Zw , wave overtoping occurs;

If ZB > Zw , ship bottom is out of water
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2.019 Design of Ocean Systems

Lecture 8

Seakeeping (IV)

March 4, 2011

 General Response of A Floating Body in Regular Ambient Waves

ζ3 (t) = <{ζ¯3 eiωt }
z ζ6 (t) = <{ζ¯6 eiωt }

Incident wave:
ηI = a cos(ωt − kx) y ζ2 (t) = <{ζ̄2 eiωt }

ζ5 (t) = <{ζ̄5 eiωt }

Φtt + gΦz = 0 x η(t) = −Φt /g

ζ1 (t) = <{ζ¯1 eiωt }

~n ζ4 (t) = <{ζ¯4 eiωt }

6
X
Equation of motion: [(Mj` + Aj` )ζ̈` + Bj` ζ̇` + Cj` ζ` ] = F̄Ej eiωt (j = 1, . . . , 6) (1)
`=1

6
X
[−ω 2 (Mj` + Aj` ) + iωBj` + Cj` ]ζ̄j = FEj (j = 1, . . . , 6)
`=1
Mj` : 6 × 6 elements of the egeneralized mass matrix
Aj` , Bj` : 6 × 6 elements of added mass and wave damping matrices
Cj` : 6 × 6 elements of hydrostatic restoring matrix
FEj : 6 elements of the wave excitation vector
ζ¯j (ω)
Transfer function or Response Amplitude Operator (RAO): Hj (ω) = a (j = 1, . . . , 6)
 Numerical Method for Potential-Flow Problems

Uniform free stream:

Φ = Ux →
u = U, v = 0, w = 0
2D point source:
m

√ m

ur
Φ =
2π
ln x2 + z 2
=
2π
ln r

ur = 2πr
2D point source plus point sink:

p
m

Φ =
2π
ln
(x + s) + z −
2π
ln
(x − s)2 + z 2

2 2

source
sink
2D doublet or dipole: source + sink, as s → 0 while keeping 2ms = µ.

m
(p
(x + s)2 + z2
) z
Φ = lim ln p
s→0 2π (x − s)2 + z 2
m 2xs µ x
= lim √ = √
s→0 2π x2 + z 2 2π x2 + z 2

2D Stream plus dipole:

µ √ x
Φ = Ux + 2π x2 +z 2

p µ
a= 2πU
Three-dimensional point source:
Q
Φ(~x, ξ~) =−
4πR
Q 1 O
=− p
4π (x − ξ)2 + (y − η)2 + (z − ζ)2

Three-dimensional source distribution:

Distribute sources of strength M (ξ~, t)dS, varying with space ξ and pulsating in
time t and proportional to surface area dS:

dΦ = 1
M ~, t)G(~x, ξ~)dS
(ξ
4π

G(~x, ξ~): Green’s function

sources are distributed
over the surface of the body
Green function
in unbounded fluid: G(~x, ξ~) = 1
R = √ 1
(x−ξ)2 +(y −η)2 +(z−ζ)2

Free-surface Green function

(in finite depth H) satisfying linearized
free-surface boundary condition:

1 1
G(~x, ξ~) = + 0
R R
Z ∞
(µ + ν)e−µH
= +2 − cosh µ(ζ + H) cosh µ(z + H)J0 (µr)dµ
0 µ sinh µH − ν cosh νH

k2 − ν 2
+2πi 2 cosh k(z + H) cosh k(ζ + H)J0 (kr)
(k − ν 2 )H + ν

ω2
ν= g = k tanh kH
p p
R= (x − ξ)2 + (y − η)2 + (z − ζ)2 , R0 = (x − ξ)2 + (y − η)2 + (z + 2H + ζ)2
 Source Method
• Distribution sources on the body surface with unknown strengths:
M (ξ~, t) = Re{M̄ (ξ~)eiωt }

Diffraction problem: M̄D (ξ~)

R
Φ̄D (~x) = 1
4
π S
M̄D (ξ~)G(~x, ξ~)dS

Radiation problem: M̄j (ξ~)

R
Φ̄j (~x) = 1
4
π S
M̄j (ξ~)G(~x, ξ~)dS

• The source strength is found by requiring the velocity satisfies the boundary
condition on the body surface S

Diffraction problem: R
Boundary
1
¯
D (~x) +
−M̄D (ξ~) ∂ G(~x, ξ~)dS
= −
∂Φ¯ I
−
2
M 1

4
π
S ∂n ∂n

condition

at ~x = ~xB : Radiation problem:

R

−
1
¯
x)
2
Mj (~ +
4
1
π
−SM̄j (ξ~) ∂∂n G(~x, ξ~)dS
= −(iω)nj

• To solve the integral equation for unknown source strengths, we apply the so-called
panel method: Subdividing the body surface into N elements with the assumption of
an uniform distribution of source strength over each element. This will leads to N
equations and N unknown source strengths:

PN ∂Φ̄I (~
xm )
−M̄D (~xm ) + α ¯
M (~
x ) = −
n=1 mn D n ∂n

m = 1, 2, · · · , N
R
αmn = ∂
G(~
x m , ~n )dS
ξ
∆Sn ∂n

• Once unknown source strengths on the body are found, the diffraction and radiation
potentials can be evaluated:

PN R
Φ̄D (~x) = M̄D (~
x n ) 1
G(~
x , ~n )dS
ξ
n=1 4π ∆Sn
• Numerical solution of the linear system of N equations:

[A]{M } = {b}

Gauss elimination ∼ O(N 3 ) computational effort

Iteration solver ∼ O(N 2 ) computational effort

Convergence with error ∼ 1/N as N → ∞

For better convergence

of the solution, Free surface
discretization must be
fine where geometry
changes sharply or Flow decay
near free surface. Exponentially
With depth
from free
surface
Figures removed due to copyright restrictions.
Please see Fig. 3 and Fig. 5 from Newman, J.,
and P. Sclavounos. "The Computation
of Wave Loads on Large Offshore Structures."
Figures removed due to copyright restrictions. Please see Fig. 3
and Fig. 5 from Newman, J.,and P. Sclavounos. "The Computation
of Wave Loads on Large Offshore Structures."
MIT OpenCourseWare
http://ocw.mit.edu

2.019 Design of Ocean Systems

Spring 2011

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