The hydrodynamic excitation and response behavior of multi-body systems with varying degrees of coupling presents many challenges for designers of offshore structures. In this study, attention is focused upon the analysis and interpretation of experimental data obtained for an unmanned deepwater mini-Tension Leg Platform (mini-TLP) coupled to a tender barge. Each body has its own mooring system and the bodies are connected by two breast lines extending from central points on the mini-TLP to central points on the bow and stern of the tender barge. A fender system is located between the two platforms. Thus the two floating bodies are constrained to move together in surge and yaw while they are free to move independently in heave, roll and pitch with some limitations on sway. The data of the individual records are characterized using statistical moments, including skewness and kurtosis, to examine the degree of non-Gaussian behavior. Correlation analysis and cross spectral analysis are used to investigate the relationships between selected measurements such as the motion of each vessel, tensions in the mooring lines and tendons and the forces on the fenders. The analysis shows that the coupling effects reduce the mooring line and tendon tensions significantly and that the motions of the two vessels influence the line tensions and fender forces. The data distribution patterns followed by the parameters and the corresponding extreme values are also investigated.

Thesis (MTech (Mechanical Engineering))--Cape Peninsula University of Technology, 2017. / In South Africa, squid fishing vessels need to find and then anchor above benthic squid egg beds to effect viable catches. However, waves acting on the vessel produce a dynamic response on the anchor line. These oscillatory motions produce impact forces of the chain striking the seabed. It is hypothesised that this causes damage to the squid egg bed beneath the vessels. Different mooring systems may cause more or less damage and this is what is investigated in this research. The effect of vessel mooring lines impact on the seabed during squid fishing is investigated using a specialised hydrodynamic tool commercial package ANSYS AQWA models. This study analysed the single-point versus the two-point mooring system’s impact on the seabed. The ANSYS AQWA models were developed for both mooring systems under the influence of the wave and current loads using the 14 and 22 m vessels anchored with various chain sizes. The effect of various wave conditions was investigated as well as the analysis of three mooring line configurations. The mooring chain contact pressure on the seabed is investigated beyond what is output from ANSYS AQWA using ABAQUS finite element analysis. The real-world velocity of the mooring chain underwater was obtained using video analysis. The ABAQUS model was built by varying chain sizes at different impact velocities. The impact pressure and force due to this velocity was related to mooring line impact velocity on the seabed in ANSYS AQWA. Results show the maximum impact pressure of 191 MPa when the 20 mm diameter chain impacts the seabed at the velocity of 8 m/s from video analysis. It was found that the mooring chain impact pressure on the seabed increased with an increase in the velocity of impact and chain size. The ANSYS AQWA impact pressure on the seabed was found to be 170.86 MPa at the impact velocity of 6.4 m/s. The two-point mooring system was found to double the seabed mooring chain contact length compared to the single-point mooring system. Both mooring systems showed that the 14 m vessel mooring line causes the least seabed footprint compared to the 22 m vessel.

A three-dimensional, nonlinear dynamic analysis is conducted on a fully submerged, rigid, solid cylinder to be used as a breakwater. The breakwater could potentially be used as a single cylinder to protect small structures. Alternatively, multiple cylinders could be positioned in series to protect shorelines, harbors, or moored vessels from destructive incident water waves. The cylinder is positioned with its axis horizontal and is moored to the seafloor with four symmetrically placed massless mooring lines connected at the ends of the cylinder. The mooring lines are modeled as both linearly elastic ("regular") springs and compressionless springs. All six degrees of freedom of the structure are considered. The breakwater is modeled in air with a net buoyant force acting through the cylinder's center of gravity. The six "dry" natural frequencies of the structure are computed. Both linear and nonlinear free vibrations of the structure are considered. Linear damping is used to model the fluid and mooring damping effects. Normal and oblique harmonic wave forces at various frequencies and amplitudes are applied to the cylinder. The effects of the forcing amplitude and frequency, and the coefficient of damping, on the motion of the breakwater are studied. The results show that more erratic behavior occurs for the breakwater with compressionless springs, mainly due to the development of snap loads in the mooring lines. / Master of Science

A two-dimensional, nonlinear dynamic analysis is conducted on a moored breakwater configuration to investigate snap loads in mooring lines. Breakwaters are structures used to attenuate or eliminate waves and protect shorelines, harbors, and other natural and man-made marine structures from wave damage. The breakwater in this investigation is modeled both as a point mass and as a rigid body. Both models are subjected to free undamped motions and forced undamped wave motion. Energy is dissipated through the use of a coefficient of restitution applied when a mooring line becomes taut (i.e., reaches its natural length). The mooring line is modeled as an inextensible cable with no axial or bending resistance when slack. Snap loading arises when a mooring line transitions suddenly from a slack condition to a taut condition. The analysis was conducted on a breakwater configured upside down and hanging by two mooring lines. The length of the mooring lines, coefficient of restitution, size and shape of the breakwater, initial position of the breakwater, amplitude of wave forcing, ratio of vertical to horizontal forcing, and frequency of forcing were all varied in the analysis. The results show that the rotations of the rigid body and the wave forcing have a significant role in the analysis, indicating that a rigid-body model for a moored breakwater under wave forcing is the more accurate model. / Master of Science

The Virginia Tech Trawl-Resistant Self-Mooring Autonomous Underwater Vehicle (TRSMAUV) is designed to reside on the seafloor for extended periods of time. The TRSMAUV shape allows for deployment in areas where trawl fisheries are conducted. TRSMAUV is a two stage vehicle. The ingress vehicle is the delivery device, and it is constructed from two symmetric halves. The top half contains the ingress vehicle propulsion system and control surfaces. The bottom half is the trawl-resistant mooring package. A smaller vehicle, the egress vehicle, is housed within the bottom ingress half and provides the guidance, navigation and control algorithms for the TRSMAUV. This report covers the general design elements of the TRSMAUV, the detail design of several prototypes, the results of the field trials, and the next steps that will be taken to build the final vehicle. / Master of Science

<p>Denna rapport ger förslag på olika metoder att automatiskt justera flytläget på en statiskt förankrad boj, en överblick över de processer som styr ändringen av vattennivån och en statisktisk analys på vattennivåförändringarna vid Stockholm, Kungsholmsfort och Kungsvik.</p><p>Beroende på vattenivåns variation finns olika metoder för justering. Områden med små variationer av vattennivå lämpar det sig bäst utan någon som helst justering av flytläget. Områden med inte för stora tidvattensförändringar bör justeras med ett system bestående av vinsch, växellåda med en utväxling på 10 000:1, en 12 V DC motor, ett skötselfritt 12 V batteri, en luftlindad linjärgenerator och en trådtöjningsgivare. Områden med stora variationer i tidvatten behöver en avlastning för motorn i form av en fjäder och dämpare. De monteras horizontellt inuti bojen för att skyddas från den yttre miljön.</p><p>Den statistiska analysen påvisade de största vattennivåändringarna vid både Kungsviks och Kungsholmsforts mätstationer, båda uppvisade ett intervall på 1,6 m mellan minimum och maximum. Kungsvik var den station med de största dagliga variationerna, detta på grund av tidvattnets påverkan i området.</p> / <p>This thesis gives examples of different methods of automated adjustment of floatation level for a static moored buoy, an overview of the theories behind water level change and a statistical analysis of the water level changes for Stockholm, Kungsholmsfort and Kungsvik.</p><p>Depending on the range and frequency of the water level change different methods of adjustment are recommended. For areas with small changes in sea level the best choice would be no adjustment of the floatation level. Areas that are influenced by moderate tidal ranges should incorporate a system of regulation consisting of a winch, gearbox with a gear ratio of around 10,000:1, 12 V DC motor, 12 V maintenance free battery, air coiled linear generator and a strain gauge. For areas with large tidal ranges the previous system should be complimented with a horizontally mounted spring, inside the buoy, to lessen the loads on the motor.</p><p>The statistical analysis found the largest extremes in water level of the three sites to be at Kungsvik and Kungsholmsfort, both exhibiting a range of almost 1.6 m. Kungsvik was the station with the largest daily variations, this is because this is the only station influenced by tidal variations.</p>

Denna rapport ger förslag på olika metoder att automatiskt justera flytläget på en statiskt förankrad boj, en överblick över de processer som styr ändringen av vattennivån och en statisktisk analys på vattennivåförändringarna vid Stockholm, Kungsholmsfort och Kungsvik. Beroende på vattenivåns variation finns olika metoder för justering. Områden med små variationer av vattennivå lämpar det sig bäst utan någon som helst justering av flytläget. Områden med inte för stora tidvattensförändringar bör justeras med ett system bestående av vinsch, växellåda med en utväxling på 10 000:1, en 12 V DC motor, ett skötselfritt 12 V batteri, en luftlindad linjärgenerator och en trådtöjningsgivare. Områden med stora variationer i tidvatten behöver en avlastning för motorn i form av en fjäder och dämpare. De monteras horizontellt inuti bojen för att skyddas från den yttre miljön. Den statistiska analysen påvisade de största vattennivåändringarna vid både Kungsviks och Kungsholmsforts mätstationer, båda uppvisade ett intervall på 1,6 m mellan minimum och maximum. Kungsvik var den station med de största dagliga variationerna, detta på grund av tidvattnets påverkan i området. / This thesis gives examples of different methods of automated adjustment of floatation level for a static moored buoy, an overview of the theories behind water level change and a statistical analysis of the water level changes for Stockholm, Kungsholmsfort and Kungsvik. Depending on the range and frequency of the water level change different methods of adjustment are recommended. For areas with small changes in sea level the best choice would be no adjustment of the floatation level. Areas that are influenced by moderate tidal ranges should incorporate a system of regulation consisting of a winch, gearbox with a gear ratio of around 10,000:1, 12 V DC motor, 12 V maintenance free battery, air coiled linear generator and a strain gauge. For areas with large tidal ranges the previous system should be complimented with a horizontally mounted spring, inside the buoy, to lessen the loads on the motor. The statistical analysis found the largest extremes in water level of the three sites to be at Kungsvik and Kungsholmsfort, both exhibiting a range of almost 1.6 m. Kungsvik was the station with the largest daily variations, this is because this is the only station influenced by tidal variations.

O presente trabalho propõe um novo modelo hidrodinâmico para avaliação das forças oriundas da ação de correnteza marítima uniforme sobre o casco de navios petroleiros amarrados. A modelagem é válida para qualquer ângulo de incidência de correnteza e sua aplicação é voltada, especialmente, ao estudo dinâmico de sistemas FPSO (Floating Production Storage and Offloading systems), muito embora seu campo de aplicação possa facilmente ser estendido a problemas correlatos em engenharia naval. O modelo ora apresentado depende basicamente das dimensões principais do casco, necessitando de um conjunto bastante pequeno de parâmetros a serem determinados experimentalmente. Essa natureza quase-explícita da modelagem constitui sua principal vantagem face aos demais modelos usualmente empregados, e a mesma advém exatamente do contexto mais restrito para o qual foi formulado. O modelo heurístico estendido foi elaborado com base em um modelo estático previamente desenvolvido por Leite et al. (1998). Foram incorporados os efeitos provenientes do movimento de rotação do casco, tornando o modelo aplicável ao caso geral de movimentos do navio no plano horizontal. A determinação destes efeitos foi fundamentada em uma abordagem heurística, combinando-se estimativas semi-empíricas para as forças decorrentes de diferentes padrões de escoamento fluido no entorno do casco, padrões estes associados a faixas de ângulos de incidência distintas. As estimativas de força e momento em movimento combinado de translação e rotação do casco foram validadas a partir de resultados experimentais obtidos em ensaios de yaw-rotating, conduzidos com modelos de diferentes navios petroleiros, em duas condições de carregamento distintas. ) Posteriormente, a verificação experimental foi ampliada, analisando-se a adequação do modelo hidrodinâmico ao estudo de instabilidade dinâmica de navios atracados por intermédio de um cabo de amarração (hawser), fenômeno conhecido em engenharia naval como fishtailing. Em paralelo ao desenvolvimento do modelo hidrodinâmico e sua validação experimental, objetivos primeiros deste trabalho, procede-se a uma revisão crítica das diferentes abordagens teóricas comumente empregadas, baseada nos principais aspectos hidrodinâmicos envolvidos em aplicações práticas de navios amarrados em sistemas offshore. Assim, face à complexidade do problema em questão e dada a profusão de modelos teóricos existentes na literatura, mais do que a defesa de um ou outro método de análise, procura-se fornecer um orientação consistente para que o projetista de sistemas oceânicos possa escolher, com maior confiança, a abordagem mais apropriada para a aplicação em questão, ciente de suas vantagens e eventuais limitações. / A new hydrodynamic model for the analysis of current forces acting on moored tanker ships is proposed. The theoretical model is valid for any angle of attack of the current and is intended, primarily, for the analysis of FPSO (Floating Production Storage and Offloading) systems, although its application may be easily extended to other correlated problems in ocean engineering. The model depends basically on the ship main dimensions and requires few external parameters to be derived. This quasi-explicit nature certainly constitutes the model main advantage and it was only possible due to the more restricted context it was derived for. The extended heuristic model, as it is called, was based on a previous static version presented by Leite et al. (1998). The hydrodynamic effects arising from the ship yaw motion were now incorporated, making the model able to cope with the problem of combined drift-yaw motions. Yaw velocity influence was determined by means of a heuristic combination of semi-empirical formulations of force and moment components, resultant from distinct fluid flow patterns, each one related to a different range of angles of attack. Force predictions were validated through confrontation with yaw-rotating experimental results, obtained for different tanker models in distinct loading conditions. It was also verified experimentally that the model is capable of predicting the hydrodynamic forces involved in the unstable dynamic behavior of asingle-point moored tanker, when subjected to a steady ocean current, known as fisthailing phenomenon. A critical revision of the different theoretical models at hand represents a supplementary purpose of this work. This revision was performed based on the main hydrodynamic aspects involved in common offshore applications of moored tanker ships. ) Therefore, instead of a passionate defense of any particular theoretical procedure, the work aims to provide a consistent orientation in order to help the offshore system designer to choose, between the various hydrodynamic models, the one that is more suitable for the analysis of a specific project, confident on its advantages and aware of its eventual limitations.

Os aspectos estatísticos inerente à excitação provocada pelas condições ambientais sobre embarcações amarradas são estudados de forma a estabelecer parâmetros aceitáveis para avaliação da qualidade da resposta dinâmica não-linear de longo prazo das linhas de amarração, em termos de vida em fadiga e do risco de ruptura estática. A abordagem proposta subdivide a resposta de longo prazo numa sequência de eventos de curto prazo, nos quais o processo aleatório é considerado estacionário, embora não necessariamente de banda estreita. Nesses termos, o comportamento dinâmico não-linear das linhas de amarração pode ser tomado na sua essência fundamental, sem a necessidade de simplificações de grande vulto. Como parte do procedimento de cálculo, propõe-se que as tensões de curto prazo sejam obtidas por integração direta, no domínio do tempo, do equilíbrio dinâmico de cada linha isolada de amarração, nos moldes já hoje consubstanciados em programas de computador comercialmente disponíveis. Finaliza-se com a apresentação de um exemplo de aplicação do método, para o caso da plataforma semi-submersível GVA 4500 da Petrobrás, que vai operar na Bacia de Campos numa lâmina d\'água ao redor de 1000 m . Atende-se com este trabalho, portanto, alguns dos anseios estabelecidos no \"Programa de Capacitação Tecnológica em Sistemas de Exploração para Águas Profundas (PROCAP)\" da citada empresa, buscando cumprir o objetivo de colocar o conhecimento tecnológico nacional adaptado à realidade do país, tornando-o menos dependente da importação de tecnologias estrangeiras, nem sempre, ou quase nunca, voltadas às nossas reais necessidades. / The inherent statistic aspects due to environmental loads acting on moored vessels are investigates in order to obtain reliable parameters to evaluate the long-term non-linear dynamics response of the mooring lines, as for the fatigue life and the risk of static failure. The proposed approach divides the long-term response into a sequence of short-term events, in which the random process is regarded as stationary, but not narrow band. Thus the non-linear dynamic behavior of the mooring lines can be treated on its fundamental essence, without large simplifications. As part of the calculation procedure, the short-term tensions are obtained by integrating directly the equations of motion for each single mooring line, as performed by the available commercial computer programs. Finally an example of application is presented, for the Petrobrás semisubmersible platform GVA 4500, that will be operating at Bacia de Campos in a water depth of 1000 m. This work goes toward the aims of the \"Programa de Capacitação Tecnológica em Sistemas de Exploração para Águas Profundas (PROCAP)\", in order to take the national technological knowledge adapted to the country actuality, and avoid the importation of foreign technologies, that are, almost never, turned to our actual needs.

Nas últimas décadas a soldagem em estado sólido vem demonstrando ser uma ótima alternativa frente aos métodos convencionais de união mais utilizados na indústria, dos quais a grande maioria consiste na soldagem por fusão dos materiais. O presente trabalho consiste na utilização do processo denominado como soldagem por fricção com pino consumível (Friction Hydro Pillar Processing – FHPP). Este trabalho visou avaliar a aplicação do processo FHPP em um aço utilizado para a fabricação de componentes de amarras de uso offshore, para esses aços o surgimento de defeitos durante operação ou fabricação trazem elevados custos operacionais, o reparo por soldagem a arco é não recomendado por normas técnicas devido às propriedades destes materiais e as condições de operação dos componentes produzidos com os mesmos. Esta avaliação se deu através da análise dos melhores parâmetros de processo (força axial, velocidade de rotação, consumo do pino e geometria de pinos e furos usinados) visando juntas soldadas livres de defeitos, avaliadas através de análises macrográficas, análises micrográficas e perfis de microdureza que por sua vez foram realizados visando a melhor caracterização das regiões que compõem a junta soldada Por fim, para a avaliação da tenacidade das juntas soldadas, ensaios de impacto Charpy e tenacidade à fratura (CTOD), seguidos de análises fractográficas em lupa e MEV (microscópio eletrônico de varredura), foram realizados com base em recomendações normativas visando uma avaliação precisa da tenacidade da região de união dos materiais soldados. As juntas soldadas apresentaram valores de CTOD de aproximadamente 40% dos valores obtidos em corpos de prova extraídos do material base. O desempenho das juntas soldadas nos ensaios de tenacidade foi claramente prejudicado pela presença de inclusões, observadas ainda no material base, que acabaram por concentrar-se nas interfaces de união das soldas devido às características do processo FHPP. / In the last few years the solid state welding has been a great alternative compared to the most common processes used in industry, which usually consists in fusion of the employed materials. The present study wants to evaluate the application of Friction Hydro-Pillar Processing (FHPP). This work aims to analyze the application of FHPP in steel used to manufacturing offshore mooring components where the incidence of defects during the operation and manufacturing result in elevated operational costs. In addition the repair of these components is not recommended by technical stand arts duo to properties of materials and operational conditions of components. The analyses was carried out by the optimization of process parameters (axial force, rotational speed, rod burn off, geometry of rod and machined hole) aiming, in the first step, free defects and sufficient heat input welded joints through analyses of macrographs. A subsequently detailed analysis of micrographs and micro hardness profile was made aiming a better characterization of all welding regions. Finally, Charpy impact tests and Crack Tip Opening Displacement (CTOD) tests were carried out, to toughness evaluation of welding joints Followed by fractography in scanning electron microscopy (SEM) was made based in recommended technical standards aiming more accurate about the toughness in bonding line regions of welded joints. The welded joints presented a CTOD tests result that where about 40% of the values obtained for the base material. The specimen performance in toughness tests was clearly adversely affected by the presence of inclusions in the bonding lines. Observed in material base during the first analyses, these inclusions have been found in large quantity on bonding lines of welds because a characteristic of FHPP to concentrate it in this region.