Oil and gas exploitation in deep waters has become more than just a profit business to be a daily necessity, since the world energy matrix is based on fossil components. Risers are offshore structures that are intimately linked with oil and gas exploitation and those are subjected to a great variety of effects in field, e.g., marine currents, Vortex Induced Vibration (VIV), heave motion caused by gravitational waves, non-linear contact with the sea floor, and many others. Riser dynamics is essentially non-linear and experimental tests in real scale are almost impossible due to a great variety of control parameters acting concomitantly. Small-scale models are a better experimental approach. Nevertheless, there are many structural and hydrodynamical parameters to be evaluated. Considering only vertical risers in the present work, Galerkin\'s modal decomposition is used in order to reduce the dynamics of a vertical flexible cylinder to a few linear modes in which the majority of energy and information are contained. From the modal analysis, added mass and structural parameters damping of a vertical flexible cylinder using data obtained from free-decay tests performed both in water and in air are evaluated. Finally, a modal Mathieu-Hill oscillator with non-linear damping is constructed and, based on aStrutt diagram, modal stability under parametric resonance is discussed. / Exploração de óleo e gás em bacias de águas profundas tem-se tornado mais do que apenas uma economia lucrativa, para ser uma necessidade diária, já que a matriz energética mundial está baseada em componentes fósseis. Risers são estruturas offshore ligadas intimamente com a exploração de óleo e gás e essas estão sujeitas a uma grande variedade de efeitos na operação, e.g., correntes marítimas, Vibrações Induzidas por Vórtices (VIV), movimento de heave causado por ondas gravitacionais, contato não-linear com o solo marinho, entre outros. Dinâmica de risers é essencialmente não-linear e testes experimentais em escala real são praticamente impossíveis devido a uma enorme variedade de parâmetros de controle agindo concomitantemente. Modelos em escala reduzida são uma abordagem experimental mais conveniente. Não obstante, há muitos parâmetros estruturais e hidrodinâmicos a serem determinados. Considerando apenas risers verticais no trabalho presente, a decomposição modal de Galerkin é usada a fim de reduzir a dinâmica de um cilindro fléxivel vertical a alguns modos lineares em que a maior parte da energia e informação estão contidos. A partir da análise modal, parâmetros de massa adicional e amortecimento estrutural de um cilindro flexível vertical são obtidos usando testes de decaimento livre conduzidos na água e no ar. Finalmente, um oscilador modal de Mathieu-Hill com amortecimento não-linear é proposto e, baseado em um diagrama de Strutt, a estabilidade modal sob excitação de ressonânica paramétrica é discutida.

Este trabalho visa a determinação numérico-experimental de propriedades hidrodinâmicos em um cilindro de seção circular parcialmente submerso. A solução numérica do problema foi desenvolvida através do método dos painéis, o qual foi programado no pacote MATLAB®, sendo que o modelo do cilindro é excitado segundo os parâmetros de onda registrados a partir do ensaio de arrasto do cilindro, possibilitando a determinação da massa adicional e amortecimento hidrodinâmico. O desenvolvimento experimental foi efetivado através de ensaios em tanque de testes, com o uso de um carro de arrasto, tendo sido utilizado um sistema PIV (Particle Imagem Velocimetry) para mapear a não ocorrência da formação de vórtices na superfície submersa do cilindro. O cilindro foi fixado na base do carro, através de uma haste, na posição vertical, permanecendo parcialmente submerso nos ensaios de movimento oscilatório, com frequência e deslocamento longitudinal definidos. Nos ensaios, o conjunto de sensores no sistema detectou as variáveis de aceleração e carregamento na haste de sustentação do cilindro, deslocamento do carro e altura de onda, este último, realizado por dois wave probes simetricamente distanciados da posição inicial do cilindro. Os ensaios possibilitaram a obtenção da massa adicional e dos parâmetros necessários à solução numérica. O desenvolvimento da solução numérica hidrodinâmica via simulação em programa comercial foi realizado no pacote ANSYS® AQWATM, onde o cilindro foi modelado parcialmente submerso, sendo excitado pela frequência e velocidade de onda, os quais foram obtidos nos ensaios experimentais. Os resultados numéricos da programação e da simulação mostraram boa correspondência com os resultados experimentais. / This study involves the experimental and numerical determination of the hydrodynamic properties of a partially submerged cylinder with circular cross section. The numerical solution to the problem was developed using the panel method, which was programmed in the MATLAB® package, and the cylinder model was excited according to the wave parameters recorded during the cylinder drag test, enabling the determination of added mass and hydrodynamic damping. The experimental part of this study involved using a drag car in a test tank, with a PIV (Particle Image Velocimetry) system to map the non-occurrence of vortex formation on the submerged surface of the cylinder. The cylinder was attached vertically to the bottom of the car base by a rod, remaining partially submerged in the oscillatory motion tests, with defined frequency and longitudinal displacement. In the tests, the system’s sensor array detected the variables of acceleration and loading on the cylinder support rod, the car’s displacement and wave height, the latter measured by two wave probes placed at symmetrical distances from the cylinder’s initial position. The experimental tests made it possible to determine the added mass and the parameters required for the numerical solution. The development of the numerical solution of the hydrodynamic problem via simulation with commercial software was performed using the ANSYS® AQWATM package, in which the modeled cylinder was partially submerged and was excited by the wave frequency and velocity that were determined in the experimental tests. The numerical results of the programming and simulation showed a good correspondence with the experimental results.

Este trabalho visa a determinação numérico-experimental de propriedades hidrodinâmicos em um cilindro de seção circular parcialmente submerso. A solução numérica do problema foi desenvolvida através do método dos painéis, o qual foi programado no pacote MATLAB®, sendo que o modelo do cilindro é excitado segundo os parâmetros de onda registrados a partir do ensaio de arrasto do cilindro, possibilitando a determinação da massa adicional e amortecimento hidrodinâmico. O desenvolvimento experimental foi efetivado através de ensaios em tanque de testes, com o uso de um carro de arrasto, tendo sido utilizado um sistema PIV (Particle Imagem Velocimetry) para mapear a não ocorrência da formação de vórtices na superfície submersa do cilindro. O cilindro foi fixado na base do carro, através de uma haste, na posição vertical, permanecendo parcialmente submerso nos ensaios de movimento oscilatório, com frequência e deslocamento longitudinal definidos. Nos ensaios, o conjunto de sensores no sistema detectou as variáveis de aceleração e carregamento na haste de sustentação do cilindro, deslocamento do carro e altura de onda, este último, realizado por dois wave probes simetricamente distanciados da posição inicial do cilindro. Os ensaios possibilitaram a obtenção da massa adicional e dos parâmetros necessários à solução numérica. O desenvolvimento da solução numérica hidrodinâmica via simulação em programa comercial foi realizado no pacote ANSYS® AQWATM, onde o cilindro foi modelado parcialmente submerso, sendo excitado pela frequência e velocidade de onda, os quais foram obtidos nos ensaios experimentais. Os resultados numéricos da programação e da simulação mostraram boa correspondência com os resultados experimentais. / This study involves the experimental and numerical determination of the hydrodynamic properties of a partially submerged cylinder with circular cross section. The numerical solution to the problem was developed using the panel method, which was programmed in the MATLAB® package, and the cylinder model was excited according to the wave parameters recorded during the cylinder drag test, enabling the determination of added mass and hydrodynamic damping. The experimental part of this study involved using a drag car in a test tank, with a PIV (Particle Image Velocimetry) system to map the non-occurrence of vortex formation on the submerged surface of the cylinder. The cylinder was attached vertically to the bottom of the car base by a rod, remaining partially submerged in the oscillatory motion tests, with defined frequency and longitudinal displacement. In the tests, the system’s sensor array detected the variables of acceleration and loading on the cylinder support rod, the car’s displacement and wave height, the latter measured by two wave probes placed at symmetrical distances from the cylinder’s initial position. The experimental tests made it possible to determine the added mass and the parameters required for the numerical solution. The development of the numerical solution of the hydrodynamic problem via simulation with commercial software was performed using the ANSYS® AQWATM package, in which the modeled cylinder was partially submerged and was excited by the wave frequency and velocity that were determined in the experimental tests. The numerical results of the programming and simulation showed a good correspondence with the experimental results.

Este trabalho visa a determinação numérico-experimental de propriedades hidrodinâmicos em um cilindro de seção circular parcialmente submerso. A solução numérica do problema foi desenvolvida através do método dos painéis, o qual foi programado no pacote MATLAB®, sendo que o modelo do cilindro é excitado segundo os parâmetros de onda registrados a partir do ensaio de arrasto do cilindro, possibilitando a determinação da massa adicional e amortecimento hidrodinâmico. O desenvolvimento experimental foi efetivado através de ensaios em tanque de testes, com o uso de um carro de arrasto, tendo sido utilizado um sistema PIV (Particle Imagem Velocimetry) para mapear a não ocorrência da formação de vórtices na superfície submersa do cilindro. O cilindro foi fixado na base do carro, através de uma haste, na posição vertical, permanecendo parcialmente submerso nos ensaios de movimento oscilatório, com frequência e deslocamento longitudinal definidos. Nos ensaios, o conjunto de sensores no sistema detectou as variáveis de aceleração e carregamento na haste de sustentação do cilindro, deslocamento do carro e altura de onda, este último, realizado por dois wave probes simetricamente distanciados da posição inicial do cilindro. Os ensaios possibilitaram a obtenção da massa adicional e dos parâmetros necessários à solução numérica. O desenvolvimento da solução numérica hidrodinâmica via simulação em programa comercial foi realizado no pacote ANSYS® AQWATM, onde o cilindro foi modelado parcialmente submerso, sendo excitado pela frequência e velocidade de onda, os quais foram obtidos nos ensaios experimentais. Os resultados numéricos da programação e da simulação mostraram boa correspondência com os resultados experimentais. / This study involves the experimental and numerical determination of the hydrodynamic properties of a partially submerged cylinder with circular cross section. The numerical solution to the problem was developed using the panel method, which was programmed in the MATLAB® package, and the cylinder model was excited according to the wave parameters recorded during the cylinder drag test, enabling the determination of added mass and hydrodynamic damping. The experimental part of this study involved using a drag car in a test tank, with a PIV (Particle Image Velocimetry) system to map the non-occurrence of vortex formation on the submerged surface of the cylinder. The cylinder was attached vertically to the bottom of the car base by a rod, remaining partially submerged in the oscillatory motion tests, with defined frequency and longitudinal displacement. In the tests, the system’s sensor array detected the variables of acceleration and loading on the cylinder support rod, the car’s displacement and wave height, the latter measured by two wave probes placed at symmetrical distances from the cylinder’s initial position. The experimental tests made it possible to determine the added mass and the parameters required for the numerical solution. The development of the numerical solution of the hydrodynamic problem via simulation with commercial software was performed using the ANSYS® AQWATM package, in which the modeled cylinder was partially submerged and was excited by the wave frequency and velocity that were determined in the experimental tests. The numerical results of the programming and simulation showed a good correspondence with the experimental results.

Oil and gas exploitation in deep waters has become more than just a profit business to be a daily necessity, since the world energy matrix is based on fossil components. Risers are offshore structures that are intimately linked with oil and gas exploitation and those are subjected to a great variety of effects in field, e.g., marine currents, Vortex Induced Vibration (VIV), heave motion caused by gravitational waves, non-linear contact with the sea floor, and many others. Riser dynamics is essentially non-linear and experimental tests in real scale are almost impossible due to a great variety of control parameters acting concomitantly. Small-scale models are a better experimental approach. Nevertheless, there are many structural and hydrodynamical parameters to be evaluated. Considering only vertical risers in the present work, Galerkin\'s modal decomposition is used in order to reduce the dynamics of a vertical flexible cylinder to a few linear modes in which the majority of energy and information are contained. From the modal analysis, added mass and structural parameters damping of a vertical flexible cylinder using data obtained from free-decay tests performed both in water and in air are evaluated. Finally, a modal Mathieu-Hill oscillator with non-linear damping is constructed and, based on aStrutt diagram, modal stability under parametric resonance is discussed. / Exploração de óleo e gás em bacias de águas profundas tem-se tornado mais do que apenas uma economia lucrativa, para ser uma necessidade diária, já que a matriz energética mundial está baseada em componentes fósseis. Risers são estruturas offshore ligadas intimamente com a exploração de óleo e gás e essas estão sujeitas a uma grande variedade de efeitos na operação, e.g., correntes marítimas, Vibrações Induzidas por Vórtices (VIV), movimento de heave causado por ondas gravitacionais, contato não-linear com o solo marinho, entre outros. Dinâmica de risers é essencialmente não-linear e testes experimentais em escala real são praticamente impossíveis devido a uma enorme variedade de parâmetros de controle agindo concomitantemente. Modelos em escala reduzida são uma abordagem experimental mais conveniente. Não obstante, há muitos parâmetros estruturais e hidrodinâmicos a serem determinados. Considerando apenas risers verticais no trabalho presente, a decomposição modal de Galerkin é usada a fim de reduzir a dinâmica de um cilindro fléxivel vertical a alguns modos lineares em que a maior parte da energia e informação estão contidos. A partir da análise modal, parâmetros de massa adicional e amortecimento estrutural de um cilindro flexível vertical são obtidos usando testes de decaimento livre conduzidos na água e no ar. Finalmente, um oscilador modal de Mathieu-Hill com amortecimento não-linear é proposto e, baseado em um diagrama de Strutt, a estabilidade modal sob excitação de ressonânica paramétrica é discutida.

Master of Engineering (Research) / Soil surrounding a submarine buried pipeline consolidates as ocean waves propagate over the seabed surface. Conventional models for the analysis of soil behaviour near the pipeline assume a two-dimensional interaction problem between waves, the seabed soil, and the structure. In other words, it is often considered that water waves travel normal to the orientation of pipeline. However, the real ocean environment is three-dimensional and waves approach the structure from various directions. It is therefore the key objective of the present research to study the seabed behaviour in the vicinity of marine pipelines from a three-dimensional point of view. A three-dimensional numerical model is developed based on the Finite Element Method to analyse the so-called momentary behaviour of soil under the wave loading. In this model, the pipeline is assumed to be rigid and anchored within a rigid impervious trench. A non-slip condition is considered to exist between the pipe and the surrounding soil. Quasi-static soil consolidation equations are then solved with the aid of the proposed FE model. In this analysis, the seabed behaviour is assumed to be linear elastic with the soil strains remaining small. The influence of wave obliquity on seabed responses, i.e. the pore pressure and soil stresses, are then studied. It is revealed that three-dimensional characteristics systematically affect the distribution of soil response around the circumference of the underwater pipeline. Numerical results suggest that the effect of wave obliquity on soil responses can be explained through the following two mechanisms: (i) geometry-based three-dimensional influences, and (ii) the formation of inversion nodes. Further, a parametric study is carried out to investigate the influence of soil, wave and pipeline properties on wave-associated pore pressure as well as principal effective and shear stresses within the porous bed, with the aid of proposed three-dimensional model. There is strong evidence in the literature that the failure of marine pipelines often stems from the instability of seabed soil close to this structure, rather than from construction deficiencies. The wave-induced seabed instability is either associated with the soil shear failure or the seabed liquefaction. Therefore, the developed three-dimensional FE model is used in this thesis to further investigate the instability of seabed soil in the presence of a pipeline. The widely-accepted criterion, which links the soil liquefaction to the wave-induced excess pressure is used herein to justify the seabed liquefaction. It should be pointed out that although the present analysis is only concerned with the momentary liquefaction of seabed soil, this study forms the basis for the three-dimensional analysis of liquefaction due to the residual mechanisms. The latter can be an important subject for future investigations. At the same time, a new concept is developed in this thesis to apply the dynamic component of soil stress angle to address the phenomenon of wave-associated soil shear failure. At this point, the influence of three-dimensionality on the potentials for seabed liquefaction and shear failure around the pipeline is investigated. Numerical simulations reveal that the wave obliquity may not notably affect the risk of liquefaction near the underwater pipeline. But, it significantly influences the potential for soil shear failure. Finally, the thesis proceeds to a parametric study on effects of wave, soil and pipeline characteristics on excess pore pressure and stress angle in the vicinity of the structure.

RESUME A partir de lanalyse des incidents des FSOs de type CALM Soft Yoke de Vietsovpetro aux gisements White Tiger (Tigre Blanc) et Dragon, on saperçoit du besoin de développer des structures offshore (y compris les FPSOs) installées et opérées «en sécurité» dans les conditions spéciales des états de mer du Vietnam, où apparaissent de nombreux vents violents et de fréquents typhons tropicaux. Dans le cadre de cette thèse, une recherche générale sur les systèmes dancrage des FPSO a été réalisée en considérant divers problèmes : efforts hydrodynamiques du second ordre, réponses dynamiques aléatoires des systèmes dancrage des FPSO, analyses du dommage de fatigue aléatoire et estimation de la durée de vie des lignes dancrage. Plus spécialement, une étude plus approfondie avec un nouveau concept a été proposée pour estimer la fiabilité totale dun système de lignes d'ancrage des FSPO. La fiabilité totale a été déterminée selon les conditions de mer extrêmes (ULS), elle diminue avec le temps à cause de la prise en compte de l'accumulation du dommage en fatigue des lignes d'ancrage (FLS). Dans la dernière part de thèse, cette méthode a été appliquée aux conditions de mer sévères du Vietnam, surtout dans les états limites extrêmes, prenant en compte l'accumulation du dommage en fatigue. En application numérique, deux FSOs existants au Vietnam ont été analysés. Le contenu principal des études de la thèse a également contribué à réaliser un Projet National de Recherche du Vietnam (intitulé code KC.09.15/06-10), dont lun des membres est lauteur de cette thèse./ ABSTRACT From analyzing incidents of the CALM Yoke FSOs of Vietsovpetro in the White Tiger and Dragon fields, we can identify the need to develop offshore structures (including FPSO) installed and operated in safety in most severe Vietnamese sea states, with many and frequent strong winds and tropical typhoons. In this thesis, a general research on the FPSO mooring systems has been carried out by considering various problems: second order hydrodynamic efforts, random dynamic responses of the FPSO mooring systems, analyzing random damage of fatigue and estimating the durability of the mooring lines. In particular, a thorough study with a new concept was proposed to estimate the total reliability of FSPO mooring line systems. The total reliability was estimated for extreme sea conditions (ULS), which decreases with the time due to the accumulation of the damage by fatigue of the moorings lines (FLS). In the last part of thesis, this method was applied to the severe sea conditions of Vietnam, especially considering the ultimate limit states and taking into account the accumulation of the fatigue damage. For numerical application, two FSOs existing now in Vietnam were analyzed. The main studies in this thesis have also contributed to develop a National Research Project in Vietnam (entitled code KC.09.15/06-10), in which the author acts as a research team member.

Master of Engineering (Research) / Soil surrounding a submarine buried pipeline consolidates as ocean waves propagate over the seabed surface. Conventional models for the analysis of soil behaviour near the pipeline assume a two-dimensional interaction problem between waves, the seabed soil, and the structure. In other words, it is often considered that water waves travel normal to the orientation of pipeline. However, the real ocean environment is three-dimensional and waves approach the structure from various directions. It is therefore the key objective of the present research to study the seabed behaviour in the vicinity of marine pipelines from a three-dimensional point of view. A three-dimensional numerical model is developed based on the Finite Element Method to analyse the so-called momentary behaviour of soil under the wave loading. In this model, the pipeline is assumed to be rigid and anchored within a rigid impervious trench. A non-slip condition is considered to exist between the pipe and the surrounding soil. Quasi-static soil consolidation equations are then solved with the aid of the proposed FE model. In this analysis, the seabed behaviour is assumed to be linear elastic with the soil strains remaining small. The influence of wave obliquity on seabed responses, i.e. the pore pressure and soil stresses, are then studied. It is revealed that three-dimensional characteristics systematically affect the distribution of soil response around the circumference of the underwater pipeline. Numerical results suggest that the effect of wave obliquity on soil responses can be explained through the following two mechanisms: (i) geometry-based three-dimensional influences, and (ii) the formation of inversion nodes. Further, a parametric study is carried out to investigate the influence of soil, wave and pipeline properties on wave-associated pore pressure as well as principal effective and shear stresses within the porous bed, with the aid of proposed three-dimensional model. There is strong evidence in the literature that the failure of marine pipelines often stems from the instability of seabed soil close to this structure, rather than from construction deficiencies. The wave-induced seabed instability is either associated with the soil shear failure or the seabed liquefaction. Therefore, the developed three-dimensional FE model is used in this thesis to further investigate the instability of seabed soil in the presence of a pipeline. The widely-accepted criterion, which links the soil liquefaction to the wave-induced excess pressure is used herein to justify the seabed liquefaction. It should be pointed out that although the present analysis is only concerned with the momentary liquefaction of seabed soil, this study forms the basis for the three-dimensional analysis of liquefaction due to the residual mechanisms. The latter can be an important subject for future investigations. At the same time, a new concept is developed in this thesis to apply the dynamic component of soil stress angle to address the phenomenon of wave-associated soil shear failure. At this point, the influence of three-dimensionality on the potentials for seabed liquefaction and shear failure around the pipeline is investigated. Numerical simulations reveal that the wave obliquity may not notably affect the risk of liquefaction near the underwater pipeline. But, it significantly influences the potential for soil shear failure. Finally, the thesis proceeds to a parametric study on effects of wave, soil and pipeline characteristics on excess pore pressure and stress angle in the vicinity of the structure.