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Academic literature on the topic 'Heave motion'

Author: Grafiati

Published: 10 March 2023

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Journal articles on the topic "Heave motion"

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Lian-zhou, Wang, Guo Chun-yu, Wan Lei, and Su Yu-min. "Numerical Analysis of Propeller During Heave Motion Near a Free Surface." Marine Technology Society Journal 51, no. 1 (January 1, 2017): 40–51. http://dx.doi.org/10.4031/mtsj.51.1.5.

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AbstractThe interaction between the free surface and the propeller during heave motion near the free surface was analyzed numerically using the Reynolds-Averaged Navier-Stokes (RANS) method. The coupling effect between the rotation and heave motions of the propeller was modeled using a motion equation developed in this study; the heave motion was simplified as a periodic motion based on the sinusoidal motion law; and the transfer of numerical values for unsteady flow fields was implemented using overset grid technology. A comparative analysis of the unsteady thrust coefficient and torque coefficient under different advance coefficient conditions was conducted, and the air ingestion phenomenon of the propeller was analyzed. The research highlighted the interaction between the coupled heave and rotation motions of the propeller and the free surface. The results showed that, when the advance coefficient was low, the hydrodynamic performance of the propeller during heave motion near a free surface was strongly influenced by the free surface and that a remarkable interaction existed between the propeller and the free surface. As the advance coefficient increased, the interaction between the propeller and the free surface weakened. The air ingestion that the propeller exerts upon the free surface during heave motion is a complex coupled superposition process. This phenomenon is correlated to the motion state and working time of the propeller, as well as the distance between the propeller and the free surface.

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Tabeshpour, Mohammad Reza, and Reza Hedayatpour. "Analytical investigation of nonlinear heave-coupled response of tension leg platform." Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment 233, no. 3 (June 7, 2018): 699–713. http://dx.doi.org/10.1177/1475090218776430.

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Having deep view in structural response of tension leg platform is important issue not only for response analysis but also for engineering design. Coupling between surge and heave motions of tension leg platform is such a problem. Here, tension leg platform motions are considered only in surge and heave degrees of freedom without pitch effect. The coupled term of heave is a nonlinear differential equation. Because the focus of this article is on this term, therefore, Duffing equation of motion in the surge direction is linearized. The wave forces are calculated using Airy’s wave theory and Morison’s equation, ignoring the diffraction effects. Current force also can be very important in dynamic analysis of tension leg platform. Because it affects the term of heave that is coupled with surge. It is shown that the effect of surge motion coupling on heave motion is very important in large displacement of surge motion in many sea states. The main result is that the coupling effects appeared in some frequencies such as heave and surge frequency, twice the frequency of wave, twice the natural surge frequency, and summation and difference of frequency of wave and surge frequency.

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FITRIADHY, AHMAD, and AMIRA ADAM. "CFD ANALYSIS ON VERTICAL MOTION OF A FULL-SCALE FLOATING JETTY." Journal of Sustainability Science and Management 15, no. 6 (August 30, 2020): 100–110. http://dx.doi.org/10.46754/jssm.2020.08.009.

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A floating jetty often experiences several vertical motions i.e., heave and pitch motion responses due to harsh environmental condition. This inherently makes discomfort to everyone during berthing on a floating; and even it potentially leads to loss of life due to falling down into the sea. A preliminary analysis using Computational Fluid Dynamics (CFD) simulation is necessary to be conducted to ensure user’s safety. The CFD analysis focused on the interaction between wave motions and the floating jetty and its effects on the vertical motions. The vertical motions of floating jetty were quantified by the Response Amplitude Operators (RAO). Several effects due to variation of wavelength (λ/L) have been studied. The CFD results revealed that the lower wavelength (λ/L<2.25) resulted in the increase of the heave and pitch motion amplitudes proportionally. However, the subsequent increase of wavelength (2.25>λ/L) has given results to less heave and pitch motion amplitudes. In general, it is shown that the vertical motion characteristics of the floating jetty predominantly depend on wave properties.

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ZIKRY, SYAFIQ, and FITRIADHY. "SEAKEEPING PERFORMANCE OF A HYDROFOIL IN WAVES USING CFD APPROACH." Universiti Malaysia Terengganu Journal of Undergraduate Research 3, no. 3 (July 31, 2021): 167–76. http://dx.doi.org/10.46754/umtjur.v3i3.228.

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Hydrofoil usually experiences high resistance and excessive vertical motions (heave and pitch) that may affect the passenger’s comfort due to the harsh environmental condition. Therefore, it is necessary to investigate seakeeping performance of a hydrofoil ship in waves due to the presence of a complex hydrodynamic phenomenon. To achieve this objective, an analysis of Computational Fluid Dynamic (CFD) approach on a hydrofoil ship motion is proposed. Several parameters such as Froude Number and foil angle of attack have been taken into account. The results revealed that the subsequent increase of Froude Number was inversely proportional to the heave and pitch motions. Inherently, these have led to an upgrade of hydrofoil seakeeping performances presented in the form of high Response Amplitude Operators (RAO). Furthermore, the increasing angle of the foil bow was proportional to the heave motion while for the foil stern, 7.5o showed lower heave motion, then followed by 5o and 10o respectively. For the pitch motion, the increase of foil bow was lower at 5o then followed by 10o and 7.5o. The increase of the foil stern was proportional to the pitch motion experiences by a hydrofoil. In general, this CFD simulation is very beneficial to ensure operational effectiveness of hydrofoil design in high sea states with respect to the aforementioned design parameter.

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Sclavounos, Paul D., and Henning Borgen. "Seakeeping Analysis of a High-Speed Monohull With a Motion-Control Bow Hydrofoil." Journal of Ship Research 48, no. 02 (June 1, 2004): 77–117. http://dx.doi.org/10.5957/jsr.2004.48.2.77.

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The seakeeping performance is studied of a foil-assisted high-speed monohull vessel using a state-of-the-art three-dimensional Rankine panel method. The vessel is equipped with a bow hydrofoil acting as a passive heave and pitch motion-control device in waves. The formulation of the seakeeping of ships equipped with lifting appendages is developed, and the mechanisms responsible for the reduction of the heave and pitch motions of high- speed vessels equipped with hydrofoils are studied. The sensitivity of the heave and pitch motions on the longitudinal position of the hydrofoil is studied. It is found that the most efficient location for the hydrofoil is at the ship bow leading to a 50% reduction of the root mean square values of the heave and pitch motions in a Joint North Sea Wave Project (JONSWAP) spectrum. Several extensions of the analysis of the present paper are discussed. They include the reduction of the roll motion of high-speed vessels, the design of optimal active motion-control mechanisms, and the coupling of the hull form and lifting appendage design for high-speed monohull vessels.

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Sun, Han-Bing, Shu-Qi Yang, Yang-Fan Xu, and Jia-Feng Xiao. "Prediction of the Pitch and Heave Motions in Regular Waves of the DTMB 5415 Ship Using CFD and MMG." Journal of Marine Science and Engineering 10, no. 10 (September 22, 2022): 1358. http://dx.doi.org/10.3390/jmse10101358.

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According to the requirement of high-performance development of modern ships, it is necessary to quickly and accurately predict the maneuverability of ships under wave conditions. In this paper, based on the CFD (Computational Fluid Dynamics) method in the commercial software STAR-CCM+, the numerical simulation of roll decay motion, pure heel motion, pure heave motion, and pure pitch motion of ship model 5415 is carried out. The relevant hydrodynamic derivatives are obtained, and the results are in good agreement with the experimental values. The equations of motion related to the heave and pitch motions are established according to the MMG (Maneuvering Motion Equation Research Group) model. Then, based on the above dynamic equations, the wave force module is added to successfully simulate and predict the pitch and heave responses of the ship under regular wave conditions, and it is concluded that the simulation model for rapid predic-tion is also applicable under waves.

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Ciba, Ewelina. "Heave Motion of a Vertical Cylinder with Heave Plates." Polish Maritime Research 28, no. 1 (March 1, 2021): 42–47. http://dx.doi.org/10.2478/pomr-2021-0004.

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Abstract The shape of a vertical cylinder resembles the classic form of a spar platform. Spar platforms are floating platforms that are successfully used in waters of great depths and have several advantages that mean they are readily used in the oil industry. Many of these advantages are also relevant to their application for offshore wind turbines, which is currently being considered. In the hydrodynamic analysis of spar platforms, the determination of their hydrodynamic coefficients plays an important role. They can be determined based on the free decay test. The study presents a method for determining the hydrodynamic coefficients of an object based on the free decay test. The results of free oscillation calculations with the help of numerical fluid mechanics tools are presented and compared with the results of the experiment and analytical solution. The application of determined coefficients and their significance for floating platforms are discussed. The influence of change in the form of an additional damping element on the behaviour of spar structures is shown.

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Dao, Nguyen Van. "Nonlinear model simulation of ship motion." Vietnam Journal of Mechanics 14, no. 2 (March 31, 1992): 7–12. http://dx.doi.org/10.15625/0866-7136/10227.

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Nonlinear model simulation of coupling between heave-roll and pitch roll ship motions is considered by means of the asymptotic method of nonlinear mechanics. The purely vertical motion and vertical-angular motion and their stability are studied.

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Jiang, Yichen, Guanqing Hu, Zhi Zong, Li Zou, and Guoqing Jin. "Influence of an Integral Heave Plate on the Dynamic Response of Floating Offshore Wind Turbine Under Operational and Storm Conditions." Energies 13, no. 22 (November 22, 2020): 6122. http://dx.doi.org/10.3390/en13226122.

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The hydrodynamic performance of the floating foundation for offshore wind turbines is essential to its stability and energy harvesting. A semi-submersible platform with an integral heave plate is proposed in order to reduce the vertical motion responses. In this study, we compare the heave, pitch, and roll free decay motions of the new platform with a WindFloat-type platform based on Reynolds-Averaged Navier-Stokes simulations. The differences of the linear and quadratic damping properties between these platforms are revealed. Then, a FAST (Fatigue, Aerodynamics, Structures, and Turbulence) model with the consideration of fluid viscosity effects is set up to investigate the performance of the new platform under storm and operational conditions. The time-domain responses, motion spectra, and the mooring-tension statistics of these two platforms are evaluated. It is found that the integral heave plate can increase the viscous hydrodynamic damping, significantly decrease the heave and pitch motion responses, and increase the safety of the mooring cables, especially for the storm condition.

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Karambas, Theofanis, and Eva Loukogeorgaki. "A Boussinesq-Type Model for Nonlinear Wave-Heaving Cylinder Interaction." Energies 15, no. 2 (January 10, 2022): 469. http://dx.doi.org/10.3390/en15020469.

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In the present work, a Boussinesq-type numerical model is developed for the simulation of nonlinear wave-heaving cylinder interaction. The wave model is able to describe the propagation of fully dispersive and weakly nonlinear waves over any finite water depth. The wave-cylinder interaction is taken into account by solving simultaneously an elliptic equation that determines the pressure exerted by the fluid on the floating body. The heave motion for the partially immersed floating cylinder under the action of waves is obtained by solving numerically the body’s equation of motion in the z direction based on Newton’s law. The developed model is applied for the case of a fixed and a free-floating circular cylinder under the action of regular waves, as well as for a free-floating cylinder undergoing a forced motion in heave. Results (heave and surge exciting forces, heave motions, and wave elevation) are compared with those obtained using a frequency domain numerical model, which is based on the boundary integral equation method.

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Dissertations / Theses on the topic "Heave motion"

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Auestad, Øyvind Fidje. "Heave Control System For A Surface Effect Ship : Disturbance Damping of Wave Induced Motion at Zero Vessel Speed." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2012. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-16781.

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Šerlinskis, Gediminas. "Projektuojamo laivo hidrodinaminių savybių reguliariose bangose tyrimas." Master's thesis, Lithuanian Academic Libraries Network (LABT), 2013. http://vddb.laba.lt/obj/LT-eLABa-0001:E.02~2013~D_20130626_140102-49911.

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Darbe tiriamos galimybės vertinti laivo supimosi intensyvumą taikant klasikinės ir hidrodinaminės laivo supimosi skaičiavimo metodikas. Prognozavimo galimybių įvertinimui atliekamas laivo DTMB 5415 supimosi eksperimentas reguliariose bangose – matuojamas laivo bortinis, kilinis ir vertikalusis supimasis laivui stovint lagu bangoms ir esant išilginiam bangavimui. Pateikiama informacija apie supimosi eksperimento eigą, paruošimą, naudojamą laboratorinę įrangą ir bandymo rezultatų apdorojimą. Laivo supimosi skaičiavimai atliekami taikant hidrodinaminę skaičiojamosios skysčių dinamikos kompiuterinę programą „FLOW-3D“, klasikinę supimosi skaičiavimų metodiką ir kompiuterine programa „Seakeeper“ paremta hidrodinamine plokščiųjų skerspjūvių teorija. Gauti rezultatai palyginami su eksperimento rezultatais.
Paper analysis the most popular classical and hyrodinamical seakeeping methods for preliminary seakeeping performance prediction. Seakeeping test in regular waves has been performed for validation of seakeeping prediction methods for model DTMB 5415. Roll, pitch and heave motions have been measured for beam and head seas wave headings. The paper supplys Information about seakeeping test procees, preparation instructions for test, required laboratory equipment and seakeeping test data analysis. Computational fluid dynamics software „FLOW - 3D“ have been used for motion response prediction in regular waves, classical seakeeping theory method and strip theory based software Seakeeper. Computed results have been compared with seakeeping eksperimental data.

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Bailey, Helen Louise. "Effect of a nonlinear power take off on a wave energy converter." Thesis, University of Edinburgh, 2011. http://hdl.handle.net/1842/5741.

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This thesis is titled The influence of a nonlinear Power Take Off on a Wave Energy Converter. It looks at the effect that having a nonlinear Power Take Off (PTO) has on an inertial referenced, slack moored, point absorber, Wave Energy Converter (WEC). The generic device studied utilizes relative heave motion between an axi-symmetric cylinder and an internal mass, for the PTO to operate between. The PTO is the part of the WEC that transforms the relative motion into electricity. In this work, three different types of nonlinear PTO and a linear PTO are presented, tested, analysed and compared. The three nonlinear PTO types are: • A PTO that extracts energy in only one direction, either in relative compression or expansion. • A linear PTO and an additional endstop or peripheral PTO, that can only extract energy when the relative position of the internal mass has reached a pre-determined position. • A PTO that has damping forces that are quadratically proportional to the relative velocity. A numerical simulation has been built based upon a Runge-Kutta time series progression. The model uses the summation of the excitation force from the waves, the radiation force from the movement of the cylinder, the buoyancy force and the PTO forces. These combine to cause acceleration of the mass of the external cylinder, with an equal and opposite PTO force acting on the internal mass. The excitation force and added mass values are obtained from the boundary element method software, WAMIT. Prony’s method is used to obtain an approximate radiation force, based upon the radiation time force history. This numerical model operates on both a 1:40 scale and a full sized model. The numerical model finds the optimal PTO parameters, for different PTO setups, in irregular sea states. This optimum is based on the power extracted as well as indications of the reliability and lifetime of the system. The numerical simulation presents results showing how the nonlinearity of the PTO influences the motions of the WEC, resulting in dissimilarities between the Response Amplitude Operator (RAO) results, obtained from regular seas, and the Linear Transfer Function (LTF), found from irregular sea testing. The experimental model has been tested in the Curved Wave Tank facility at the University of Edinburgh, with a 1:40 scaled model. It used a central rod both as a support structure and to limit the movement of the cylinder and internal mass to heave. Between the cylinder and internal mass a spring and pneumatic damper operate in parallel, in various setups. It was tested in regular and irregular sea states and the position of the internal mass and cylinder was monitored. The experimental model was tested to ascertain the time series motions, RAO, LTF, the relative phase between the bodies and the power extracted for different wave climates. The numerical and experimental work were compared to allow confidence in both models. They showed relatively good agreement for the RAOs, LTFs and predictions of the relative phase but there was discrepancies in the predicted power for both regular and irregular seas. This difference is due to the difficulties in obtaining the relative velocities in the experimental model, resulting in a significant error in power prediction, since the power is proportional to the square of the relative velocities. The conclusions show that having a mono-directional PTO as opposed to a bi-directional PTO results in an approximately equal or greater power extraction in a variety of different sea states. An additional endstop or peripheral damper can increase the total power that a WEC extracts, in some situations, and may be advantageous depending upon the other potential benefits it brings to the WEC.

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Zhen, Yi. "Numerical Simulation of Dropped Cylindrical Objects into Water in Two Dimensions (2D)." ScholarWorks@UNO, 2018. https://scholarworks.uno.edu/td/2568.

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The dropped objects are identified as one of the top ten causes of fatalities and serious injuries in the oil and gas industry. It is of importance to understand dynamics of dropped objects under water in order to accurately predict the motion of dropped objects and protect the underwater structures and facilities from being damaged. In this thesis, we study nondimensionalization of dynamic equations of dropped cylindrical objects. Nondimensionalization helps to reduce the number of free parameters, identify the relative size of effects of parameters, and gain a deeper insight of the essential nature of dynamics of dropped cylindrical objects under water. The resulting simulations of dimensionless trajectory confirms that drop angle, trailing edge and drag coefficient have the significant effects on dynamics of trajectories and landing location of dropped cylindrical objects under water.

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Dias, Thiago. "Análise da instabilidade paramétrica de risers retos via modelo de ordem reduzida baseado em modo não linear com função do tipo Bessel." Universidade de São Paulo, 2015. http://www.teses.usp.br/teses/disponiveis/3/3144/tde-21072016-110358/.

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Recentes descobertas de campos de petróleo e gás, a centenas de quilômetros da costa Sudeste do Brasil, em lâmina d\'água acima de 2.000m, demandam avanços científicos e tecnológicos para sua exploração segura. Entre os desafios para os engenheiros, a análise dinâmica de risers offshore é de extrema relevância devido à propensão à fadiga do material estrutural. Os movimentos de unidades flutuantes, que ocorrem devido às ondas de gravidade, impõem um tipo particular de carregamento dinâmico para os risers. Por uma questão de simplicidade, apenas o movimento de heave é considerado, embora pitch and roll também possam desempenhar um papel relevante na análise. De fato, o efeito de heave provoca a modulação de tensãoamplitude ao longo da estrutura tubular e flexível, o que pode conduzir à ressonância paramétrica como consequência da conhecida instabilidade de Mathieu. O riser vertical será o foco desse trabalho. A teoria bidimensional de vigas de Bernoulli-Euler é utilizada para se obter uma equação diferencial não linear de movimento para o riser submetido a uma carga axial e peso submerso. Modelos matemáticos - conhecidos como modelos de ordem reduzida (MORs) - com poucos graus de liberdade são adotados, mas com capacidade adequada para representar a resposta estrutural tanto qualitativa como quantitativamente. Utilizando os modos não lineares como funções de projeção no procedimento de Galerkin não linear, a interpretação física vem da igualdade dos trabalhos virtuais tanto no modelo de alta hierarquia quanto do MOR, com a consequente introdução de vínculos rígidos nos modos excluídos da análise. Aqui, a relação não linear entre as amplitudes modais e modos de vibração/frequências são levados em conta. Os resultados obtidos estão de acordo com os resultados dos testes experimentais de um modelo em escala reduzida realizado sob coordenação do LIFE&MO (Laboratório de Interação Fluido-Estrutura e Mecânica Offshore), fornecendo uma calibração do coeficiente de arrasto equivalente, para se levar em conta o sistema dissipativo que inclui tanto o amortecimento hidrodinâmico e estrutural. As respostas também são comparadas com as obtidas através do estudo de um modelo de elementos finitos, elaborado com o auxílio de um software comercial, o OrcaFlex®, e com funções clássicas de projecção, em particular, a função trigonométrica. Em seguida, variando-se os parâmetros de controle, as respostas do estado estacionário pós-crítica são mapeadas e plotadas em um diagrama policromático.
Recent discoveries of oil and gas fields, hundreds of kilometers off the Southeast coast of Brazil, in water depths above 2,000m, demand scientific and technological advances to support their safe exploitation. Among the challenges posed to engineers, the dynamic analysis of offshore risers is of utmost relevance, due to fatigue of the structural material. The motions of floating units, which occur due to gravity waves, impose a particular type of dynamic loading to the risers. As a matter of simplicity, only heave is considered herewith, although pitch and roll can also play a relevant role in the analysis. In fact, the effect of heave causes tension-amplitude modulation to the long and flexible tubular structure, which may drive parametric resonance as a consequence of the well-known Mathieus instability. The vertical riser will be the focus of this work. Bernoulli-Euler two-dimensional beam theory is used to obtain a nonlinear differential equation of motion for the riser subjected to an axial thrust and submerged weight. Mathematical models known as reduced-order models (ROMs) with few degrees of freedom are used, but with adequate capacity to represent the structural response both qualitatively and quantitatively. Using non-linear modes as projection functions within the non-linear Galerkins procedure, the physical interpretation of which being the identification of virtual works in both the high-hierarchy model and the ROM, with consequent introduction of rigid constraints in the modes excluded from the analysis. Here the non-linear relationship between modal amplitudes and mode shapes/frequencies are taken into account. The results obtained here agree well with those of experimental tests with a small-scale model carried out under coordination LIFE&MO (Laboratory of Fluid-Structure Interaction & Offshore Mechanics), provided calibration of the equivalent drag coefficient is carried out, to account for the overall system dissipation including both hydrodynamic and structural damping. The responses are also compared with those given by finite element models studied with the help of commercial software, the OrcaFlex® and with classical projection functions, in particular the trigonometric function. Then varying the control parameters, the responses of post-critical steady state are mapped and plotted in diagram polychromatic.

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Oliveira, Rui. "Motion Planning for Heavy-Duty Vehicles." Licentiate thesis, KTH, Reglerteknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-252537.

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Autonomous driving is a disrupting technology that is expected to reshape transportation systems. The benefits of autonomous vehicles include, but are not limited to, safer transportation, increased economic growth, and broader access to mobility services. Industry and academia are currently researching a variety of topics related to autonomous driving, however, the focus seems to be on passenger vehicles. As a consequence, heavy-duty vehicles, which are a significant share of transportation systems, are overlooked, and the challenges associated with these vehicles are neglected. This thesis studies motion planning algorithms for heavy-duty vehicles. Motion planning is a fundamental part of autonomous vehicles, it is tasked with finding the correct sequence of actions that take the vehicle towards its goal. This work focuses on particular aspects that distinguish heavy-duty vehicles from passenger vehicles, and that call for novel developments within motion planning algorithms. We start by addressing the problem of finding shortest paths for a vehicle in obstacle-free environments. This problem has been studied since the fifties, but the addressed vehicle models are often simplistic. We propose a novel algorithm that is able to plan paths respecting complex vehicle actuator constraints associated with the slow dynamics of heavy vehicles. Using the previous method, we tackle the motion planning problem in environments populated with obstacles. Lattice-based motion planners, a popular choice for this type of scenario, come with drawbacks related to the sub-optimality of solution paths, and the discretization of the goal state. We propose a novel path optimization method, which is able to significantly reduce both problems. The resulting optimized paths contain less oscillatory behavior and arrive precisely at arbitrary non-discretized goal states. We then study the problem of bus driving in urban environments. It is shown how this type of driving is fundamentally different than that of other vehicles, due to the chassis configuration with large overhangs. To successfully maneuver buses, distinct driving objectives need to be used in planning algorithms. Moreover, a novel environment classification scheme must be introduced. The result is a motion planning algorithm that is able to mimic professional bus driver behavior, resulting in safer driving and increased vehicle maneuverability.

QC 20190603

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Ushijima, Tatsuo. "The motion of heavy particles in turbulent flows." Thesis, University of Cambridge, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.625078.

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Oliveira, Rui. "Planning and Motion Control in Autonomous Heavy-Duty Vehicles." Thesis, KTH, Reglerteknik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-151022.

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Autonomous driving has been an important topic of research in recent years. In this thesis we study its application to Heavy Duty Vehicles, more specically, vehicles consisting of a truck and a trailer. An overview study is done on three fundamental steps of an autonomous driving system, planning, trajectory tracking and obstacle avoidance. In the planning part, we use RRT, and two other variants of the algorithm to nd trajectories in an unstructured environment, e.g., a mining site. A novel path optimization post-processing technique well suited for use with RRT solutions was also developed. For the trajectory tracking task several well-known controllers were tested, and their performance compared. An extension is proposed to one of the controllers in order to take into account the trailer. The performance evaluation was done on scaled truck systems in the Smart Mobility Lab at KTH. The obstacle avoidance is done with the aid of a simple, yet functional Model Predictive Controller. For this purpose, we developed dierent formulations of the optimization problem, corresponding to distinct optimization goals and vehicle models, in order to assess both the quality of the MPC, and of the assumed truck model. The outcome of this thesis is a fully autonomous system, able to plan and move in constrained environments, while avoiding unpredicted obstacles. It was implemented using a 1:32 scale remote controlled truck, commanded by a desktop computer.

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Kwon, Hyun Jung. "Simulating ingress and egress motion for heavy earthmoving machines." Diss., University of Iowa, 2011. https://ir.uiowa.edu/etd/2734.

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Design of heavy earthmoving equipment is based primarily on feedback from drivers. Most design studies on ingress and egress focus on the motion itself and rely heavily on experimental data. This process requires physical construction of expensive (in terms of time and money) mockups before any feedback can be obtained. Post-feedback design changes and the analysis of those changes are again expensive processes. Although the design of heavy vehicles requires consideration of human safety and comfort, very little attention has been given to simulating ingress and egress movement for these vehicles. This thesis describes the development of a virtual model to perform ingress and egress motions for heavy equipment and its applications to study the responses of operators with different anthropometries to different cab designs. Different performance measures are suggested and used with predictive dynamics to study human performance since human motion is not governed by a single performance measure. Optimizing multiple performance measures allows the full range of motion for all 55 degrees of freedom to be considered for simulating the task. Once the relevant performance measure was established, case studies were performed on seven different cab designs and digital human models with three different anthropometries. Finally, several different cab design metrics for propensity of injury, comfort, and accessibility were proposed. These design metrics were evaluated for each of the case studies. Finally, each cab design was ranked based on the design metrics to identify the best design for a range of anthropometries. These results help designers make decisions and plan further design changes.

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Evestedt, Niclas. "Sampling Based Motion Planning for Heavy Duty Autonomous Vehicles." Licentiate thesis, Linköpings universitet, Reglerteknik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-132769.

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The automotive industry is undergoing a revolution where the more traditional mechanical values are replaced by an ever increasing number of Advanced Driver Assistance Systems (ADAS) where advanced algorithms and software development are taking a bigger role. Increased safety, reduced emissions and the possibility of completely new business models are driving the development and most automotive companies have started projects that aim towards fully autonomous vehicles. For industrial applications that provide a closed environment, such as mining facilities, harbors, agriculture and airports, full implementation of the technology is already available with increased productivity, reliability and reduced wear on equipment as a result. However, it also gives the opportunity to create a safer working environment when human drivers can be removed from dangerous working conditions. Regardless of the application an important part of any mobile autonomous system is the motion planning layer. In this thesis sampling-based motion planning algorithms are used to solve several non-holonomic and kinodynamic planning problems for car-like robotic vehicles in different application areas that all present different challenges. First we present an extension to the probabilistic sampling-based Closed-Loop Rapidly exploring Random Tree (CL-RRT) framework that significantly increases the probability of drawing a valid sample for platforms with second order differential constraints. When a tree extension is found infeasible a new acceleration profile that tries to brings the vehicle to a full stop before the collision occurs is calculated. A resimulation of the tree extension with the new acceleration profile is then performed. The framework is tested on a heavy-duty Scania G480 mining truck in a simple constructed scenario. Furthermore, we present two different driver assistance systems for the complicated task of reversing with a truck with a dolly-steered trailer. The first is a manual system where the user can easily construct a kinematically feasible path through a graphical user interface. The second is a fully automatic planner, based on the CL-RRT algorithm where only a start and goal position need to be provided. For both approaches, the internal angles of the trailer configuration are stabilized using a Linear Quadratic (LQ) controller and path following is achieved through a pure-pursuit control law. The systems are demonstrated on a small-scale test vehicle with good results. Finally, we look at the planning problem for an autonomous vehicle in an urban setting with dense traffic for two different time-critical maneuvers, namely, intersection merging and highway merging. In these situations, a social interplay between drivers is often necessary in order to perform a safe merge. To model this interaction a prediction engine is developed and used to predict the future evolution of the complete traffic scene given our own intended trajectory. Real-time capabilities are demonstrated through a series of simulations with varying traffic densities. It is shown, in simulation, that the proposed method is capable of safe merging in much denser traffic compared to a base-line method where a constant velocity model is used for predictions.

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Books on the topic "Heave motion"

1

Heave ho: My little green book of seasickness. Camden, Me: International Marine, 1992.

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Heave ho: My little green book of seasickness. Shrewsbury: Waterline Books, 1993.

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Downing, George C. Evaluation of vertical motion sensors for potential application to heave correction in Corps hydrographic surveys. Vicksburg, Miss: US Army Corps of Engineers, Hydraulics Laboratory, 1987.

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Telste, John G. Calculation of two-dimensional nonlinear fluid flow resulting from large-amplitude forced heave motion of a u-shaped cylinder in a free surface. Bethesda, Md: David W. Taylor Naval Ship Research and Devlopment Center, 1985.

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James, Mangold, ed. Copland: & Heavy. London: Faber, 1997.

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Institute, British Film, ed. Far from heaven. Houndmills, Basingstoke, Hampshire, UK: Palgrave Macmillan on behalf of the British Film Institute, 2011.

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The making of Oliver Stone's heaven and earth. London: Orion, 1993.

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Nooijer, Menno de. artist, editor, Nooijer, Françoise de, artist, editor, Delpeut, Peter, author of introduction, Hutchison Michele translator, and Barends & Pijnappel (Firm), eds. Is heaven blue? Amsterdam: Voetnoot, 2022.

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Johnson, Ben Patrick. Third & heaven. Los Angeles, CA: Alyson Books, 2005.

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Far from heaven. Edinburgh: Edinburgh University Press, 2011.

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Book chapters on the topic "Heave motion"

1

Albers, Peter. "Heave compensation." In Motion Control in Offshore and Dredging, 204–35. Dordrecht: Springer Netherlands, 2010. http://dx.doi.org/10.1007/978-90-481-8803-1_9.

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Katalinić, M., P. Matić, N. Assani, and J. Parunov. "Encounter spectra computation of heave motion based on full-scale measurements using ANN." In Advances in the Analysis and Design of Marine Structures, 85–93. London: CRC Press, 2023. http://dx.doi.org/10.1201/9781003399759-10.

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Bohigas, Oriol, Marie-Joya Giannoni, and Charles Schmit. "Spectral Fluctuations and Chaotic Motion." In Heavy Ion Collisions, 145–63. Boston, MA: Springer US, 1986. http://dx.doi.org/10.1007/978-1-4684-5015-6_6.

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Dolcemascolo, V., and Leif Sjögren. "Bridge weigh in motion." In International Conference on Heavy Vehicles HVParis 2008, 323–31. Hoboken, NJ, USA: John Wiley & Sons, Inc, 2013. http://dx.doi.org/10.1002/9781118623305.ch25.

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Žnidaric, Aleš. "Bridge Weigh-in-Motion." In International Conference on Heavy Vehicles HVParis 2008, 269. Hoboken, NJ, USA: John Wiley & Sons, Inc, 2013. http://dx.doi.org/10.1002/9781118623305.part4.

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Gajda, Janusz, Ryszard Sroka, Marek Stencel, and Tadeusz Zeglen. "Multi-sensor weigh-in-motion system." In International Conference on Heavy Vehicles HVParis 2008, 199–208. Hoboken, NJ, USA: John Wiley & Sons, Inc, 2013. http://dx.doi.org/10.1002/9781118623305.ch15.

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Jacob, Bernard, and Hans van Loo. "Weigh-in-motion for enforcement in Europe." In International Conference on Heavy Vehicles HVParis 2008, 25–38. Hoboken, NJ, USA: John Wiley & Sons, Inc, 2013. http://dx.doi.org/10.1002/9781118623305.ch1.

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Kwon, HyunJung, Mahdiar Hariri, Rajan Bhatt, Jasbir Arora, and Karim Abdel-Malek. "Simulating Ingress Motion for Heavy Earthmoving Equipment." In Digital Human Modeling, 109–18. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-21799-9_12.

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Barbara, P. F. "Tunneling Mediated by Heavy Large Amplitude Motion." In The Jerusalem Symposia on Quantum Chemistry and Biochemistry, 139–48. Dordrecht: Springer Netherlands, 1986. http://dx.doi.org/10.1007/978-94-009-4752-8_11.

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Boccaletti, Dino. "The Motion of Heavy Bodies and the Trajectory of Projectiles." In Galileo and the Equations of Motion, 117–62. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-20134-4_5.

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Conference papers on the topic "Heave motion"

1

Le Cunff, Ce´dric, Me´lanie Bonnissel, Julien Szydlowski, and Gilbert Damy. "Modeling of Heave Induced Lateral Motion." In ASME 2009 28th International Conference on Ocean, Offshore and Arctic Engineering. ASMEDC, 2009. http://dx.doi.org/10.1115/omae2009-79652.

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A simplified model is proposed to predict Heave Induced Lateral Motion (HILM) for Steel Catenary Risers (SCR), based on experimental measurements carried out at IFREMER Brest. Two campaigns were conducted to obtain data on the displacement of a SCR in the Touch-Down Zone (TDZ) induced by top motion. The first campaign was used to understand the response of the structure and develop the model. A second campaign was launched to obtain a wider range of data in terms of heave amplitude and frequency. This data were used to define the model parameters. The influence of heave lateral motion on riser damage was then assessed.

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Hadd, M. R. "Pitch and Heave and Heave Motion Identification Using Neural Network Techniques." In SNAME 24th American Towing Tank Conference. SNAME, 1995. http://dx.doi.org/10.5957/attc-1995-036.

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This paper outlines a procedure that can be used to identify the parameters in the coupled heave-pitch equations using the measured heave and pitch responses of a ship in a random sea. Equations for the mean values of heave and pitch motions are obtained using the concept of random decrement. In this paper we show how measured records of heave and pitch motions in random seas can be used to identify the parameters in the mean values equations of these motions. The technique described in the paper uses neural networks to identify these parameters. Preliminary results show that this approach is promising. Studies for the refinement and validation of the approach are currently underway at Memorial University.

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Xianliang, Ning, Zhao Jiawen, and Xu Jianan. "The heave motion estimation for active heave compensation system in offshore crane." In 2016 IEEE International Conference on Mechatronics and Automation. IEEE, 2016. http://dx.doi.org/10.1109/icma.2016.7558755.

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Liu, Liqin, Ying Guo, Weichen Jin, and Rui Yuan. "Motion Performances of a 5 MW VAWT Supported by Spar Floating Foundation With Heave Plates." In ASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/omae2017-62625.

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The VAWT (vertical axis wind turbine) has advantages in the development of large-scale offshore wind power. This paper presents a motion study of a 5 MW floating VAWT composed of the Φ type Darrieus wind turbine and a truss spar floating foundation with heave plates. The surge, heave and pitch motion equations considering the effects of retardation function of the floating VAWT were established and solved numerically. Several load cases were carried out to analyze the motion performances of the floating VAWT. The results show that the wind forces have minimal influence on the heave motions of the floating VAWT, while they obviously increase its surge and pitch mean displacements. For LC3, the surge, heave and pitch frequencies of the floating VAWT are dominated by the wave frequencies, and the 2P (twice-per-revolution) response of pitch motions is not significant. For LC4, the 2P response of pitch motions of the floating VAWT are more significant than LC4.

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Guo, Peng, Jun Li, Tianxiong Chen, and Zhenxing Wu. "Heave Motion Estimation Based on Cubature Kalman Filter." In 2021 International Conference on Cyber-Physical Social Intelligence (ICCSI). IEEE, 2021. http://dx.doi.org/10.1109/iccsi53130.2021.9736261.

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Xu, Qi. "A New Semisubmersible Design for Improved Heave Motion, Vortex-Induced Motion and Quayside Stability." In ASME 2011 30th International Conference on Ocean, Offshore and Arctic Engineering. ASMEDC, 2011. http://dx.doi.org/10.1115/omae2011-49118.

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Recently the semisubmersible has become a favorable choice as a wet-tree floating platform supporting steel catenary risers (SCRs), mainly due to its capability of quayside topside integration and cost-effectiveness. However, it is still a challenge for a conventional semisubmersible to support SCRs, particularly large ones, in harsh environment and relatively shallow water due to its large heave motion. To answer this challenge, a new semisubmersible design has been developed at Technip as a wet-tree floater which achieves significantly improved heave motion and vortex-induced-motion (VIM) performance through hull form optimization while maintaining the simplicity of a conventional semisubmersible design. The difference between the NexGen semi-submersible design and a conventional semi-submersible design is in the blisters attached to the columns, distribution of pontoon volume, and pontoon cross section shape. In the NexGen semi-submersible design, the pontoon volume is re-distributed to minimize heave loading while maintaining sufficient structural rigidity, a long heave natural period and adequate quayside buoyancy. The blisters attached to the columns effectively break the vortex shedding coherence along the column length and therefore suppresses VIM. The blisters also provide much needed stability at quayside and during the hull deployment process, making the hull design less sensitive to topside weight increase. In the present paper the hydrodynamic aspects of this new design are discussed in detail. A benchmark case is presented in which the new design is compared against a more conventional design with the same principal dimensions. It is shown that the heave response in extreme sea states (100-yr hurricane) at the platform center of gravity is reduced by about 30–40%, and at the SCR hang-off locations by about 25–30%. Due to the reduced heave motion, SCRs experience about one third less stress at the touchdown point. A qualitative VIM analytical model is used to predict the VIM suppression effect of the new design. A highlight of a VIM model test for the proposed design is also presented. The reduced heave and VIM significantly improve the riser stress and fatigue near the touchdown point. This new design makes the semisubmersible a more robust wet-tree floater concept, and even a potentially good candidate as a dry-tree host concept in relatively benign environment.

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Yan, Hongmei, Yuming Liu, and Yile Li. "Unstable Motion of a Floating Structure in Surface Waves." In ASME 2011 30th International Conference on Ocean, Offshore and Arctic Engineering. ASMEDC, 2011. http://dx.doi.org/10.1115/omae2011-49621.

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Unstable resonant heave and pitch motions of a floating deep draft platform, under the action of a regular wave with the frequency equal to the sum of the heave and pitch natural frequencies, can be developed by nonlinear instability (Liu, Yan & Yung 2010). The instability is associated with difference-frequency interactions between the body motion and the ambient wave. In this work, we study the effect of the nonlinear instability upon floating platforms with relatively shallow drafts whose wave damping at heave/pitch natural frequencies may not be small. Direct time-domain numerical simulations of wave-structure interactions, which can take into account different levels of nonlinearity effects, are applied to understand the characteristics of the unstable coupled heave/pitch (or heave/roll) resonant motion and its dependence on the key physical factors. In particular, it is found that such a nonlinear instability at other wave conditions involving sum-frequency interactions between the body motion and the ambient wave can also occur. For practical applications, long-time nonlinear simulations with irregular waves are also performed. The results show that depending on the sea conditions and damping in the system, the unstable resonant motion associated with the nonlinear instability can be significant for platforms with shallow drafts.

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Guo, Lixiang, Peng Wei, Zhiguo Zhang, Yue Sun, and Jiawei Yu. "Numerical Simulation of Surface Ship Motion in Regular Head Waves." In ASME 2018 37th International Conference on Ocean, Offshore and Arctic Engineering. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/omae2018-77327.

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The motion of surface ship in wave environments is fully three-dimensional unsteady motion and includes complex coupling with hydrodynamic force and dynamic motion of the rigid body. This paper presents simulations of the KCS model with motions involve pitch and heave in regular head waves. Computations were performed with an in-house viscous CFD code to solve RANS equation coupled with six degrees of freedom (6DOF) solid body motion equations and dynamic overset grids designed for ship hydrodynamics. RANS equations are solved by finite difference method and PISO arithmetic. Level-set method is used to simulate the free surface flow. The simulation geometry includes KCS hull and rudder under three conditions with three wave length and wave height combinations and two velocities (Fr = 0.26 and 0.33). Total resistance coefficient CT, heave motion z and pitch angle θ have been compared between CFD and EFD. Comparisons show that pitch and heave are much better predicted than the resistance. In the first section, simulations considered only 2 degrees of freedom (heave and pitch), for the second section, numerical simulation added the rolling motion to study the KCS in regular head waves. The second simulation cases were carried out with the same velocity and wave length and amplitude combination as the first cases. Comparisons of heave and pitch motion between 2DOF simulations and 3DOF simulations were presented in this paper. Results show the difference of heave motion z and pitch angle θ between the 2DOF and 3DOF-simulasions. In both cases the free surface were studied as an example of the flow generated by the ship pitching and heaving.

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Yu, Huan, Jinhui Fang, Jianhua Wei, Shizhen Li, and Hangjun Zhang. "Prediction, Control and Energy Analyses of Hydraulic Transformer Based Heave Compensator." In ASME/BATH 2021 Symposium on Fluid Power and Motion Control. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/fpmc2021-69399.

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Abstract Heave compensators are widely used in offshore equipments to decouple the load motion from the wave induced ship motion. Hydraulic transformer based heave compensator (HTHC) can better compensate the ship’s heave in comparison with passive heave compensators (PHC) under changing sea conditions, meanwhile the accumulators’ volume is decreased significantly. Here in this paper, some further discussions about HTHC are given on the aspects of prediction, controller design and energy saving through simulation. Results turn out that heave prediction based on sliding mode observer is better than the Luenberger observer based one; chattering can be reduced through back-stepping method. The controller is robust when the load is perturbed by uncertain forces, and energy consumption of HTHC is about 56% of the one in an equal-sized hybrid active heave compensator (HAHC) meanwhile its total installed power can be reduced by 70%.

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Tan, Jaime Hui Choo, Yih Jeng Teng, and Fathieah Kiprawi. "Vortex Induced Motion of a Dry Tree Semisubmersible." In ASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/omae2017-61653.

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The main challenge in the hydrodynamic design of a dry tree semisubmersible is in limiting its motion responses particularly heave motions to enable the use of riser tensioners. Deep draft semisubmersibles have low heave motions but are more susceptible to vortex induced motions (VIM) due to high slenderness ratios of the columns. A novel in-house developed semisubmersible design named the Heave and VIM Suppressed (HVS) semisubmersible has been designed to possess low VIM and low heave responses required for dry tree applications. A case study of the feasibility of a dry tree HVS semisubmersible in South East Asian environment has been published separately [1]. This paper presents the VIM performance of the same hull, estimated using model testing and Computational Fluid Dynamics (CFD) analysis. From the model tests, VIM suppression is observed in the HVS semisubmersible due to the presence of the column steps. CFD simulations of the model tests show results comparable to the measured data for the HVS semisubmersible. Additional CFD analysis is performed to account for the external damping effect of the mooring lines and risers on the VIM performance of the HVS semisubmersible. This paper together with the earlier publication [1] shows the robustness of the HVS semisubmersible design concept in addressing both the heave and VIM issues in semisubmersibles for dry tree applications.

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Reports on the topic "Heave motion"

1

Соловйов, В. М., В. В. Соловйова, and Д. М. Чабаненко. Динаміка параметрів α-стійкого процесу Леві для розподілів прибутковостей фінансових часових рядів. ФО-П Ткачук О. В., 2014. http://dx.doi.org/10.31812/0564/1336.

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Modem market economy of any country cannot successfully behave without the existence of the effective financial market. In the conditions of growing financial market, it is necessary to use modern risk-management methods, which take non-gaussian distributions into consideration. It is known, that financial and economic time series return’s distributions demonstrate so-called «heavy tails», which interrupts the modeling o f these processes with classical statistical methods. One o f the models, that is able to describe processes with «heavy tails», are the а -stable Levi processes. They can slightly simulate the dynamics of the asset prices, because it consists o f two components: the Brownian motion component and jump component. In the current work the usage of model parameters estimation procedure is proposed, which is based on the characteristic functions and is applied for the moving window for the purpose of financial-economic system’ s state monitoring.

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Alwakiel, Heba. Leveraging Weigh-In-Motion (WIM) Data to Estimate Link-Based Heavy-Duty Vehicle Emissions. Portland State University Library, January 2000. http://dx.doi.org/10.15760/etd.247.

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Laos, Hector. Closed-Form Solutions for the Equations of Motion of the Heavy Symmetrical Top with One Point Fixed. Office of Scientific and Technical Information (OSTI), April 2020. http://dx.doi.org/10.2172/1649228.

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Heintschel, Cliff Lynn. Technical Area 60-0001 Heavy Equipment (motor pool) Shop Areas. Office of Scientific and Technical Information (OSTI), February 2016. http://dx.doi.org/10.2172/1237249.

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Heintschel, Cliff Lynn, and Holly Lynn Wheeler. Technical Area 60-0001 Heavy Equipment (Motor Pool) Shop Areas. Office of Scientific and Technical Information (OSTI), March 2016. http://dx.doi.org/10.2172/1241640.

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Stanley J. Opella. Structural Biology of The sequestration & Transport of Heavy Metal Toxins: NMR Structure Determination of Proteins Containing the CYS-X-Y-Metal Binding Motif. Office of Scientific and Technical Information (OSTI), March 2004. http://dx.doi.org/10.2172/822065.

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Opella, S. J. Structural biology of the sequestration and transport of heavy metal toxins: NMR structure determination of proteins containing the -Cys-X-Y-Cys-metal binding motifs. 1997 annual progress report. Office of Scientific and Technical Information (OSTI), January 1997. http://dx.doi.org/10.2172/13583.

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Opella, S. J. Structural biology of the sequestration and transport of heavy metal toxins: NMR structure determination of roteins containing the -Cys-X-Y-Cys-metal binding motifs. 1998 annual progress report. Office of Scientific and Technical Information (OSTI), June 1998. http://dx.doi.org/10.2172/13584.

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