TIME DOMAIN SIMULATIONS OF A COUPLED PARAMETRICALLY EXCITED ROLL RESPONSE IN REGULAR AND IRREGULAR HEAD SEAS

Save this PDF as:
 WORD  PNG  TXT  JPG

Size: px
Start display at page:

Download "TIME DOMAIN SIMULATIONS OF A COUPLED PARAMETRICALLY EXCITED ROLL RESPONSE IN REGULAR AND IRREGULAR HEAD SEAS"

Transcription

1 8 th Iteratioal Coferece o 349 TIME DOMAIN SIMULATIONS OF A COUPLED PARAMETRICALLY EXCITED ROLL RESPONSE IN REGULAR AND IRREGULAR HEAD SEAS S. Ribeiro e Silva, T. Satos ad C. Guedes Soares Uit of Marie Techology ad Egieerig, Techical Uiversity of Lisbo Istituto Superior Técico, Av. Rovisco Pais, Lisboa, (Portugal) Abstract I this study dyamic stability problems i head seas are ivestigated with the use of a timedomai, o-liear umerical model of ship's motios i 5 degrees-of-freedom (sway, heave, roll, pitch, ad yaw). The results preseted i this paper have show that the ship ca be subjected to the wave-iduced parametric resoace i regular ad also i irregular waves. A quasi-static approach is adopted to determie the o-liear restorig coefficiets i heave, roll, ad pitch motios i waves, i which calculatios are made usig a pressure itegratio techique over the istataeous submerged hull. Dyamic ad hydrodyamic effects i waves for a give ecouter frequecy are icluded i the 5 degrees-of-freedom resposes calculatios, which are based o the potetial flow strip theory. Comparisos betwee computed values ad applicable experimetal results demostrated the usefuless of the techique proposed. 1. INTRODUCTION Sice the early fifties [1], parametric resoace has bee already bee studied ad discussed by several ivestigators ad safety authorities. It has bee foud that a ship headig ito a twodimesioal logitudial wave system will experiece periodic variatios i her trasverse stability, which uder certai coditios will result i proouced rollig. This pheomeom has bee cosidered mostly of theoretical iterest ad less worthy of practical cocer. However, recet evidece of parametric rollig i head seas o a post-paamax C11 class cotaier ship [] received wide ad reewed attetio, demostratig the practical importace of this pheomeo. A moohull ecouterig waves with legth early equal to the ship legth will have sigificat variatios o waterplae area relatively to still water coditio. The rightig arm decreases if a wave crest is amidships ad icreases whe a trough is ear amidships. I this dyamic situatio, the ship motio should be described by coupled roll, pitch ad heave, ad hece the restorig forces ad momets should iclude effects relevat to these motios. I referece [3], it was demostrated that both liearised ad o-liear theories could be used to predict parametric rollig i regular head waves. O the liear model (i the form of Mathieu s equatio) stability variatios were evaluated from the liearised rightig arm curves with the wave crest varyig logitudially alog the ship hull. However, this model was ot accurate eough to predict ship's roll respose magitude uder wave-

2 35 8 th Iteratioal Coferece o iduced parametric resoace coditios, sice deck submergece effect o restorig characteristics of the vessel could ot be icluded ad therefore the limit cycle behaviour could ot be obtaied. A o-liear umerical model of parametric resoace takig ito cosideratio deck submergece ad other o-liearities o restorig momet of ships i regular waves was also proposed [3]. I that model a quasistatic approach was adopted to study the roll motio, where oly the variatios o trasverse stability i regular waves were cosidered. For that purpose, a ucoupled roll equatio, which icluded the effects of heave ad pitch resposes i regular waves, ad immersed hull variatios due to wave passage o roll restorig term, was used to describe the parametrically excited roll motios. While good agreemet i terms of limited respose behaviour was foud betwee the time domai simulatio of roll motio i logitudial regular waves ad the existig experimetal data, simulatios of parametric rollig i irregular head waves as preseted i literature by some authors [, 4, 5] could ot be performed usig that 1 degree-of-freedom (dof) model.. EQUATIONS OF MOTION I this work urestraied rigid body motios of a sleder vessel with advacig speed are cosidered. The dyamics of oscillatory ship motios is govered by Newto s secod law, which represet the equilibrium betwee the iteral forces due to iertia, gravity, ad the exteral forces actig o the ship, give by: [ M ]{ } = [ F ] & (1) These forces [ F ] ad motios { } may be represeted o a coordiate system (see Fig. 1) fixed with respect to the mea positio of the ship, X = ( x, y, z), with z i the vertical upward directio ad passig through the cetre of gravity of the ship, x alog the logitudial directio of the ship ad directed to the bow, ad y perpedicular to the latter ad i the port directio. The origi is i the plae of the udisturbed free surface. The traslatory displacemets i the x, y, ad z directios are respectively the surge 1, the sway, ad the heave 3. The rotatioal displacemets about the x, y, ad z axes are respectively the roll 4, the pitch 5, ad the yaw 6. To overcome these shortcomigs a o-liear model, coupled i the 5 dof s has bee developed to simulate the time domai resposes of a ship i ui-directioal logcrested irregular waves. Although this oliear time domai simulatio does ot accout for all o-liear hydrodyamic pheomea, the code is ow more sophisticated ad capable of predictig parametric rollig resposes i a sceario more closely related to the ship s coditios that may be foud at sea.

3 8 th Iteratioal Coferece o 351 depedet coefficiets of added mass ad dampig are computed by the Frak s close fit method, ad the sectioal diffractio forces are evaluated usig the Haskid-Newma relatios [6]. Fig. 1 - The right-had tri-axial coordiate system ad six modes of ship motio, ad defiitio of the ship headig agle. I geeral, the forces actig o the ship s hull cosist of cotrol forces from rudder, ad active fis, evirometal forces from wid ad waves ad reactio forces due to ship motios. I this study water is assumed icompressible, iviscid (although viscous effects are cosidered whe roll dampig is calculated), ad deep. Whe the problem of wave-iduced parametric rollig is cocered, oly the forces due to wave excitatio ad reactio forces due to wave-iduced ship motios are take ito accout. Other forces are assumed to be cacelled by each other, which meas, the ship ad relative course of the ship to the wave directio is kept costat durig the time domai simulatio for a give loadig coditio. Hece, the wave excitatio forces cosist of icidet wave forces (or Froude- Krylov forces), diffractio forces, ad the reactio forces of restorig forces ad radiatio forces. Surge motio, is assumed to be fixed. β A quasi-static approach is adopted to calculate the o-liear restorig coefficiets i heave, roll, ad pitch motios i waves, i which calculatios are made over the istataeous submerged hull. At this poit it should be metioed that a more sophisticated waveiduced parametric roll model could be adopted, where added masses ad dampig coefficiets would be also calculated with cosideratio to the istataeous submerged hull body uder the wave surface. However, the hydrodyamic compoet of the parametric excitatio is isigificat i compariso with quasi-hydrostatic excitatio caused by the icidet wave potetial ad the wave-iduced heave ad pitch motio. The hydrodyamic compoet depeds upo the overall submerged hull form, while the quasi-static hydrostatic compoet is strogly depedet upo wave passage ad hull-shape (i.e. variatios about the still waterlie). For this reaso ad others associated with larger computatioal efforts oly the quasihydrostatic compoet of the parametric excitatio is take ito accout at this stage. I particular the roll added iertia ad radiatio coefficiets are take to be liearly proportioal to the roll acceleratio ad velocity, respectively. Hece, the hydrodyamic memory effect due to roll motio ad cosequetly its effect, expressed as roll dampig, is practically egligible at frequecies lower tha.5 [rad/s] (see Fig. ). I a approximate way the radiatio ad wave excitatio forces are calculated at the equilibrium waterlie usig a stadard strip theory, where the two-dimesioal frequecy-

4 35 8 th Iteratioal Coferece o Roll Hydrodyamic Coefficiets η w [ x cos β ( c U cos β ) t] a = η cos k (4) w A44/(ML^) B44/(M.L^.sqrt(g/L)) 5.E-4 4.E-4 3.E-4.E-4 1.E-4.E W [rad/s] Fig. Added mass ad dampig coefficiets of roll motio. Uder the assumptios preseted before all hydrodyamic forces are liear, ad combiig these with the mass forces oe obtais six liear coupled differetial equatios of motio, give by: 6 = j 1 {( M + A )& ( ) } k, j = 1,...,6 kj kj + B + C t = F j kj& j kj j k Here the subscripts A44 B44 () k are associated with forces i the k -directio due to motios i the j -mode ( k =1,, 3 represet the surge, sway ad heave directios, ad 4, 5, 6 represet roll, pitch ad yaw directios). M are the compoets of the mass matrix for the ship, A ad B are the added mass ad dampig kj kj coefficiets, C kj (t) are the hydrostatic (time depedet) restorig coefficiets, ad F k are the complex amplitudes of the excitig forces, where the forces are give by the real part of i et F e ω. k If the ship travels alog a prescribed path β at a iitial steady velocity U (see Fig. 1), she will ecouter the regular wave crests with a frequecy of ecouter, give by: ω e = ω ku cos β (3) j kj I irregular seas, it is possible to describe the equatios of motio give by the sum of siusoidal waves yieldig to a irregular wave profile give by: ω x cos β = N g a η w η w cos (5) = 1 ω + ω U cos β t ε g where N is the umber of compoet waves, ω the circular frequecy, ε the radom a phase agle, ad η the amplitude of the -th w compoet waves which are give by the wave spectrum S (ω ). Therefore, i this study parametrically excited roll respose i regular ad irregular head seas is ivestigated where liear ideal flow hydrodyamic added mass, dampig coefficiets ad wave excitatio forces are cosidered ad o-liearities are itroduced oly via hydrostatic terms time depedece associated with wave passage ad hull-shape, ad o-liear roll dampig. It has bee foud for example by Foseca ad Guedes Soares [7, 8] that this type of approach describes well o-liear motios. 3. ROLL DAMPING ASSESSMENT The dampig coefficiet ca be obtaied from free decay experimets, i which the model is released from a give icliatio agle to freely roll i calm water with o forward speed. Usig adequate istrumetatio a decay curve data poits as show i Fig. 3 were obtaied. where the surface elevatio of a regular wave is give by:

5 8 th Iteratioal Coferece o 353 Roll Amplitude [deg] Time [sec] phi phi_id Fig. 3 Ship model free decay ad o-liear simulatio curves. The usig appropriate parametric idetificatio techiques, the coefficiets B 441 ad B 44, ca be obtaied by fittig equatio 6 to the recorded free decay experimet data. ( M + A )& + B & + B & & + C (6) = where B 441 is the liear dampig coefficiet, ad B is the quadratic dampig coefficiet. 44 Because of the limited umber of cycles of roll decay traces, the eergy balace method is adopted. This method is based o the cocept that the rate of chage of the total eergy i roll motio is equal to the rate of eergy dissipated by the roll dampig. As show i equatio 6, it is also assumed that the ship is uder ucoupled roll motio durig the free decay experimets. Accordig to referece [9], the equivalet liearised roll-dampig coefficiet is therefore related to the dissipated eergy ad is give by: 8 = + ω (7) 3π a b b b 44 eq Very good agreemet is foud betwee the 'idetified' curve obtaied from umerical itegratio, give i Fig. 3 by the cotiuous lie, ad the experimetal data poits acquired durig free decay test. From previous studies [3] it is kow that whe roll dampig is tued to model test results, a very good correlatio of the roll motio ca be achieved betwee model tests ad the umerical aalyses. Particularly, the magitude of the roll respose durig parametric rollig is dictated i large part by the amout of viscous dampig i the roll degree of freedom. To accout for these dampig effects i this study, it was decided to compare the empirical roll dampig established from the free-decay model tests with a applicable aalytical method. Hece, it was foud that the roll-dampig method of compoets, preseted i referece [1], could also be used to accurately calculate the total roll-dampig coefficiet at zero advace speed. 4. INSTANTANEOUS NON-LINEAR RESTORING FORCES AND MOMENTS Istataeous restorig forces ad momets are calculated from the exact determiatio of the ship s displacemet ad its cetre of buoyacy at each step. The relatioship betwee the wave surface ad the ship s hull i the seaway was established takig ito accout the resposes of the ship i the five degrees-of-freedom as well as the ship speed ad headig. I fact, i this coditio of excitatio of motio the ship basically has o respose i sway ad yaw modes but the computer code allows for it. As demostrated i referece [3], cosiderig a moohull i logitudial regular waves about the same legth as the ship's legth variatios of istataeous restorig forces ad momets are due to sectioal beam variatios dy dx, which deped o ship's hull vertical flare dy dz (see Fig 4). Hydrostatic forces ad momets calculatios are made usig the pressure itegratio techique over the ship hull, rather tha usig area ad volume itegratio of the ship offsets. The origial theoretical approach to the pressure itegratio techique outlied by referece [11] has bee adopted i cojuctio with a practical method to geerate the paels required to calculate the hydrostatic pressure

6 354 8 th Iteratioal Coferece o distributio uder either a regular or irregular wave profile [1]. Therefore, i this model o-liearities are cosidered i the heave, roll, ad pitch restorig terms, takig ito accout all the istataeous variatio of the hull-shape i waves icludig evetually the occurrece of deck submergece. Fig. 4 Variatio of sectioal beam o logitudial waves. 5. EXPERIMENTS IN REGULAR HEAD SEAS Tests were coducted at the small towig tak of the UCL [13], equipped with a flap type wavemaker ad a towig carriage. A typical fast form of a large refrigerated cotaier ship was selected as a subject of the experimetal studies o parametric rollig. The body lies are preseted i Fig. 5. The model was of woode ad GRP costructio, the hull is vertical sided amidships above the waterlie ad completely uappeded ad upropelled. The pricipal particulars of the model are give i Table 1. The model was costraied i yaw, sway, ad surge. This 1:1 scaled model was istrumeted so that traces of its dyamic respose i waves were produced. I the experimets with o advace speed, the ship s model loadig coditio was maitaied ad set to be compliat with the applicable IMO itact stability criteria i force at that time [14]. Durig these rus, wave amplitude ad frequecy were varied i order to ivestigate the sesitivity of the scaled model to parametric resoace durig which capsize ca be iduced. The i order to obtai parametric resoace with advace speed, the roll stiffess of the model was adjusted. This variatio o trasverse metacetric height was achieved displacig vertically the existig masses o the stud mast. Durig the ru alog the tak with regular waves of wavelegth about the model's legth, low cycle resoace was obtaied by varyig the forward speed of the carriage. Roll decremet tests were performed for differet iitial agles, ad icliig experimets were coducted to assess dampig ad trasverse stability characteristics, respectively. It was foud that rollig was iduced oly i a few coditios. As show i Fig. 7.a (scaled by a factor 1:1), the most proouced rollig occurred whe the model was adjusted to a roll period twice the period of the wave. As ca be see from Fig. 7.a, the roll agle icreases o each successive swig up to defied limited amplitude, ad is at half the wave frequecy. I Fig. 7.b, it ca be see that the pitch motio was regular ad of the same frequecy as the waves. Heavig motio was also regular ad had the same periodicity of the waves. The sway ad yaw motios were very small ad irregular. Fig. 5 Body lies of the refrigerated cotaier ship model.

7 8 th Iteratioal Coferece o 355 L BP L OA B WL D T WL W Table 1 - Refrigerated cotaier ship model particulars. = 18. cm = 13.4 cm = 18.1 cm = 11.5 cm = 7.68 cm = 1.7 Kg C M =.973 C P =.578 C W =.731 S W = 319 cm T GM t =. sec =.17 cm Scale = 1:1 Iitially, several umerical simulatios were carried out at the same load coditio utilised for the UCL model tests for a umber of combiatios of speeds ad wave coditios. Wave Surface Elevatio [m] Wave Surface Elevatio at Fore PP Wave 6. NUMERICAL RESULTS As metioed, the strip theory computer program was used to perform the calculatio of the added mass ad dampig coefficiets, ad wave excitatio forces ad momets for a give wave ecouter frequecy at the equilibrium waterlie. With respect to roll dampig coefficiet, viscous compoets were the added to wave-makig compoet i order to obtai the total roll-dampig coefficiet. These are fed ito equatios, which are the itegrated to simulate a oliear time-domai wave-iduced parametric resoace coditio. For this purpose the computer code preseted herei was developed to icorporate ship motios calculatios, istataeous restorig forces ad momets calculatios, ad the to perform a umerical itegratio of the equatios usig a 4th order Ruge-Kutta algorithm o a step-by-step basis. Numerical results of motios excited by logitudial regular waves obtaied from simulatios showed that sway ad yaw were isigificat i compariso with heave, roll, ad pitch resposes. The pitch ad roll resposes were the used for compariso with time series recorded i the experimetal programme for the model. Eta_3 [m] Eta_4 [deg] Eta_5 [deg] -3-4 Heave Displacemet Roll Agle Pitch Agle eta_3 eta_4 eta_ Simulated istability i regular head seas -15 Fig. 6 - Numerical simulatio i regular head seas ( H W = 6 [m] ad T W = 14 [s]).

8 356 8 th Iteratioal Coferece o The, as show i Fig. 6 the same wave coditios (correspodig to the most critical wave-iduced parametric rollig coditio) were used i the simulatios as i the model tests. Plotted are wave surface elevatio, ad heave, roll, ad pitch displacemets durig low-cycle parametric resoace. I Fig. 7.a wave surface elevatio ad ship s roll motio records from simulatio ad experimets are compared, ad, obviously the parameters ivolved i the equatios are equivalet to those used i model calculatios. I what cocers logitudial plae motios good agreemet is agai obtaied betwee umerical simulatios ad experimetal results, as compared i Fig. 7.b for pitch motio. Roll Amplitude [deg] & Wave Amplitude [m] Experimetal vs Numerical Roll Respose Time Histories Noli. Roll [deg] Wave [m] Exp. Roll [deg] Wave_Tq [m] Tim e [sec] Fig. 7.a - Compariso of umerical itegratio with UCL experimetal results i regular waves roll motio. Pitch Agle[deg] & Wave Amplitude [m] Pitch Motio Compariso 5 1 Time [sec] Wave_Tq Pitch_Exp Fig. 7.b - Compariso of umerical itegratio with UCL experimetal results i regular waves pitch motio. Wave Pitch It ca be see that the mai features of parametric roll pheomeo are predicted by the computer programme. Like the model test results, there is a period with o rollig, ad the roll agle icreases o each successive swig up to defied limited amplitude, ad is at half the wave frequecy. Also, it ca be see from Fig. s 6 ad 7 that roll agles icreased from a few degrees to over 3º i oly five roll cycles, ad at this stage that the model was pitchig to agles of about 5º, respectively. Moreover, there are two pitch cycles for each roll cycle, ad the model is always pitched dow by the bow at maximum roll. A questio of particular iterest i o-liear systems is the existece of closed trajectories, as such trajectories imply periodic motio, ad evetually a stable state kow as the limit cycle. As show i Fig. 8 for the wave-iduced parametric rollig coditio the respose is practically siusoidal ad the phase plae plot is early a elliptical spiral. Roll Velocity [deg/sec] Roll [deg] Fig. 8 Roll phase diagram i regular waves. As show i a previous study [3] with a liear formulatio the roll motio will ot have a limit cycle behaviour. The o-liear model proposed here captures the time variatio of the roll restorig momet, which is the most importat effect that cotributes parametric resoace at the iitial trasiet stage. It also takes ito cosideratio the effect of deck submergece o restorig momets at the steady state stage, which prevets roll agles from buildig up to ifiity.

9 8 th Iteratioal Coferece o Simulated istability i irregular head seas For the simulatios i irregular waves, both radomly distributed amplitude ad phase compoets are utilised to geerate a icidet wave realizatio. More specifically, the modellig of the icidet wave spectrum is made by a fiite umber of harmoic waves where a lower ad a upper limit for the wave frequecy, ω mi ad ω Max are defied. The cotiuous icidet wave spectrum is therefore discretised by a umber of harmoic wave compoets N of frequecy ad amplitude: wc ω = ω +. ω (8) mi seed a η =. S ( ω ). ω w (9) where: ω Max ω ω = mi (1) N wc The phase agles of the regular waves ε are also radomly distributed i the etire rage ε = [, π ], ad is give by: ε = seed. ε (11) Although, the wave eergy of the discretised wave systems resultig from the above approach equals the wave eergy of the icidet irregular seaway adopted, this wave realizatio i space is strogly depedet upo the seed umber seed provided as iput for geeratio of radom waves. I this case, the icidet wave is described by a JONSWAP spectrum S JS (ω ), with a peak ehacemet factor γ = 3.33, a sigificat wave height H = 6 [m], ad a peak period T s p = 14 [s] (see Fig. 9). Fig. 9 JONSWAP spectrum (γ = 3.33, H = 6 [m], ad T p = 1 [s]). S JS ( ω) = K. S PM ( ω). φ JS ( ω) (1) where: 3 3 4π H - = S 1 16π 1 S ( ) exp PM ω 4 5 is 4 4 TZ ω TZ ω the eergy desity fuctio of the Pierso- Moskowitz spectrum; 1 ω p ω exp σω - ( ) p 1.5 ( ω) = 1 e.l γ γ φ JS is the fuctio of the JONSWAP spectrum; - K is a factor such as H S K = S ( ω ) dω = PM. 16 The wave spectrum is approximated by a wave system cosistig of 41 elemetary waves, ad as far as the reproductio of aperiodicity for the modelled seaway is cocered, this is clearly achieved (see Fig. 1). The simulatio of ship motios is agai performed for a ship headig of 18º ad a zero advace speed coditio. Therefore added mass ad dampig hydrodyamic coefficiets are calculated for the cosidered values of peak spectral frequecy ad sigificat wave height. Sice parametric rollig is a resoat pheomeo, it was foud that cotrarily to the regular wave s sceario i irregular seas ships might ot be proe to regularly exhibit parametric rollig due to waves groupiess effect. More specifically, i irregular seas the s

10 358 8 th Iteratioal Coferece o required sychroisatio betwee waves ad roll respose period might ot be sustaied log eough due to variatios of the wave realizatio i time ad space. I Fig. 1, the simulatio records of wave surface elevatio, heave, roll, ad pitch vessel resposes i the auto-parametric rollig sceario are preseted. Fig. 11, shows a combied view of the roll ad pitch resposes i irregular waves, where roll agles exceedig 3º to each side, after 13 secods are evidet. Comparisos of motio time histories betwee the preset predictios ad model tests are ot possible because free-ruig experimets i irregular waves have ot yet bee carried out. However, the couplig betwee maximum roll ad bow dow pitch observed i the regular waves model tests is also detected i irregular waves. I Fig. 1 the same result is preseted i the form of roll phase diagram. Eta_3 [m] Wave Surface Elevatio [m] Wave Surface Elevatio at Fore PP Heave Displacemet Roll Agle 4 3 Wave eta_3 As i regular waves, the roll motio builds to large amplitudes ad whe either the wave period is chaged or the wave height dimiishes, the parametric resoace disappears. Therefore, parametric rollig ca occur i irregular seas coditios provided agai there is sufficiet ecoutered eergy ear twice the atural roll period. Although computer code does ot accout for all the hydrodyamic pheomea, the code is capable of predictig parametric rollig i head seas ad ca be used to predict if a vessel is proe to exhibit parametric rollig i a early desig stage. Eta_4 [deg] Eta_5 [deg] Pitch Agle eta_4 eta_5 Fig. 1 Numerical simulatios i irregular waves.

11 8 th Iteratioal Coferece o 359. Roll [deg] & Pitch [deg] Roll ad Pitch Time Histories eta_4 eta_5 Time [sec] Fig. 11 Combied view of roll ad pitch motios i irregular waves. Roll Velocity [deg/sec] Roll [deg] Fig. 1 Roll phase diagram i irregular waves. 7. CONCLUSIONS I this study a o-liear umerical model is utilised to simulate parametric resoace i both regular ad irregular waves. I additio, special attetio has bee give to the usefuless of model experimets coducted uder coditios as realistic as possible to validate the theoretical approach proposed. The mai cocludig remarks are summarised as follows: a) It has bee cofirmed that a statically stable ship ecouterig waves of her ow legth ad a frequecy twice her atural roll frequecy will experiece a wave-iduced parametric rollig situatio. Therefore, uder these coditios, roll agles exceedig 3º to each side ca be produced rapidly, resultig sometimes i cargo losses ad ship s damage, or evetually i capsize. b) Whe roll dampig is tued to model test results, a very good correlatio of the roll motio ca be achieved betwee model tests ad the umerical aalyses. Therefore, i this study, the liear ad quadratic dampig momets are liearised by meas of the eergy balace method ad expressed by a equivalet liear roll-dampig coefficiet, which compares well with the aalytical method of compoets. c) A o-liear umerical model of parametric resoace takig ito cosideratio deck submergece ad other o-liearities o restorig forces ad momets of ships at sea is the proposed. Good agreemet is foud betwee the time domai simulatio of ship s resposes i a logitudial seaway ad experimetal data. Moreover, oly represetig coupled heave, roll, ad pitch resposes i log-crested irregular waves parametric rollig ca be properly simulated. d) I irregular waves the occurrece of parametric rollig ca be highly depedet o the iput seed umber ad a large umber of simulatios ca be required to obtai a parametric resoace coditio with roll agles exceedig 3º. 8. REFERENCES [1] Kerwi, J. E., Notes o Rollig i Logitudial Waves, Iteratioal Shipbuildig Progress, Vol., Nº 16, pp (1955). [] Frace, W. N.; Levadou, M.; Treakle, T. W.; Paullig, J. R.; Michel, R. K. ad Moore, C., A Ivestigatio of Head-Sea Parametric Rollig ad Its Ifluece o Cotaier Lashig Systems, Marie Techology, Vol. 4, Nº 1, pp (3). [3] Ribeiro e Silva, S. ad Guedes Soares, C., Time Domai Simulatio of Parametrically

12 36 8 th Iteratioal Coferece o Excited Roll i Head Seas, Proceedigs of the 7th Iteratioal Coferece of Ships ad Ocea Vehicles (STAB ), Vol. B, pp , Laucesto, Tasmaia, Australia (). [4] Hua, J., A Study of the Parametrically Excited Roll Motio of a RoRo Ship i Followig ad Headig Waves, Iteratioal Shipbuildig Progress, Vol. 39, pp (199). [5] Fracescutto, A. ad Bulia, G., Noliear ad Stochastic Aspects of Parametric Rollig Modellig, Proceedigs of the 6th Iteratioal Ship Stability Workshop, Webb Istitute (). [6] Salvese, N.; Tuck, E. O. ad Faltise, O., Ship Motios a d Sea Loads, Trasactios of SNAME, Vol. 78, pp (197). [7] Foseca, N. ad Guedes Soares, C., Time - Domai Aalysis of Large-Amplitude Vertical Ship Motios ad Wave Loads, Joural of Ship Research, Vol. 4, º, pp (1998). [8] Foseca, N. ad Guedes Soares, C., Compariso of Numerical ad Experimetal Results of No-Liear Wave Iduced Vertical Ship Motios ad Loads, Joural of Marie Sciece ad Techology, Vol. 6, pp (). [9] Lloyd A. R. J., Seakeepig: Ship Behaviour i Rough Weather, Ellis Horwood Publishers (1989). [1] Ikeda, Y; Himeo, Y. ad Taaka, N., A Predictio Method for Ship Roll Dampig, Uiversity of Osaka Prefecture, Report Nº 45 (1978). [11] Schalck, S. ad Baatrup, J. "Hydrostatic Stability Calculatios by Pressure Itegratio", Ocea Egieerig, Vol. 17, pp (199). [1] Satos, T. A. ad Guedes Soares, C. G., RoRo Ship Damage Stability Calculatios Usig the Pressure Itegratio Techique, Iteratioal Shipbuildig Progress, Vol. 18, Nº, pp (1). [13] Ribeiro e Silva, S., Desig Criteria ad Guidace to Avoid Parametric Rollig, MSc i Naval Architecture Dissertatio Project Report, Uiversity College Lodo (1998). [14] Iteratioal Maritime Orgaisatio, Co de of Itact Stability for all Types of Ships Covered by IMO Istrumets. Aex to Report of the Ad Hoc Itact Stability Workig Group. Doc. SLF 36 / 3 (1991).

Experimental and Numerical Investigation on Parametric Roll of a Large Container. Ship

Experimental and Numerical Investigation on Parametric Roll of a Large Container. Ship Experimetal ad Numerical Ivestigatio o Parametric Roll of a Large Cotaier hip Chuhui Zhao *,1,, Yoghe Xie 1,, Huamig Wag 1,, Lili Li 1 1 chool of Naval Architecture ad Ocea Egieerig, Zhejiag Ocea Uiversity,

More information

SPH4U Transmission of Waves in One and Two Dimensions LoRusso

SPH4U Transmission of Waves in One and Two Dimensions LoRusso Waves travelig travellig from oe medium to aother will exhibit differet characteristics withi each medium. Rules A wave of fixed frequecy will have a shorter wavelegth whe passig from a fast medium to

More information

Load Calculation and Design of Roller Crowning of Truck Hub Bearing

Load Calculation and Design of Roller Crowning of Truck Hub Bearing Sed Orders for Reprits to reprits@bethamsciece.ae 106 The Ope Mechaical Egieerig Joural, 2015, 9, 106-110 Ope Access Load Calculatio ad Desig of Roller Crowig of Truck Hub Bearig Xitao Xia,1, Shujig Dog

More information

THE EFFECTS OF COUPLED INDUCTORS IN PARALLEL INTERLEAVED BUCK CONVERTERS

THE EFFECTS OF COUPLED INDUCTORS IN PARALLEL INTERLEAVED BUCK CONVERTERS THE EFFECTS OF COUPED INDUCTORS IN PARAE INTEREAVED BUCK CONVERTERS Paul Seria, David Fi ad Geoff Walker pseria@itee.uq.edu.au School of Iformatio Techology ad Electrical Egieerig Uiversity of Queeslad

More information

Computation of the inviscid drift force caused by nonlinear waves on a submerged circular cylinder

Computation of the inviscid drift force caused by nonlinear waves on a submerged circular cylinder csnak, 2011 Iter J Nav Archit Oc Egg (2011) 3:201~207 http://dx.doi.org/10.3744/jnaoe.2011.3.3.201 Computatio of the iviscid drift force caused by oliear waves o a submerged circular cylider Hyeok-Ju Koh

More information

Catenary Analysis and Calculation Method of Track Rope of Cargo Cableway with Multiple Loads

Catenary Analysis and Calculation Method of Track Rope of Cargo Cableway with Multiple Loads MATEC Web of Cofereces 8, 01008 (016) DOI: 10.1051/ mateccof/016801008 DME 016 Cateary Aalysis ad Calculatio Method of Track Rope of Cargo Cableway with Multiple Loads Jia Qi a, Ju Che, Liag Qiao, Jiacheg

More information

Available online at ScienceDirect. Procedia Engineering 113 (2015 )

Available online at  ScienceDirect. Procedia Engineering 113 (2015 ) Available olie at www.sciecedirect.com ScieceDirect rocedia Egieerig 3 (205 ) 30 305 Iteratioal Coferece o Oil ad Gas Egieerig, OGE-205 The twi spool efficiecy cotrol Michuri A.I. a *, Avtoomova I.V. a

More information

THE LATENT DEMAND METHOD

THE LATENT DEMAND METHOD THE LATENT DEMAND METHOD Bruce W. Ladis, Russell M. Otteberg, Vekat R. Vattikuti SCI, Ic., 18115 U.S. Highway 41North, Suite 600, Lutz, FL 33549, USA Email: bladis@sciworld.et Travel patters i a metropolita

More information

The Prediction of Dynamic Strain in Leaf-Type Compressor Valves With Variable Mass and Stiffness

The Prediction of Dynamic Strain in Leaf-Type Compressor Valves With Variable Mass and Stiffness Purdue Uiversity Purdue e-pubs Iteratioal Compressor Egieerig Coferece School of Mechaical Egieerig 1972 The Predictio of Dyamic Strai i Leaf-Type Compressor Valves With Variable Mass ad Stiffess M. Moavei

More information

Impacts of Typhoon on Wave Height at Bangkhuntien Shoreline

Impacts of Typhoon on Wave Height at Bangkhuntien Shoreline America Joural of Evirometal Scieces 6 (4): 308-315, 2010 ISSN 1553-345X 2010 Sciece Publicatios Impacts of Typhoo o Wave Height at Bagkhutie Shorelie 1 Prasertsak Ekphisutsutor, 1 Prugcha Wogwises, 2

More information

Adaptive Neuro-Fuzzy control of an unmanned bicycle

Adaptive Neuro-Fuzzy control of an unmanned bicycle Adaptive euro-fuzzy cotrol of a umaed bicycle A. Shafiekhai, M. J. Mahoob, ad M. Roozegar 3 Ceter for Mechatroics ad Automatio, School of Mechaical Egieerig College of egieerig, Uiversity of Tehra Tehra,

More information

Analytical and numerical prediction of water sorptivity in cement-based materials

Analytical and numerical prediction of water sorptivity in cement-based materials Life Cycle Predictio ad Maagemet of Cocrete tructures, apporo, March Aalytical ad umerical predictio of water sorptivity i cemet-based materials Licheg WANG Dr. Dalia Uiversity of Techology, Dalia Chia

More information

Research Article. Relative analysis of Taekwondo back kick skills biomechanics based on 3D photograph parsing. Mingming Guo

Research Article. Relative analysis of Taekwondo back kick skills biomechanics based on 3D photograph parsing. Mingming Guo Available olie www.jocpr.com Joural of Chemical ad Pharmaceutical Research, 203, 5(2):64-69 Research Article ISSN : 0975-734 CODEN(USA) : JCPRC5 Relative aalysis of Taekwodo back kick skills biomechaics

More information

Modeling Near-Shore Currents Induced by Irregular Breaking Wave

Modeling Near-Shore Currents Induced by Irregular Breaking Wave Joural of Coastal Research Special Issue 5 5-5 Florida, USA ISS 79-8 Modelig ear-shore Currets Iduced b Irregular Breakig Wave Ju Tag, Yog-Mig She ad Lei Cui State Ke Laborator of Coastal ad Offshore Egieerig,

More information

WIND TUNNEL EXPERIMENT ON THE EFFECT OF WIND ON SMOKE EXHAUST SYSTEMS FOR A HIGH RISE BUILDING

WIND TUNNEL EXPERIMENT ON THE EFFECT OF WIND ON SMOKE EXHAUST SYSTEMS FOR A HIGH RISE BUILDING WIND TUNNEL EXPERIMENT ON THE EFFECT OF WIND ON SMOKE EXHAUST SYSTEMS FOR A HIGH RISE BUILDING K.C. Chug Mechaical Egieerig, Natioal Yuli Uiversity of Sciece ad Techology Touliu City, Yuli 4, Taiwa ABSTRACT

More information

Characterization of Refrigeration System Compressor Performance

Characterization of Refrigeration System Compressor Performance Purdue Uiversity Purdue e-pubs Iteratioal Refrigeratio ad Air Coditioig Coferece School of Mechaical Egieerig 2002 Characterizatio of Refrigeratio System Compressor Performace A. Mackese Uiversity of Wiscosi-Madiso

More information

number in a data set adds (or subtracts) that value to measures of center but does not affect measures of spread.

number in a data set adds (or subtracts) that value to measures of center but does not affect measures of spread. Lesso 3-3 Lesso 3-3 Traslatios of Data Vocabulary ivariat BIG IDEA Addig (or subtractig) the same value to every umber i a data set adds (or subtracts) that value to measures of ceter but does ot affect

More information

SPEED OF SOUND MEASUREMENTS IN GAS-MIXTURES AT VARYING COMPOSITION USING AN ULTRASONIC GAS FLOW METER WITH SILICON BASED TRANSDUCERS

SPEED OF SOUND MEASUREMENTS IN GAS-MIXTURES AT VARYING COMPOSITION USING AN ULTRASONIC GAS FLOW METER WITH SILICON BASED TRANSDUCERS SPEED OF SOUND MEASUREMENTS IN GAS-MIXTURES AT VARYING COMPOSITION USING AN ULTRASONIC GAS FLOW METER WITH SILICON BASED TRANSDUCERS Torbjör Löfqvist, Kęstutis Sokas, Jerker Delsig EISLAB, Departmet of

More information

SYMMETRY AND VARIABILITY OF VERTICAL GROUND REACTION FORCE AND CENTER OF PRESSURE IN ABLE-BODIED GAIT

SYMMETRY AND VARIABILITY OF VERTICAL GROUND REACTION FORCE AND CENTER OF PRESSURE IN ABLE-BODIED GAIT SYMMETRY AND VARIABILITY OF VERTICAL GROUND REACTION FORCE AND CENTER OF PRESSURE IN ABLE-BODIED GAIT Yu Wag ad Kazuhiko Wataabe Graduate School of Educatio, Hiroshima Uiversity, Hiroshima, Japa, wagyu@hiroshima-u.ac.jp

More information

The Application of Simulating WAves Nearshore Model for Wave Height Simulation at Bangkhuntien Shoreline

The Application of Simulating WAves Nearshore Model for Wave Height Simulation at Bangkhuntien Shoreline America Joural of Evirometal Scieces 6 (3): 299-307, 2010 ISSN 1553-345X 2010 Sciece Publicatios The Applicatio of Simulatig WAves Nearshore Model for Wave Height Simulatio at Bagkhutie Shorelie 1 Prasertsak

More information

A Comparative Investigation of Reheat In Gas Turbine Cycles

A Comparative Investigation of Reheat In Gas Turbine Cycles Proceedigs of the Iteratioal Gas Turbie ogress 3 Tokyo November -7, 3 IGT3Tokyo TS-86 A omparative Ivestigatio of Reheat I Gas Turbie ycles K. Sarabchi Departmet of Mechaical egieerig Uiversity of Tabriz

More information

1. Write down the ideal gas law and define all its variable and parameters. 2. Calculate the values and units of the ideal gas law constant R.

1. Write down the ideal gas law and define all its variable and parameters. 2. Calculate the values and units of the ideal gas law constant R. Ideal Gases Objectives:. Write dow the ideal gas law ad defie all its variable ad parameters.. Calculate the values ad uits of the ideal gas law costat R. 3. Calculate the value of oe variable,, T, or,

More information

n UL Listed and FM Approved for n Solenoid control n Quick pressure relief valve 73Q n Pressure sustaining & reducing valve 723

n UL Listed and FM Approved for n Solenoid control n Quick pressure relief valve 73Q n Pressure sustaining & reducing valve 723 Pressure Relief/Sustaiig Valve Prioritizig pressure zoes Esurig cotrolled pipelie fill-up Prevetig pipelie emptyig Pump overload & cavitatio protectio Safeguardig pump miimum flow Excessive lie pressure

More information

Abstract. 1 Introduction

Abstract. 1 Introduction A computational method for calculatingthe instantaneous restoring coefficients for a ship moving in waves N. El-Simillawy College of Engineering and Technology, Arab Academyfor Science and Technology,

More information

The structure of the Fibonacci numbers in the modular ring Z 5

The structure of the Fibonacci numbers in the modular ring Z 5 Notes o Number Theory ad Discrete Mathematics Vol. 19, 013, No. 1, 66 7 The structure of the iboacci umbers i the modular rig Z J. V. Leyedekkers 1 ad A. G. Shao 1 aculty of Sciece, The Uiversity of Sydey

More information

Traffic conflicts at roundabouts: risk analysis under car-following conditions

Traffic conflicts at roundabouts: risk analysis under car-following conditions Itersectios Cotrol ad Safety 143 Traffic coflicts at roudabouts: risk aalysis uder car-followig coditios G. Guido, A. Vitale & V. Gallelli Departmet of Tow ad Coutry Plaig, Uiversity of Calabria, Italy

More information

Cooling of a Reciprocating Compressor through Oil Atomization in the Cylinder

Cooling of a Reciprocating Compressor through Oil Atomization in the Cylinder Purdue Uiversity Purdue e-pubs Iteratioal Compressor Egieerig Coferece School of Mechaical Egieerig 2010 Coolig of a Reciprocatig Compressor through Oil Atomizatio i the Cylider Rodrigo Kremer Embraco

More information

ICC WORLD TWENTY ( WORLD CUP-2014 )- A CASE STUDY

ICC WORLD TWENTY ( WORLD CUP-2014 )- A CASE STUDY INTERNATIONAL JOURNAL OF MATHEMATICAL SCIENCES AND APPLICATIONS Volume 5 Number 1 Jauary-Jue 215 ICC WORLD TWENTY2-214 ( WORLD CUP-214 )- A CASE STUDY Bhavi Patel 1 ad Pravi Bhathawala 2 1 Assistat Professor,

More information

Policy sensitivity analysis of Karachi commuters

Policy sensitivity analysis of Karachi commuters Policy sesitivity aalysis of Karachi commuters A. Q. Memo 1 & K. Sao 2 1 Departmet of Civil Egieerig, NED Uiversity of Egieerig ad Techology, Karachi, Pakista 2 Departmet of Civil ad Evirometal Egieerig,

More information

Capacity of Shared-Short Lanes at Unsignalised Intersections

Capacity of Shared-Short Lanes at Unsignalised Intersections Nig Wu itle ad Abstract Author's Address apacity of Shared-Short aes at Usigalised Itersectios Nig Wu ABSA he calculatio procedures i recet highway capacity mauals do ot eactly treat ared/ort laes at usigalized

More information

ACKNOWLEDGEMENTS. My husband, Mr Matthew Pegg, for bearing with my non-stop complaints and long hours of work.

ACKNOWLEDGEMENTS. My husband, Mr Matthew Pegg, for bearing with my non-stop complaints and long hours of work. ABSTRACT This thesis describes the developmet, fudametal extesio ad extesive testig (validatio ad verificatio) of mathematical models for predictig outflow followig the failure of pressurised pipelies

More information

Patrick Boston (Leeds University) and Mark Chapman (Edinburgh University)

Patrick Boston (Leeds University) and Mark Chapman (Edinburgh University) Iversio o requecy-depedet AVO data or luid properties Patric Bosto (Leeds Uiversity) ad Mar Chapma (Ediburgh Uiversity) Summary A umber o methods to estimate the requecy-depedece o relectivity have bee

More information

Basic Gas Spring Theory

Basic Gas Spring Theory Calculatig the iitial force The iitial force of the gas sprig ca be calculated as the sealed area of the pisto rod or the pisto (depedig o desig) multiplied by the pressure iside the gas sprig. The larger

More information

Modelling Lane Changing Behaviour of Heavy Commercial Vehicles

Modelling Lane Changing Behaviour of Heavy Commercial Vehicles Modellig Lae Chagig Behaviour of Heavy Commercial Vehicles Modellig Lae Chagig Behaviour of Heavy Commercial Vehicles Sara Moridpour 1, Majid Sarvi 2, Geoff Rose 3 1 Post Graduate Studet, Moash Uiversity,

More information

A SECOND SOLUTION FOR THE RHIND PAPYRUS UNIT FRACTION DECOMPOSITIONS

A SECOND SOLUTION FOR THE RHIND PAPYRUS UNIT FRACTION DECOMPOSITIONS Fudametal Joural of Mathematics ad Mathematical Scieces Vol., Issue, 0, Pages -55 This paper is available olie at http://www.frdit.com/ Published olie November 9, 0 A SECOND SOLUTION FOR THE RHIND PAPYRUS

More information

This report presents an assessment of existing and future parking & traffic requirements, for the site based on the current development proposal.

This report presents an assessment of existing and future parking & traffic requirements, for the site based on the current development proposal. CR166916b02 20 Jue 2017 Melida Dodso Melida Dodso Architects PO Box 5635 Hughes ACT 2605 Email: mdodso@melidadodsoarchitects.com.au Dear Melida, Project: Dickso Apartmets Lowrie St Re: Statemet o Parkig

More information

operate regenerator top without boiling aq. amine solution.

operate regenerator top without boiling aq. amine solution. HSRemoval-MaterialBalacemcd Rough material balace for removal of H S from shale gas with MDEA ad recovery of elemetal sulfur via the Claus process The solvet has bee dow-selected to be methyldiethaolamie

More information

EFFECTS OF ROTOR CONTAMINATION ON GYROPLANE FLIGHT PERFORMANCE

EFFECTS OF ROTOR CONTAMINATION ON GYROPLANE FLIGHT PERFORMANCE 41 st Europea otorcraft Forum 2015 EFFECTS OF OTO CONTAMINATION ON GYOLANE FLIGHT EFOMANCE Holger uda, Falk Sachs, Jörg Seewald, Claas-Hirik ohardt L (Germa Aerospace Ceter) Liliethalplatz 7, 38108 Brauschweig,

More information

Acta Geophysica vol. 57, no. 4, pp DOI: /s

Acta Geophysica vol. 57, no. 4, pp DOI: /s Acta Geophysica vol. 57, o. 4, pp. 98- DOI:.478/s6-9-7-4 Structure of Numerically Simulated Katabatic ad Aabatic Flows alog Steep Slopes Evgei FEDOROVICH ad Ala SHAPIRO School of Meteorology, Uiversity

More information

IMO REVISION OF THE INTACT STABILITY CODE. Proposal of methodology of direct assessment for stability under dead ship condition. Submitted by Japan

IMO REVISION OF THE INTACT STABILITY CODE. Proposal of methodology of direct assessment for stability under dead ship condition. Submitted by Japan INTERNATIONAL MARITIME ORGANIZATION E IMO SUB-COMMITTEE ON STABILITY AND LOAD LINES AND ON FISHING VESSELS SAFETY 49th session Agenda item 5 SLF 49/5/5 19 May 2006 Original: ENGLISH REVISION OF THE INTACT

More information

A Different View on TBM Face Equilibrium in Permeable Ground

A Different View on TBM Face Equilibrium in Permeable Ground A Differet View o TBM Face Equilibrium i Permeable Groud Tiago Gerheim Souza Dias Ghet Uiversity, Ghet, Belgium Adam Bezuije Ghet Uiversity, Ghet, Belgium ad Deltares, Delft, the Netherlads ABSTACT The

More information

DFC NIST DIGITAL MASS FLOW CONTROLLERS. DFC with optional LCD readout PROG RS485. Programmable Mass Flow Controller with Digital Signal Processing

DFC NIST DIGITAL MASS FLOW CONTROLLERS. DFC with optional LCD readout PROG RS485. Programmable Mass Flow Controller with Digital Signal Processing Programmable Mass Flow Cotroller with Digital Sigal Processig Microprocessor drive digital flow cotrollers allow oe to program, record, ad aalyze flow rates of various gases with a computer via a RS-485

More information

CRITERIA OF BOW-DIVING PHENOMENA FOR PLANING CRAFT

CRITERIA OF BOW-DIVING PHENOMENA FOR PLANING CRAFT 531 CRITERIA OF BOW-DIVING PHENOMENA FOR PLANING CRAFT Toru KATAYAMA, Graduate School of Engineering, Osaka Prefecture University (Japan) Kentarou TAMURA, Universal Shipbuilding Corporation (Japan) Yoshiho

More information

Seated valves (PN 16) VF 2-2-way valve, flange VF 3-3-way valve, flange

Seated valves (PN 16) VF 2-2-way valve, flange VF 3-3-way valve, flange Data sheet Seated valves (PN 16) VF 2-2-way valve, flage VF 3-3-way valve, flage Descriptio Features: Bubble tight desig 15-80, 200-300 Sap mechaical coectio together with AMV(E) 335, AMV(E) 435 Dedicated

More information

Real time lane departure warning system based on principal component analysis of grayscale distribution and risk evaluation model

Real time lane departure warning system based on principal component analysis of grayscale distribution and risk evaluation model DOI: 10.1007/s11771 014 2105 2 Real time lae departure warig system based o pricipal compoet aalysis of grayscale distributio ad risk evaluatio model ZHANG Wei wei( 张伟伟 ), SONG Xiao li( 宋晓琳 ), ZHANG Gui

More information

ITTC Recommended Procedures and Guidelines

ITTC Recommended Procedures and Guidelines Page 1 of 6 Table of Contents 1. PURPOSE...2 2. PARAMETERS...2 2.1 General Considerations...2 3 DESCRIPTION OF PROCEDURE...2 3.1 Model Design and Construction...2 3.2 Measurements...3 3.5 Execution of

More information

EXPERIMENTAL STUDY OF BREAKING WAVES OVER A SHOAL. Arun Chawla, H. Tuba Ozkan-Haller and James T. Kirby 1

EXPERIMENTAL STUDY OF BREAKING WAVES OVER A SHOAL. Arun Chawla, H. Tuba Ozkan-Haller and James T. Kirby 1 EXPERIMENTAL STUDY OF BREAKING WAVES OVER A SHOAL Aru Chawla, H. Tuba Ozka-Haller ad James T. Kirb ABSTRACT: The aim of this paper is to stud the trasformatio of irregular directioal waves over a circular

More information

PERFORMANCE TEAM EVALUATION IN 2008 BEIJING OLYMPIC GAMES

PERFORMANCE TEAM EVALUATION IN 2008 BEIJING OLYMPIC GAMES XV INTERNATIONAL CONFERENCE ON INDUSTRIAL ENGINEERING AND OPERATIONS MANAGEMENT The Idustrial Egieerig ad the Sustaiable Developmet: Itegratig Techology ad Maagemet. Salvador, BA, Brazil, 06 to 09 October

More information

DAMAGE ASSESSMENT OF FIBRE ROPES FOR OFFSHORE MOORING

DAMAGE ASSESSMENT OF FIBRE ROPES FOR OFFSHORE MOORING RECOMMENDED PRACTICE DNV-RP-E304 DAMAGE ASSESSMENT OF FIBRE ROPES FOR OFFSHORE MOORING APRIL 2005 FOREWORD (DNV) is a autoomous ad idepedet foudatio with the objectives of safeguardig life, property ad

More information

Characteristics of CNG Bubbles in Diesel Flow under the Influence of the Magnetic Field

Characteristics of CNG Bubbles in Diesel Flow under the Influence of the Magnetic Field Joural of Applied Fluid Mechaics, Vol. 10, No., pp. 149-155, 2017. Available olie at www.jafmolie.et, ISSN 1735-3572, EISSN 1735-345. DOI: 10.1889/acadpub.jafm.73.243.27148 Characteristics of CNG Bubbles

More information

Human-Robot Interaction: Group Behavior Level

Human-Robot Interaction: Group Behavior Level SPECOM'006, St. Petersburg, 5-9 Jue 006 Huma-Robot Iteractio: Group Behavior Level Lev Stakevich, Deis Trotsky Sait Petersburg State Techical Uiversity 9, Politechicheskaya, St. Petersburg, 955, Russia

More information

Application of a Statistical Method to investigate patterns of beach evolution in the vicinity of a seawall

Application of a Statistical Method to investigate patterns of beach evolution in the vicinity of a seawall Joural of Coastal Research SI 95-99 ICS (Proceedigs) Polad ISSN 79-8 Applicatio of a Statistical Method to ivestigate patters of beach evolutio i the viciity of a seawall J. M. Horrillo-Caraballo ad D.E.

More information

Footwork is the foundation for a skilled basketball player, involving moves

Footwork is the foundation for a skilled basketball player, involving moves The Complete Book of Offesive Basketball Drills Basic Footwork ad Cuts Drills 2 Equipmet 16 chairs (or less) Persoel The etire team Basic Footwork ad Cuts Drills Two coaches How to Ru the Drill Five feet

More information

A Comparison of MOEA/D, NSGA II and SPEA2 Algorithms

A Comparison of MOEA/D, NSGA II and SPEA2 Algorithms Iteratioal Joural of Egieerig Treds ad Applicatios (IJETA) Volume 4 Issue 6, Nov-Dec 7 RESEARCH ARTICLE A Comparo of MOEA/D, ad Algorithms Rajai [1], Dr. Aad Prakash [] Asstat Professor of Computer Sciece

More information

Intersleek Pro. Divers Manual. Our World is Water CONTENTS

Intersleek Pro. Divers Manual. Our World is Water CONTENTS Itersleek Pro Divers Maual CONTENTS Itroductio.......................................2 Expectatios for Itersleek Pro........................3 I-Water Maiteace...............................4 Haulig the

More information

Headfirst Entry - Diving and Sliding

Headfirst Entry - Diving and Sliding 5/31/2011 Safe divig board use, safe slide use, usi Headfirst Etry - Divig ad Slidig POOLALARMS.COM HOME POOL SAFETY PRODUCTS POOL SAFETY ARTICLES & REPORTS POOL SAFETY LINKS & RESOURCES POOLALARMS.COM

More information

ANALYSIS AND MODELING TIME HEADWAY DISTRIBUTIONS UNDER HEAVY TRAFFIC FLOW CONDITIONS IN THE URBAN HIGHWAYS: CASE OF ISFAHAN

ANALYSIS AND MODELING TIME HEADWAY DISTRIBUTIONS UNDER HEAVY TRAFFIC FLOW CONDITIONS IN THE URBAN HIGHWAYS: CASE OF ISFAHAN TRANSPORT ISSN 648-442 prit / ISSN 648-348 olie 2 Volume 26(4): 375 382 doi:.3846/648442.2.635694 ANALYSIS AND MODELING TIME HEADWAY DISTRIBUTIONS UNDER HEAVY TRAFFIC FLOW CONDITIONS IN THE URBAN HIGHWAYS:

More information

8.5. Solving Equations II. Goal Solve equations by balancing.

8.5. Solving Equations II. Goal Solve equations by balancing. 8.5 Solvig Equatios II Goal Solve equatios by balacig. STUDENT BOOK PAGES 268 271 Direct Istructio Prerequisite Skills/Cocepts Solve a equatio by ispectio or systematic trial. Perform operatios usig itegers,

More information

Analysis of Factors Affecting Extreme Ship Motions in Following and Quartering Seas

Analysis of Factors Affecting Extreme Ship Motions in Following and Quartering Seas Analysis of Factors Affecting Extreme Ship Motions in Following and Quartering Seas Chang Seop Kwon *, Dong Jin Yeo **, Key Pyo Rhee *** and Sang Woong Yun *** Samsung Heavy Industries Co., td. * Maritime

More information

ASSESSMENT SCORING SYSTEM OF ROAD SAFETY INFRASTRUCTURE

ASSESSMENT SCORING SYSTEM OF ROAD SAFETY INFRASTRUCTURE ASSESSMENT SCORING SYSTEM OF ROAD SAFETY INFRASTRUCTURE Case Study of Mihag District i Shaghai, Chia Yue Wag, Daocheg Su 2 School of Traffic ad Trasportatio Egieerig, Togi Uiversity, Shaghai, Chia ABSTRACT

More information

GENETICS 101 GLOSSARY

GENETICS 101 GLOSSARY GENETICS 101 This documet is iteded to provide a basic uderstadig of caie geetics to the America Eskimo Dog (AED) ower ad breeder. It is simplified from scietific facts ad uderstadig. It is ot iteded to

More information

EFFICIENT ESTIMATION OF GAS LIQUID RATIOS FOR PLUNGER LIFT SYSTEMS IN PETROLEUM PRODUCTION OPERATIONS

EFFICIENT ESTIMATION OF GAS LIQUID RATIOS FOR PLUNGER LIFT SYSTEMS IN PETROLEUM PRODUCTION OPERATIONS Petroleum & Coal ISSN 337-707 Available olie at www.vurup.sk/petroleum-coal Petroleum & Coal 57(4) 35-357, 05 EFFICIENT ESTIMATION OF GAS LIQUID RATIOS FOR PLUNGER LIFT SYSTEMS IN PETROLEUM PRODUCTION

More information

Active Travel The Role of Self-Selection in Explaining the Effect of Built Environment on Active Travel

Active Travel The Role of Self-Selection in Explaining the Effect of Built Environment on Active Travel Active Livig Research Buildig Evidece to Prevet Childhood Obesity ad Support Active Commuities RESE ARCH brief Fall 2009 activelivigresearch.org Active Travel The Role of Self-Selectio i Explaiig the Effect

More information

Dynamic Stability of Ships in Waves

Dynamic Stability of Ships in Waves Gourlay, T.P. & Lilienthal, T. 2002 Dynamic stability of ships in waves. Proc. Pacific 2002 International Maritime Conference, Sydney, Jan 2002. ABSTRACT Dynamic Stability of Ships in Waves Tim Gourlay

More information

Supermain PVC-O. Molecular Oriented For Superior Strength & Performance

Supermain PVC-O. Molecular Oriented For Superior Strength & Performance Supermai PVC-O Molecular Orieted For Superior Stregth & Performace HIGH FLOW CAPACITY HIGH IMPACT STRENGTH HIGH TOUGHNESS EXCELLENT DAMAGE TOLERANCE LIGHT WEIGHT CORROSION RESISTANT MATERIAL AND ENERGY

More information

GFC NIST MASS FLOW CONTROLLERS. Typical Stainless Steel GFC Mass Flow Controller. Design Features. General Description. Principles of Operation

GFC NIST MASS FLOW CONTROLLERS. Typical Stainless Steel GFC Mass Flow Controller. Design Features. General Description. Principles of Operation BULLETIN EM20180402 Model thermal Mass Flow Cotrollers are desiged to idicate ad cotrol set flow rates of gases. The combies the characteristics ad accuracy of covetioal mass flow devices ito a uique compact

More information

Sample Application of Second Generation IMO Intact Stability Vulnerability Criteria as Updated during SLF 55

Sample Application of Second Generation IMO Intact Stability Vulnerability Criteria as Updated during SLF 55 1 Sample Application of Second Generation IMO Intact Stability Vulnerability Criteria as Updated during SLF 55 Clève Wandji, Bureau Veritas Philippe Corrignan, Bureau Veritas ABSTRACT A second generation

More information

Progresses in Simulating the Advanced In-Air-Capturing Method

Progresses in Simulating the Advanced In-Air-Capturing Method 5th Iteratioal Coferece o Laucher Techology 23, S15.2 Progresses i Simulatig the Advaced I-Air-Capturig Method Marti Sippel, Josef Klevaski Space Laucher Systems Aalysis (SART), DLR, 5117 Cologe, Germay

More information

EQUIPEX NAOS WP5 : Deep oxygen floats in the North- Atlantic

EQUIPEX NAOS WP5 : Deep oxygen floats in the North- Atlantic EQUIPEX NAOS WP5 : Deep oxyge floats i the North- Atlatic Virgiie Thierry Guillaume Maze, Herlé Mercier, Cécile Cabaes, Virgiie Racapé Laboratoire d Océaographie Physique et Spatiale UMR 6523 CNRS / IFREMER

More information

GFC NIST MASS FLOW CONTROLLERS. Typical Stainless Steel GFC Mass Flow Controller. Design Features. General Description. Principles of Operation

GFC NIST MASS FLOW CONTROLLERS. Typical Stainless Steel GFC Mass Flow Controller. Design Features. General Description. Principles of Operation Model thermal Mass Flow Cotrollers are desiged to idicate ad cotrol set flow rates of gases. The combies the characteristics ad accuracy of covetioal mass flow devices ito a uique compact desig at low

More information

AN ESTIMATION OF INTER-ZONAL BUS DEMAND ON COLOMBO - KALUTARA TRANSPORT CORRIDOR

AN ESTIMATION OF INTER-ZONAL BUS DEMAND ON COLOMBO - KALUTARA TRANSPORT CORRIDOR AN ESIMAION OF INER-ZONAL BUS DEMAND ON COLOMBO - KALUARA RANSPOR CORRIR Sama J. Widaapathiraage ad Amal S. Kumarage Departmet of Civil Egieerig, Uiversity of Moratuwa, Sri Laka. ABSRAC- I the past, it

More information

Controlling noise at work

Controlling noise at work Health ad Safety Cotrollig oise at work The Cotrol of Noise at Work Regulatios 2005 Guidace o Regulatios This is a free-to-dowload, web-friedly versio of L108, (Secod editio, published 2005). This versio

More information

A LIBRARY OF HVAC COMPONENT MODELS FOR USE IN AUTOMATED DIAGNOSTICS. Peng Xu, Philip Haves, Dimitri Curtil Lawrence Berkeley National Laboratory

A LIBRARY OF HVAC COMPONENT MODELS FOR USE IN AUTOMATED DIAGNOSTICS. Peng Xu, Philip Haves, Dimitri Curtil Lawrence Berkeley National Laboratory Secod Natioal IBPSA-USA Coferece Cambridge, MA August -4, 006 3 4 5 6 7 8 9 0 A LIBRARY OF HVAC COMPONENT MODELS FOR USE IN AUTOMATED DIAGNOSTICS ABSTRACT The paper describes ad documets a library of euipmet

More information

Comparison of Mathematical Approximation Methods for Mine Ventilation Network Analysis

Comparison of Mathematical Approximation Methods for Mine Ventilation Network Analysis Iteratioal Joural o Miig Scie IJMS Volume, Issue, 6, PP -4 ISSN 454-946 Olie wwwarcjouralsorg Compariso o Mathematical Approimatio Methods or Mie Vetilatio Network Aalysis Farhag Sereshki Associate Proessor

More information

ITTC Recommended Procedures Testing and Extrapolation Methods Loads and Responses, Seakeeping Experiments on Rarely Occurring Events

ITTC Recommended Procedures Testing and Extrapolation Methods Loads and Responses, Seakeeping Experiments on Rarely Occurring Events Loads and Responses, Seakeeping Page 1 of 5 CONTENTS 1. PURPOSE OF PROCEDURE 2. STANDARDS FOR EXPERIMENTS ON RARELY OCCURRING EVENTS 2.1 Previous Recommendations of ITTC 2.2 Model Design and Construction

More information

XFM DIGITAL MASS FLOW METER. XFM with Profibus Interface. XFM without. Readout. XFM with. Readout. Option

XFM DIGITAL MASS FLOW METER. XFM with Profibus Interface. XFM without. Readout. XFM with. Readout. Option BULLETIN EM20180402 Desig Features Supports up to 23 Egieerig Uits (icludig User Defied). Stores calibratio data for up to 10 gases. Programmable Totalizer idicates total gas quatity. High ad low gas flow

More information

University of California, Los Angeles Department of Statistics. Measures of central tendency and variation Data display

University of California, Los Angeles Department of Statistics. Measures of central tendency and variation Data display Uiversity of Califoria, Los Ageles Departmet of Statistics Statistics 13 Istructor: Nicolas Christou Measures of cetral tedecy Measures of cetral tedecy ad variatio Data display 1. Sample mea: Let x 1,

More information

draft final report NGSIM Arterial-Lane Selection Mode Federal Highway Administration Cambridge Systematics, Inc.

draft final report NGSIM Arterial-Lane Selection Mode Federal Highway Administration Cambridge Systematics, Inc. NGSIM Arterial-Lae Selectio Mode draft fial report prepared for Federal Highway Admiistratio prepared by Cambridge Systematics, Ic. with Itelliget Trasportatio Systems Laboratory Massachusetts Istitute

More information

BUBBLE RISE AND DEPARTURE FROM A VISCOUS LIQUID FREE SURFACE. Mohammad Passandideh-Fard Graduate Student

BUBBLE RISE AND DEPARTURE FROM A VISCOUS LIQUID FREE SURFACE. Mohammad Passandideh-Fard Graduate Student Proceedigs of IMECE008 008 ASME Iteratioal Mechaical Egieerig Cogress ad Expositio October 31-November 6, 008, Bosto, Massachusetts, USA IMECE008-68609 BUBBLE RISE AND DEPARTURE FROM A VISCOUS LIQUID FREE

More information

Modelling Integrated Waste Management System of the Czech Republic

Modelling Integrated Waste Management System of the Czech Republic Modellig Itegrated Waste Maagemet System of the Czech Republic JIRI HREBICEK, JANA SOUKOPOVA Istitute of Biostatistics ad Aalyses, Faculty of Ecoomics ad Admiistratio Masaryk Uiversity Kameice 126/3, 625

More information

"The twisting movement of any hoof should, for physiological reasons, not be hindered by Shoeing." (Lungwitz 1884)

The twisting movement of any hoof should, for physiological reasons, not be hindered by Shoeing. (Lungwitz 1884) Volume 15: Issue 2 Shoeig for Rotatioal Deviatio of the Equie Limb by Michael J. Wildestei CJF, FWCF (Hos) Examiatio of a horse prelimiary to shoeig should be made while the aimal is at rest ad afterwards

More information

P h o t o g r a p h i c L i g h t i n g ( 1 1 B )

P h o t o g r a p h i c L i g h t i n g ( 1 1 B ) 9 1 5 9 P h o t o g r a p h i c L i g h t i g ( 1 1 B ) 30S/30E/30M A Photography Course 9 1 5 9 : P h o t o g r a p h i c L i g h t i g ( 1 1 B ) 3 0 S / 3 0 E / 3 0 M Course Descriptio This course focuses

More information

EMSBS/EMST. Drill For Machining Ultra-Deep Minute Holes FEATURES. For ultra-deep drilling of miniature holes. New chip stopper controls chip flow.

EMSBS/EMST. Drill For Machining Ultra-Deep Minute Holes FEATURES. For ultra-deep drilling of miniature holes. New chip stopper controls chip flow. EMSBS/EMST Drill For Machiig Ultra-Deep Miute Holes FEATURES For ultra-deep drillig of miiature holes. New chip stopper cotrols chip flow. EMSBS: Deep hole mirco-drills with TH Coatig. EMST: Micro- starter

More information

MINNESOTA DEER MANAGEMENT

MINNESOTA DEER MANAGEMENT MINNESOTA DEER MANAGEMENT A study of huter opiios about deer populatios ad maagemet: Blocks H H5 Fial Report A cooperative study coducted by: Miesota Cooperative Fish ad Wildlife Research Uit Miesota Departmet

More information

PDQ MV34 HYDROSTATICS AND STABILITY CURVES

PDQ MV34 HYDROSTATICS AND STABILITY CURVES SW DISPLACEMET lb. X 00 6 8 12 14 16 18 CETRE OF FLOATATIO +12 M 12 CE Mmoc CE Mldc IMMERSIO AOVE DWL +9 +6 +3 DWL CETRE OF UOYACY SALT WATER DISPLACEMET 9 6 3 ICHES AFT OF MSS DWL,, I ICHES -1 80 " 56"

More information

A Data Envelopment Analysis Evaluation and Financial Resources Reallocation for Brazilian Olympic Sports

A Data Envelopment Analysis Evaluation and Financial Resources Reallocation for Brazilian Olympic Sports WSEAS TRANSACTIONS o SYSTEMS Reato Pescarii Valério, Lidia Agulo-Meza A Data Evelopmet Aalysis Evaluatio ad Fiacial Resources Reallocatio for Brazilia Olympic Sports RENATO PESCARINI VALÉRIO LIDIA ANGULO-MEZA

More information

M3P. Safety Data Sheet TABLE OF CONTENTS IDENTIFICATION OF THE SUBSTANCE/MIXTURE AND OF THE COMPANY/UNDERTAKING 2 SECTION 2 HAZARDS IDENTIFICATION 2

M3P. Safety Data Sheet TABLE OF CONTENTS IDENTIFICATION OF THE SUBSTANCE/MIXTURE AND OF THE COMPANY/UNDERTAKING 2 SECTION 2 HAZARDS IDENTIFICATION 2 Accordig to the Hazard Commuicatio Stadard (CFR29 1910.1200) HazCom 2015 TABLE OF CONTENTS SECTION 1 IDENTIFICATION OF THE SUBSTANCE/MIXTURE AND OF THE COMPANY/UNDERTAKING 2 SECTION 2 HAZARDS IDENTIFICATION

More information

Gait-Event-Based Synchronization Method for Gait Rehabilitation Robots via a Bio-inspired Adaptive Oscillator

Gait-Event-Based Synchronization Method for Gait Rehabilitation Robots via a Bio-inspired Adaptive Oscillator TBME-0485-205 Gait-Evet-Based Sychroizatio Method for Gait Rehabilitatio Robots via a Bio-ispired Adaptive Oscillator Gog Che, Peg Qi, Member, IEEE, Zhao Guo ad Haoyog Yu, Member, IEEE Abstract I the field

More information

MST 121: Supplementary resource material for Chapter A1, Sequences

MST 121: Supplementary resource material for Chapter A1, Sequences MST : Supplemetary resource material for Chapter A Sequeces For each of the followig sequeces (a) 9 (b) (c) 8 7 Write ow the et terms of the sequece Write ow a epressio for the close form of the sequece

More information

Hazard Identificaiton of Railway Signaling System Using PHA and HAZOP Methods

Hazard Identificaiton of Railway Signaling System Using PHA and HAZOP Methods www.ijape.org Iteratioal Joural of Automatio ad Power Egieerig (IJAPE) Volume 2 Issue 2, February 2013 Hazard Idetificaito of Railway Sigalig System Usig PHA ad HAZOP Methods Jog Gyu Hwag *1, Hyu Jeog

More information

ANALYSIS AND ASSESSMENT OF LITHUANIAN ROAD ACCIDENTS BY AHP METHOD

ANALYSIS AND ASSESSMENT OF LITHUANIAN ROAD ACCIDENTS BY AHP METHOD ISSN 1822-427X/eISSN 1822-4288 2018 Volume 13 Issue 3: 238 260 https://doi.org/10.7250/bjrbe.2018-13.414 ANALYSIS AND ASSESSMENT OF LITHUANIAN ROAD ACCIDENTS BY AHP METHOD MARIUS JAKIMAVIČIUS * Dept of

More information

DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING, THE UNIVERSITY OF NEW MEXICO ECE-238L: Computer Logic Design Fall Notes - Chapter 6.

DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING, THE UNIVERSITY OF NEW MEXICO ECE-238L: Computer Logic Design Fall Notes - Chapter 6. PARTMNT OF LCTRICAL AN COMPUTR NGINRING, TH UNIVRSITY OF NW MXICO C-238L: Computer Logic esig Fall 23 RGISTRS: Notes - Chapter 6 -bit Register: This is a collectio of '' -type flip flops, where each flip

More information

securing your safety

securing your safety securig your safety LIFE POINT PRO DEFIBRILLATOR AN AUTOMATED EXTERNAL DEFIBRILLATOR (AED) CAN BE THE DIFFERENCE BETWEEN LIFE AND DEATH. Statistics show that early 200,000 people die each year as a result

More information

The Analysis of Bullwhip Effect in Supply Chain Based on Strategic Alliance

The Analysis of Bullwhip Effect in Supply Chain Based on Strategic Alliance The Aalysis of Bullwhip Effect i Supply Chai Based o Strategic Alliace Rui Xu, Xiaoli Li, Xiaomi Sog, Gag Liu School of Busiess, Hubei Uiversy, Wuha, 430062, P. R. Chia, wdxj826@126.com Abstract. Bullwhip

More information

Welcome to the world of the Rube Goldberg!

Welcome to the world of the Rube Goldberg! Welcome to the world of the Rube Goldberg! Sice 1988, tes of thousads of studets have competed i our aual Rube Goldberg Machie Cotests where they are challeged to build the wackiest workig Rube Goldberg

More information

Split-time Algorithm Implementation in Advanced Hydrodynamic Codes

Split-time Algorithm Implementation in Advanced Hydrodynamic Codes Proceedings of the 15 th International Ship Stability Workshop, 13-15 June 2016, Stockholm, Sweden 1 Split-time Algorithm Implementation in Advanced Hydrodynamic Codes Kenneth Weems, Naval Surface Warfare

More information

Innovative Deep Ocean Mining Concept based on Flexible Riser and Self-propelled Mining Machines

Innovative Deep Ocean Mining Concept based on Flexible Riser and Self-propelled Mining Machines Iovative Deep Ocea Miig Cocept based o Flexible iser ad Self-propelled Miig Machies. Hadschuh, H. Grebe, J. Pathel, E. Schulte, B. Wezlaski, W. Scharz Istitut für Kostruktio Siege (IKS), Uiversität Siege,

More information

A Note on the Capsizing of Vessels in Following and Quartering Seas

A Note on the Capsizing of Vessels in Following and Quartering Seas Oceanic Engineenng International, Vol. 1, No. 1, 1997, pp. 25-32 A Note on the Capsizing of Vessels in Following and Quartering Seas MARTIN RENILSON' * 'Australian Maritime Engineering CRC Ltd, c/o Australian

More information