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7.1 Introduction
If the waves are of small amplitude then the propagation and dispersion of
waves is governed by the superposition principle
Generation of Waves
(a) The seastate results from multiple interactions between the wind and the
free surface, which vary in time and in space
The wave elevation felt at one point in space are the results from the sum of
all effects from all perturbations in the generation area to windward
(b) A local perturbation generates a wave system that radiates from the
perturbation point
At a long distance the wave system generated at a point look like 2D or long
crested
Due to angular dispersion the several wave systems come from different
directions and the combined system is 3D, or short crested
(c) The distance from the observation point to boundary of the generation area (to
windward) is called fetch
(d) At a point fixed in space, the wave elevations increase with time. The time
interval since the storm initiation is called duration
(e) When the wave system reaches a statistically stable condition, then the seastate
is called fully developed
(f) If the observation point is well outside the storm generation area, then waves
look more 2D or regular and the seastate is called a swell
7.3 Short Term Model
(t ) = i cos( i t i ) (7.1)
i
i (t ) = i cos( i t i ) (7.2)
The harmonic wave components can be defined in terms of a function known
as variance spectrum or point spectrum:
i (t ) = S ( i )
2
(7.3)
point spectrum
The variance of an harmonic component may be calculated as:
{ }
T /2
i (t ) = ( )
1
2
2
i cos i t i dt (7.4)
T T / 2
i (t ) = i 2
2 1
(7.5)
2
Combining (7.3) and (7.5) results in:
i = 2 S ( i ) (7.6)
E = (t )
2
(7.7)
E = (t ) = i (t )
2 2
(7.8)
i
2
On the other hand equations (7.3) is (7.5) show that the variance of the
harmonic components within a frequency interval w is:
i (t ) = S ( i ) i = i 2
2 1
2
Which differs from the wave energy per unit area by a factor of g. This is the
reason why the variance spectrum is sometimes referred as energy spectrum
7.3 How to obtain the variance spectrum from wave records
(A) The wave elevation time records can be obtained from:
Buoys
Stationary Ships
Systems based on laser or radar
Satellites
Radars based onshore or on board of ships
(B) With the wave elevation records, the variance spectrum can be
obtained applying:
The auto-correlation function calculated for various delays and applying
the Fourier transform
T
(t ) (t + )dt
0
The wave elevation for a wave system with its components travelling in different
directions is:
short crested waves
(x , y , t ) = ij [
cos k i (x cos j + y sin j ) + i t ij ] (7.11)
i j
or setting x = y = 0:
[
(x, y , t ) = ij cos it ij ] (7.12)
i j
The variance of the short crested waves is:
2
(t ) = E = ij2 = S ( , )dd
2 1 (7.13)
2 i j 0 0
ij = 2 S (i , j ) (7.14)
The directional spectrum defines the seastate more correctly than the point
spectrum
Directional spectrum
Directional spectrum
7.5 Characteristics of the point spectrum
Variance of the seastate:
A typical wave record measured in a point fixed in space is a continuous and
irregular function.
Assuming that the process has a mean value, the variance is given by:
T /2
(t ) (t )dt
1
= Lim
2 2
(7.15)
T T T / 2
On the other hand the variance is given by the area bellow the spectrum:
E = (t ) = S ( )d
2
(7.16)
0
Gaussian properties:
2
p( ) =
1
exp (7.17)
2E 2E
Using only the variance obtain the probability distribution of the wave elevation
Wave elevation time record
Normal
distribution
Comparison between histogram of measured wave elevations
and fitted normal distribution
600
400 300
N
N
200
200
100
0 0
-5 -4 -3 -2 -1 0 1 2 3 4 5 -7 -6 -5 -4 -3 -2 -1 0 1 2 3 4 5 6 7
(m) (m)
Histograma - intervalos de 0.4m Histograma - intervalos de 0.5m
Ajuste com distribuio normal Ajuste com distribuio normal
Variance Spectrum
Typical variance wave spectrum
wave spectrum
4 p
S
is the peak frequency or
(m s )
2
modal frequency
T0 = 11.5s
onda :
H S = 4.20m
2
2
Tp =
p
is the peak period or modal
p period
0
0 0.5 1 1.5 2
(rad/s)
The nth order moment of the variance spectrum is defined as:
mn = n S ( )d (7.18)
0
m2 = & (t ) = 2 S ( )d
2
Variance of the wave elevation velocity:
0
m4 = &&(t ) = 4 S ( )d
2
Variance of the wave elevation acceleration:
0
There are several parameters that can be estimated from the spectrum moments:
Average period of component waves: T1 = S ( )Td / S ( )d
0 0
2m1
T1 = (7.19)
m0
1
Period corresponding to average frequency T1 = 2 S ( )d / m0
of component waves: 0
2m0
T1 = (7.20)
m1
m0
Average period between zero upcrossings Tz = 2 (7.21)
m2
Average period between peaks (between m2
maxima or between minima):
Tc = 2 (7.22)
m4
g
Average wavelength between zero L = TzTc (7.23)
upcrossings: 2
Typical wave record at a fixed point and several definitions
Probability distribution of maxima (and minima)
The wave elevation is a stationary process, with zero mean value and
Gaussian. If additionally the variance spectrum is narrow banded
then
The probability distribution of the maxima (and minima) can be
approximated to a Rayleigh distribution.
2
p ( ) = exp (7.24)
E 2E
( )
p < = 1 exp
( )
2
(7.25)
2E
The Rayleigh distribution is valid only for processes with a narrow banded
variance spectrum. The spectral broadness parameter is defined as:
2
T
= 1 c (7.26)
Tz
0.8 0.8
0.6 0.6
p(x<x')
p(x<x')
T0 = 11.5s
onda : T = 16.5s
H S = 4.20m onda : 0
0.4 0.4 H S = 9.89m
Exp. positivos
Exp. positivos
0.2 Exp. negativos
0.2 Exp. negativos
Rayleigh
Rayleigh
0.0 0.0
0 1 2 3 4 5 0 3 6 9
p (m ) p (m )
Another measure of the severity of the seastate is the estimate of the average
value of the 1/nth highest maxima of the process. This is given by the centroid
of the shaded area bellow:
The shaded area represents the probability that a maximum exceed 1/n:
p( > 1/ n ) = p( )d =
1
(7.27)
1 / n
n
The statistically mean value of the maxima above 1/n is:
1/ n = n p( )d (7.28)
1 / n
From equation (7.24) one obtains the probability density function of the wave
height Hw:
H w2
p (H w ) =
Hw
exp (7.29)
4E 8E
From equations (7.28) and (7.29) it is possible to calculate several statistics
related to the wave elevation namely:
vThe former results are estimated assuming that the spectrum is narrow
banded.
vIn practical terms it is assumed that the spectrum is narrow banded if < 0.6,
which usually in errors smaller than 10%
vThe formulation and equations presented before are valid for many of the
ship responses.
7.6 Frequency of Encounter Wave Spectrum
In the previous sections the wave elevation and the corresponding variance
spectrum were represented with respect to a reference system fixed in the space.
However the waves felt by the ship are modified due to the Doppler effect
associated to the forward speed.
In a reference system fixed in the space the, wave elevation of an harmonic wave
is:
i ( x0 , y0 , t ) = i cos[ki (x0 cos + y0 sin ) i t + i ] (7.34)
x0 = x + Ut (7.35)
y0 = y
Substituting (7.35) into (7.34) results in the free surface elevation felt by the ship:
Since:
ei = i k iU cos (7.38)
S ( e ) = i 2 / d e
1 (7.41)
2
TV Tz
(b) Wave Measurements
Data available is limited but more accurate
b1) Point spectra from wave measurements
Point spectra can be computed if the time record of the wave elevation is of
sufficient duration. Wave elevation records can be obtained from:
Ship borne wave meter
Floating buoys with vertical accelerometers
Laser technology
JONSWAP spectrum
( p2)2
4
S ( ) = g 2 5 e e 2 p
p
(7.44)
where:
T p 3.6 H S =5
5.75 1.15
Tp
3.6 H S T p 5.0 H S =e
HS
T p 5.0 H S =5
= 1.25
H S2
= 5.0609 4 [1 0.287 ln ( )]
Tp
4
0.313H S2 p4 1.25
S ( ) =
p
(7.45)
e
5
T = 11.5s (m s )
2
T0 = 11.5s
onda : 0 20
H S = 4.20m onda :
6 H S = 6.13m
15
4
10
2
5
0 0
0 0.1 0.2 0.3 0.4 0.5 0 0.1 0.2 0.3 0.4 0.5
f e (Hz ) f e (Hz )
8 SHIP RESPONSES TO IRREGULAR WAVES
The wave spectra that a ship encounters varies continuously in the space an
in the time. On the long term and over large distances the waves are non-
stationary
In the neighbourhood of the ship the wave statistics change slowly enough
such that the reality can be approximated by a succession of short term
processes that are stationary in the neighbourhood of the ship
THEN
(A) The ship responses to regular (and harmonic) waves can be interpreted as
a linear transformation of the wave elevation
S j ( , ) = x ( , ) S ( ) a 2
j (8.1)
2
Response Amplitude of Wave
spectrum = transfer function * spectrum
2
Roll response spectrum Roll amplitude of the transfer function wave spectrum
V=10kn, head.=120 V=10kn, head.=120 0.5
50 16
0.4
40
Sx4(graus^2*s)
12
X4/amp(/m)
Se(m^2s)
30 0.3
*
8
20
10 = 4
0
0.2
0.1
0 0.0
0.0 1.0 2.0 3.0 0.0 1.0 2.0 3.0 0.0 1.0 2.0 3.0
We (rad/s) We (rad/s) We (rad/s)
Simple Statistics of the Ship Responses
The variance of the ship response is:
m0 = x j (t ) = S j ( )d = E
2
(8.2)
0
And more generally the nth order moment of the variance spectrum is defined
as:
mn = n S j ( )d (8.3)
0
m2 = x& j (t ) = 2 S j ( )d
2
(8.4)
0
m4 = &x&j (t ) = 4 S j ( )d
2
(8.5)
0
The periods of the responses are calculated as presented for the wave elevation
by equations (7.19) to (7.23).
Important periods of the responses are:
m0
Average period between zero upcrossings Tz = 2 (8.6)
m2
The linear ship response is a stationary process, with zero mean value
and Gaussian. If additionally the variance spectrum is narrow banded
then
The probability distribution of the maxima (and minima) can be
approximated to a Rayleigh distribution.
x j = 1.25 E (8.9)
(x )
j 1/ 3 = 2.00 E (8.10)
(x )
j 1 / 10 = 2.55 E (8.11)
The probability of exceedance
The cumulative distribution gives the probability that the maximum
of the response is smaller than a specific value xj*:
(
p xj < xj
) ( )
x 2
= 1 exp j (8.12)
2E
And finally the probability that a maximum is larger than a specific
value xj* is:
(
x 2
)
p x j > x j = exp j
( ) (8.13)
2E
Experimental data from a containership in head long crested waves with Fn = 0.25
0.8 0.8
p(x<x')
onda : T0 = 16.5s
H S = 6.13m onda :
H S = 9.89m
0.4 0.4
Exp. positivos
Exp. positivos
Exp. negativos
0.2 0.2 Exp. negativos
Rayleigh
Rayleigh
0.0 0.0
0 1 2 3 4 0 2 4 6 8
3p (m ) 3p (m )
Experimental data from a containership in head long crested waves with Fn = 0.25
0.8 0.8
0.6 0.6
T0 = 11.5s
p(x<x')
p(x<x')
onda : T0 = 16.5s
H S = 6.13m onda :
0.4 0.4 H S = 9.89m
Exp. positivos Exp. positivos
0.2 Exp. negativos 0.2 Exp. negativos
Rayleigh Rayleigh
0.0 0.0
0 2 4 6 0 2 4 6 8
5p ( graus ) p
(graus )
5
Experimental data from a containership in head long crested waves with Fn = 0.25
Picos do MFV a meio-navio - dist. cumulativa Picos do ECV na seco 15 - dist. cumulativa
1.0 1.0
0.8 0.8
p(x<x')
p(x<x')
onda :
H S = 6.13m T0 = 11.5s
onda :
H S = 6.13m
0.4 0.4
Exp. alquebramento
Exp. contra-alquebramento
Exp. contra-alquebramento
0.2 0.2 Exp. alquebramento
Rayleigh
Rayleigh
0.0 0.0
0.0E+00 3.0E+05 6.0E+05 9.0E+05 0 4000 8000 12000 16000
M 5
p
(KNm) V3
p
(KN )
Expected Extreme Amplitudes
The statistical theory of extreme values combined with the narrow-band
assumption results in the estimates for the expected maximum in a
sample of N successive maxima:
N = 100 , 3.25 m 0
N = 1000 , 3.85 m 0 (8.14)
N = 10000, 4.45 m 0
However, is a large number of samples of the former sizes are taken, five
percent of them would be expected to contain maximum amplitudes
exceeding:
N = 100 , 3.9 m0
(8.15)
N = 1000 , 4.45 m0
(A) INTRODUCTION
Operability Index:
Measures the degradation of ship ability to carry out its mission
or in other words
Quantifies the seakeeping quality of the ship
The Operability Index accounts for:
o The ship mission, through the use of seakeeping criteria, which represent
acceptable limits of operation
o The hydrodynamic and inertia characteristics of the ship, through the use of a
seakeeping program to calculate the motions transfer functions
o The wave climate where the ship operates, through the use of the probability
distribution of short term seastates
The Seakeeping Criteria are usually related to absolute motions, relative motions,
accelerations onboard, slamming and green water on deck.
(B) THEORY
The method to calculate the operability index follows four steps:
1. Calculate the ship transfer functions
2. Calculate the ship responses to short term seastates
3. Select seakeeping criteria and calculate curves of maximum significant wave heights
in which the ship can operate
4. Calculate the percentage of time in which the ship is operational in a given ocean
area or route (operability index)
S R ( ) = S w ( )H 2 ( ) (8.16)
And the variance of the response is
R2 = S R ( )d = H S2 Sw1 ( )H ( )d = H S R1
2 2 2
(8.17)
0 0
CR
H S max (Tz , ) = (8.18)
R1
(a) If a seakeeping criterion is defined as a limiting root mean square of the response
CR, then the maximum allowed Hs for a given mean wave period and ship heading is:
CR
H S max (Tz , ) = (8.19)
R1
0.0 0.0
0 1 2 3 4 0 1 2 3 4
L pp / g L pp / g
(c3) Maximum Allowed Significant Wave Heights
Calculate response spectra and variances for: (13 responses) * (25 seastates,
2s<Tz<15s, Hs=1m) * (7 headings)
Calculate H S max (Tz , ) = CR / R1
Max. Sig. Wave Heights (V =10 Kn, = 180) Max. Sig. Wave Heights (V =10 Kn, = 120)
12 12
H S (m ) H S (m )
8 8
4 4
0 0
0 5 Tz (s) 10 15 0 5 Tz (s) 10 15
Max.
Max.Sig.
Sig.Wave
WaveHeights
Heights(V
(V=10 Kn, == 120)
=10Kn, 120)
66
H S ((m
H m))
S
Roll
44 Water on deck
Slamming
All criteria
Vert. accel. atsatisfied
bridge
Lat. accel. at bridge
22
Vert. accel. on deck
Lat. accel. on deck
Propeller emergence
00
00 22 44 TTz (s(s) ) 66 88 10
10
z
Global Wave Statistics Area 8, annual statistics
14.5 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0001 0.0002 0.0002 0.0002 0.0001
13.5 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0001 0.0001 0.0001 0.0001 0.0000
12.5 0.0000 0.0000 0.0000 0.0000 0.0000 0.0001 0.0002 0.0003 0.0002 0.0001 0.0001
11.5 0.0000 0.0000 0.0000 0.0000 0.0000 0.0001 0.0003 0.0005 0.0004 0.0002 0.0001
10.5 0.0000 0.0000 0.0000 0.0000 0.0001 0.0003 0.0007 0.0008 0.0007 0.0004 0.0001
9.5 0.0000 0.0000 0.0000 0.0000 0.0001 0.0006 0.0014 0.0016 0.0011 0.0006 0.0002
8.5 0.0000 0.0000 0.0000 0.0000 0.0003 0.0015 0.0028 0.0029 0.0019 0.0009 0.0003
Hs (m) 7.5 0.0000 0.0000 0.0000 0.0001 0.0009 0.0035 0.0059 0.0054 0.0032 0.0013 0.0004
6.5 0.0000 0.0000 0.0000 0.0003 0.0026 0.0083 0.0121 0.0098 0.0051 0.0019 0.0005
5.5 0.0000 0.0000 0.0000 0.0010 0.0073 0.0193 0.0237 0.0165 0.0074 0.0024 0.0006
4.5 0.0000 0.0000 0.0001 0.0033 0.0195 0.0413 0.0414 0.0239 0.0091 0.0025 0.0006
3.5 0.0000 0.0000 0.0006 0.0106 0.0454 0.0726 0.0566 0.0260 0.0080 0.0018 0.0003
2.5 0.0000 0.0000 0.0025 0.0271 0.0771 0.0855 0.0479 0.0163 0.0038 0.0007 0.0001
1.5 0.0000 0.0002 0.0079 0.0421 0.0656 0.0430 0.0151 0.0034 0.0005 0.0001 0.0000
0.5 0.0000 0.0013 0.0076 0.0134 0.0084 0.0024 0.0004 0.0000 0.0000 0.0000 0.0000
3.5 4.5 5.5 6.5 7.5 8.5 9.5 10.5 11.5 12.5 13.5
Tz (s)
Operability Indexes