ALBERT

Description: In cases when the navigational space of the manoeuvre performed by the ship is severely limited, the procedures making use of the rudder blade, propeller screw, and thrusters are very complicated. Such situations take place when the ship manoeuvres inside the harbour area and in those cases the structure of the control system is very complex. Te article describes the algorithm of multivariable control of ship motion over the water surface, which makes use of the state vector consisting of 6 variables. Tree of them, which are the position coordinates (x, y) measured by the DGPS system and the ship heading y measured by gyro-compass, were obtained experimentally. Te three remaining variables, which are the velocities in surge u, sway v, and yaw r directions, were estimated by Kalman filter, Kalman-Bucy filter and extended Kalman flter, respectively. The control algorithms making use of these observers were examined using the training ship “Blue Lady” which was navigated on the lake Silm in Ilawa/Kamionka in the Ship Handling Research and Training Centre owned by the Foundation for Safety of Navigation and Environment Protection. Te experimental results obtained using control systems with three observers were finally compared between each other.

Description: This paper presents a comparative analysis of results of fatigue life calculations with the u se of the linear summation hypothesis of fatigue failures (LHSUZ), confronted with experimental test results. Te calculations and fatigue tests were performed for variable amplitude(VA), two-step and ten-step loading conditions, both in the low-cycle fatigue (LCF) and high-cycle fatigue (HCF) range, for the case of C45 steel as an example. Experimental verification of the hypothesis LHSUZ did not revealed any significant influence of load level and form of load spectrum on conformity of results of the calculation by using the LHSUZ, to results of fatigue tests on C45 steel. However, it enabled to assess magnitude of a correction factor which appears in the considered linear hypothesis.

Description: This paper is a continuation of the work titled: “A computational model for simulation of motion of rescue module during its launching from stern ramp of a ship at rough sea”. It presents results of computer simulations of motion of a rescue module with embarked persons during its launching on rollers along stern ramp of a ship at rough sea. Te simulations were conducted for a selected ship fitted with a launching ramp, for a few selected scenarios of sea conditions. It was assumed that during this operation the ship drifts across direction of wave propagation.

Description: Within the framework of the project for design and optimization of the Remotely Operated Vehicle (ROV), research on its propulsion has been carried out. Te entire project was supported by CFD and FEM calculations taking into account the characteristics of the underwater vehicle. One of the tasks was to optimize the semi-open duct for horizontal propellers, which provided propulsion and controllability in horizontal plane. In order to create a measurable model of this task it was necessary to analyze numerical methodology of propeller design, along with the structure of a propellers with nozzles and contra-rotating propellers. It was confronted with theoretical solutions which included running of the analyzed propeller near an underwater vehicle. Also preliminary qualitative analyses of a simplified system with contra-rotating propellers and a semi-open duct were carried out. Te obtained results enabled to make a decision about the ROVs duct form. Te rapid prototyping SLS (Selective Laser Sintering) method was used to fabricate a physical model of the propeller. As a consequence of this, it was necessary to verify the FEM model of the propeller, which based on the load obtained from the CFD model. Te article contains characteristics of the examined ROV, a theoretical basis of propeller design for the analyzed cases, and the results of CFD and FEM simulations.

Description: The paper introduces methods of dynamic games for automation of ship control in the collision situation, the game control processes in marine navigation and the fundamental mathematical model of the game ship control. First, state equations, control and state constraints and then control goal function in the form of payments: the integral payment and the final one, have been defined. Multi-stage positional, and multi-step matrix, non-cooperative and cooperative, game and optimum control algorithms for a collision situation, have been presented. Te considerations have been illustrated with an exemplary computer simulation of algorithms to determine a safe own ship's trajectory in the process of passing the ships encountered in Kattegat Strait.

Description: In the deepwater exploitation of oil and gas, replacing the polyester rope by a wire in the chain-wire-chain mooring line is proved to be fairly economic, but this may provoke some corresponding problems. Te aim of this paper is to compare the fatigue damage of two mooring system types, taking into account corrosion effects. Using a semi-submersible platform as the research object, two types of mooring systems of the similar static restoring stiffness were employed. Te mooring lines had the chain-wire-chain and chain-polyester-chain structure, respectively. Firstly, the numerical simulation model between the semi-submersible platform and its mooring system was built. Te time series of mooring line tension generated by each short-term sea state of South China Sea S4 area were calculated. Secondly, the rain flow counting method was employed to obtain the fatigue load spectrum. Thirdly, the Miner linear cumulative law model was used to compare the fatigue damage of the two mooring system types in long-term sea state. Finally, the corrosion effects from zero to twenty years were considered, and the comparison between the fatigue damage of the two mooring system types was recalculated.

Description: The paper presents the summary of results of the numerical analysis of the unsteady propeller performance in the non-uniform ship wake modified by the different wake improvement devices. This analysis is performed using the lifting surface program DUNCAN for unsteady propeller analysis. Te object of the analysis is a 7000 ton chemical tanker, for which four different types of the wake improvement devices have been designed: two vortex generators, a pre-swirl stator, and a boundary layer alignment device. These produced five different cases of the ship wake structure: the original hull and hull equipped alternatively with four wake improvement devices. Two different propellers were analyzed in these five wake fields, one being the original reference propeller P0 and the other - a specially designed, optimized propeller P3. Te analyzed parameters were the pictures of unsteady cavitation on propeller blades, harmonics of pressure pulses generated by the cavitating propellers in the selected points and the fluctuating bearing forces on the propeller shaft. Some of the calculated cavitation phenomena were confronted with the experimental. Te objective of the calculations was to demonstrate the differences in the calculated unsteady propeller performance resulting from the application of different wake improvement devices. Te analysis and discussion of the results, together with the appropriate conclusions, are included in the paper.

Description: This paper concerns analysis of possible use of alcohols for the feeding of self - ignition and spark-ignition engines operating in a dual- fuel mode, i.e. simultaneously combusting alcohol and diesel oil or alcohol and petrol. Issues associated with the requirements for application of bio-fuels were presented with taking into account National Index Targets, bio-ethanol production methods and dynamics of its production worldwide and in Poland. Te considerations are illustrated by results of the tests on spark- ignition and self- ignition engines fed with two fuels: petrol and methanol or diesel oil and methanol, respectively. Te tests were carried out on a 1100 MPI Fiat four- cylinder engine with multi-point injection and a prototype collector fitted with additional injectors in each cylinder. Te other tested engine was a SW 680 six- cylinder direct- injection diesel engine. Influence of a methanol addition on basic operational parameters of the engines and exhaust gas toxicity were analyzed. Te tests showed a favourable influence of methanol on combustion process of traditional fuels and on some operational parameters of engines. An addition of methanol resulted in a distinct rise of total efficiency of both types of engines at maintained output parameters (maximum power and torque). In the same time a radical drop in content of hydrocarbons and nitrogen oxides in exhaust gas was observed at high shares of methanol in feeding dose of ZI (petrol) engine, and 2-3 fold lower smokiness in case of ZS (diesel) engine. Among unfavourable phenomena, a rather insignificant rise of CO and NOx content for ZI engine, and THC and NOx - for ZS engine, should be numbered. It requires to carry out further research on optimum control parameters of the engines. Conclusions drawn from this work may be used for implementation of bio-fuels to feeding the combustion engines.

Description: The objective of the study was to carry out numerical simulation of the hydrodynamic noise generated by the flow around a non-cavitating underwater propeller. To achieve this goal, hydrodynamic simulation of flow around the propeller was initially done. Te unsteady 3-D flow was modelled numerically along with the LES turbulence model. Te hydrodynamic parameters calculated for different advance coefficients are visibly in line with the previous experimental works. Te turbulent quantities of the hydrodynamic study and the FWH model were used to find spectral distributions of flow noise for different advance coefficients. Te results of the acoustic investigation were compared against other numerical results. An array of 100 hydrophones was used to find the directional distribution of the noise around the propeller. Te obtained results indicate that, for different advance coefficients, the highest intensity of the noise recorded by different receivers around the propeller occurs in BPF. Furthermore, it has been found that the noise is directionally as well as intensively distributed around the propeller. Noise distributions of noise are presented and discussed for different regimes of propeller rotation. Te analysis of the expanded spectrum (broadband analysis) of noise on the propellers has also been done and the contribution of all parts of the propeller to hydrodynamic noise generation are presented.

Description: Optimising the ship route is one of the most important tasks related to the operation of the vessel, its safety, and economic aspects of transport. Nevertheless, from a mathematical point of view, this problem has not been solved yet sufciently precisely due to very high complexity of the model to be used to describe the motion of the ship along the shipping line, and time- and space-dependent average values of statistical weather parameters recorded during ship sailing. Tat is why various approximate methods are used, which, among other procedures, utilize ship speed characteristics, having the form of very simple relations between basic dimensions of the ship and the expected speed decrease at the assumed weather parameters. Te paper presents a new method of calculating the speed decrease depending on technical and operating parameters of a given vessel. A computer code prepared based on this method is used for research on forecasting ship speed in real weather conditions.