The ocean engineering handbook

Ferial El-Hawary0849385989, 9780849385988

Compiled with the help of an internationally acclaimed panel of experts, the Ocean Engineering Handbook is the most complete reference available for professionals. It offers you comprehensive coverage of important areas of the theory and practice of oceanic/coastal engineering and technology. This well organized text includes five major sections: Marine Hydro Dynamics and Vehicles Control, Modeling Considerations, Position Control Systems for Offshore Vessels, Applications of Computational Intelligence in the Ocean’s Environment, and Fiber Optics in Oceanographic Applications. Designed to be used as a traditional handbook, it thoroughly covers position control theory and implementations and offers a close look at the present state of ocean engineering.With 200 tables and over 100 figures, the Ocean Engineering Handbook will give you a head start in many aspects of oceanic engineering.

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Table of contents :
The Ocean Engineering Handbook……Page 2
The Electrical Engineering Handbook Series……Page 4
Dedication……Page 5
Preface……Page 6
Editor-in-Chief……Page 8
Contributors……Page 9
Contents……Page 10
1.1 Anatomy of Sea Level Variability—An Example from the Adriatic……Page 13
Table of Contents……Page 0
Tides……Page 15
Storm Surges and Seiches……Page 16
Seasonal and Year-to-Year Variability……Page 18
Interdecadal Variability……Page 21
Sea Level Trend……Page 22
References……Page 23
Positions, Forces, and States of a Marine Vehicle……Page 26
Classification of a Marine Vessel’s Control Systems……Page 28
Types of Marine Vehicles……Page 30
Mathematical Model of Marine Vehicle Dynamics……Page 31
Equations of Motion of a Marine Vehicle in Earth-Fixed Frame……Page 32
Mathematical Model of Control Vector Generation……Page 33
Disturbances Caused by Waves, Wind, and Sea Currents……Page 34
Course- and Track-Keeping Control Systems……Page 35
Course-Keeping Control System……Page 36
Track-Keeping Control Systems……Page 37
Roll Stabilization Systems……Page 38
Forward Speed Control Systems……Page 39
Dynamic Positioning Systems……Page 40
Integrated Ship Control Systems……Page 42
References……Page 44
1.3 Sea Ambient Noise—An Example from the Middle Adriatic……Page 45
Hydrodynamic Sources……Page 47
Surface Waves……Page 48
Influence of Rain……Page 49
Biological Sources……Page 50
Seismic Sources……Page 51
Properties of Sea Noise……Page 52
Results of Adriatic Sea Noise Measurement……Page 53
Comparison with Results of Other Authors……Page 58
Conclusion……Page 60
1.4 Basic Shipboard Instrumentation and Fixed Automatic Stations for Monitoring in the Baltic Sea……Page 64
Basic Shipboard Measurement Systems……Page 66
The IOW Automatic Station Network in the Southern Baltic Sea As a Part of the Marine Monitoring Network (MARNET) of the BSH……Page 67
References……Page 73
2.1 Marine Hydrodynamics and Dynamics of a Floating Structure……Page 75
Estimation of Hydrodynamic Forces……Page 76
Numerical Schemes to Solve Fundamental Equation……Page 78
Strip Method……Page 79
Morrison Equation……Page 80
Some Examples of Hydrodynamic Forces on a Structure……Page 81
Equation of Motion……Page 84
Some Relationships among Hydrodynamic Forces……Page 86
Dynamics of a Very Large Floating Structure……Page 88
Dynamics of Underwater Vehicles and FPSO (A Single Point Moored Vessel)……Page 91
Conclusion……Page 92
2.2 Mathematical Modeling of Ocean Waves……Page 93
Nonlinear Wave Interactions……Page 94
Nonlinear Wave-Wave Interaction……Page 97
Second Approximation……Page 98
Third Approximation……Page 100
Bernoulli’s Method of Integrating Factors……Page 102
Numerical Solution Using the Fourth-Order Runge-Kutta Method……Page 104
Results and Discussion……Page 106
Wave-Induced Surface Currents……Page 107
Case I: Deep Ocean……Page 111
Solution:……Page 112
Case II: Finite Depth Ocean……Page 113
Case III: Shallow Water Ocean……Page 115
Case I: Deep Ocean Currents……Page 116
Case II: Finite Depth Ocean Currents……Page 118
Case III: Shallow Water Ocean……Page 121
Method of Complex Variables……Page 123
Case I: Deep Ocean……Page 124
Case III: Shallow Water Ocean……Page 126
Time Dependent Eulerian Currents Under the Influence of the Earth’s Rotation……Page 127
Case I: Deep Ocean……Page 128
Case II: Finite Depth Ocean……Page 129
Case III: Shallow Water Ocean……Page 131
Effects of the Earth’s Rotation, Stokes Drift, Energy Due to Wind, and Energy Dissipation Due to Breaking of Waves on Unstead……Page 132
Case I: Deep Ocean……Page 133
Case II: Finite Depth Ocean……Page 134
Case III: Shallow Water Ocean……Page 137
References……Page 139
2.3 System Approaches to Heave Compensation in Marine Dynamic Applications……Page 140
Heave Motion Modeling……Page 141
Auto-regressive PSD Estimation……Page 142
Application Results……Page 144
Corrector……Page 145
A Recursive Weighted Least Squares Estimation Approach……Page 146
Choice of Weighting Function……Page 147
A Generalized Kalman Filtering Approach……Page 148
The Generalized Kalman Filter……Page 149
General Result……Page 150
Special Case……Page 151
Application in Heave Compensation……Page 152
References……Page 154
2.4 Approaches to Marine Seismic Extraction……Page 155
Wuenschel’s Model……Page 156
Goupillaud’s Model……Page 158
Robinson’s Model……Page 159
Mendel’s Model……Page 161
Nonparametric Models……Page 162
SLM Approach……Page 163
BGW Approach……Page 164
Sequential Correlation-Based Detection……Page 165
Linearized Delay Model Detection……Page 166
Event Enhancement Filtering……Page 167
Time Domain Attribute Extraction Accounting for Losses……Page 168
A Frequency Domain Model……Page 169
Layer Parameter Estimation……Page 170
Conclusions……Page 172
References……Page 173
3.1 Marine Positioning Systems……Page 177
Power Plant……Page 180
Sensor and Position Reference Systems……Page 181
Mooring System (for Anchored Vessels)……Page 183
Feedback Control Law……Page 184
Advisory and Surveillance Systems……Page 185
Classification and Guidelines……Page 186
Capability and Simulations……Page 187
Reliability and Redundancy……Page 188
References……Page 189
Introduction……Page 190
Kinematics……Page 191
6 DOF Kinematics (Small Roll and Pitch Angle Representation)……Page 192
Vessel Dynamics……Page 193
Nonlinear Low-Frequency Vessel Model……Page 194
Linear Wave-Frequency Model……Page 198
Wave Load Model……Page 199
Mooring System……Page 200
References……Page 202
3.3 Position and Velocity Observer Design……Page 203
Objectives……Page 204
Nonlinear Low-Frequency Control Plant Model……Page 205
Bias Model……Page 206
Extended Kalman Filter Design……Page 207
Discrete-Time EKF Equations……Page 208
Observer Equations (Representation 1)……Page 209
Observer Estimation Errors……Page 210
Augmented Observer (Representation 2)……Page 213
Augmented Observer Error Equations……Page 214
Adaptive Observer Equations……Page 215
Adaptive Observer Error Dynamics……Page 216
Experimental Results……Page 217
References……Page 220
Control Plant Model……Page 221
Linear Low-Frequency Model……Page 222
Resulting Control Law……Page 223
Roll-Pitch Control Law……Page 224
Controller Analysis……Page 225
Frequency Domain Analysis……Page 227
Time Domain Numerical Simulations……Page 228
References……Page 229
3.5 Weather Optimal Positioning Control……Page 232
Polar Coordinates……Page 234
Ship Model Transformation……Page 235
Disturbance Modeling……Page 236
Nonlinear and Adaptive Control Design……Page 237
Nonlinear Backstepping (PD-Control)……Page 238
Adaptive Backstepping (PID-Control)……Page 240
Semi-Definite Matrices……Page 242
Translatory Circle Center Controller……Page 243
Weather Optimal Position Control (WOPC)……Page 244
Experiment 1: Weather Optimal Heading Control (WOHC)……Page 245
Experiment 2: Weather Optimal Position Control (WOPC)……Page 247
References……Page 248
Introduction……Page 249
Problem Formulation……Page 250
Propeller Characteristics……Page 251
Propeller Losses……Page 253
Propeller Shaft Model……Page 254
Local Thruster Controller Design……Page 255
Torque Feedforward Control……Page 256
Sensitivity to Thrust Losses……Page 258
Electrical Power Plant Network Performance and Stability……Page 259
References……Page 261
The Ocean Engineering Handbook……Page 263
Computational Intelligence in Ocean Engineering……Page 264
Existing Online Control Strategies……Page 265
Modeling Autonomous Underwater Vehicle Dynamics……Page 266
The Online Learning Scheme……Page 267
The Hybrid Learning Rule: Online Control……Page 268
Online Yaw and Roll Results……Page 269
Acknowledgments……Page 271
References……Page 272
4.2 An Approach to Multi-Robot Cooperation under Human Supervision……Page 273
An Approach to Cooperation among Intelligent Vehicles and Robots……Page 274
Discrete Event System (DES) Concepts Using Petri Nets……Page 275
Use of DES to Ensure Coordination among Multiple Machines……Page 276
Use of DES for Seamless Human-Machine Cooperation……Page 277
Demonstration of Concept for Multi-Vehicle Programming and Control……Page 278
References……Page 280
4.3 Computer Vision in Ocean Engineering……Page 281
Sensing……Page 282
Preprocessing……Page 288
Segmentation……Page 290
Recognition……Page 292
Search and Survey……Page 293
Object Recognition and Tracking……Page 294
Image Compression……Page 295
Photogrammetry……Page 297
Reconstruction and Analysis……Page 299
Image Sensor Fusion……Page 301
References……Page 302
5.1 Overview of Fiber Optics in Oceanographic Applications……Page 306
Physical Basis for Optical Fiber Transmission……Page 307
Fiber Construction: Step Index and Graded Index Types……Page 308
Modal Structure……Page 310
Multimode Fibers……Page 311
Coupling and Alignment Loss……Page 314
Modal Noise……Page 316
Dispersion……Page 317
Modal Dispersion……Page 318
Waveguide Dispersion……Page 319
Environmental Effects……Page 320
5.2 Basics of Fiber-Optic Strain Sensors……Page 321
Intensity-Modulated Sensors……Page 322
Attenuation Gap Sensor……Page 323
Microbend Sensor……Page 325
Macrobend Sensor……Page 328
Bragg Grating……Page 329
Interferometric Fiber Optic Sensors……Page 331
Single-Fiber Interferometric Fiber Optic Sensors……Page 333
Common Interferometers……Page 334
Polarimetric Interferometer……Page 335
Mach-Zehnder Interferometer……Page 336
Michelson Interferometer……Page 337
The Extrinsic Fabry-Perot Sensor……Page 338
Fiber Optic Rotation Sensors……Page 339
References……Page 341
Fundamentals……Page 343
Polarization……Page 346
Multiplexing……Page 348
Hydrophone Design……Page 350
Towed Arrays……Page 353
Fixed Arrays……Page 354
Planar Arrays……Page 358
Non-Acoustic Sensing……Page 359
References……Page 360
The Navy/Scripps Armored Coax……Page 362
The UNOLS Armored Coaxial Cable……Page 363
Comparison of the New and Old Coax Designs……Page 364
New Nonlinear Analysis Techniques……Page 365
The Nature of Fiber Optic Communications……Page 366
Light Propagation in Optical Fibers……Page 367
Fiber Optic Propagation Modes……Page 369
Fiber Bending and Microbending……Page 370
The N-Conductor E-O Cable……Page 373
Power-Diameter-Strength Optimization of E-O Cables……Page 376
System Trade-Offs and ‘‘Off-Optimum” Cable Designs……Page 378
The Next Generation……Page 379
Handling Systems for E-O Cables……Page 380
Fiber Pressure/Temperature Response……Page 381
Winches for E-O Cables……Page 382
References……Page 383
The Ocean Engineering Handbook……Page 384
Principles of Current Measurement……Page 385
Acoustic Sensors……Page 386
Other Sensors……Page 388
Merged Observations……Page 389
References……Page 390