Ocean Engineering最新文献_第3页

Robust full-link trajectory tracking control for underwater snake robots with actuator faults under time-varying uncertainties 时变不确定性下执行器故障水下蛇形机器人的鲁棒全连杆轨迹跟踪控制

IF 5.5 2区工程技术

Ocean Engineering Pub Date : 2025-10-03 DOI: 10.1016/j.oceaneng.2025.122877

Jing Liu , Haitao Zhu , Yanyan Wang

{"title":"Robust full-link trajectory tracking control for underwater snake robots with actuator faults under time-varying uncertainties","authors":"Jing Liu , Haitao Zhu , Yanyan Wang","doi":"10.1016/j.oceaneng.2025.122877","DOIUrl":"10.1016/j.oceaneng.2025.122877","url":null,"abstract":"<div><div>This paper presents a trajectory tracking control approach for an underwater snake robot (USR) under conditions of internal modeling discrepancies, external time-varying disturbances, and actuator malfunctions, utilizing a fast fixed-time disturbance observer. Initially, a stabilized control system with fast fixed-time convergence is developed, offering superior performance over existing methods. Leveraging the USR's unique kinematic properties, a decoupled control strategy for full-link trajectory tracking is introduced, alongside a cascade controller design based on the mathematical model of an orthogonally-connected USR with a head-mounted propeller. Furthermore, a disturbance observer is designed to estimate both internal uncertainties and external significant disturbance terms, grounded in the dynamics of the USR and the properties of the fast fixed-time stabilization system. By integrating the disturbance estimation and fast fixed-time system with a non-singular terminal sliding mode surface, a fast fixed-time non-singular terminal sliding-mode controller with strong robustness is devised to track the desired link angles, with its fast fixed-time convergence rigorously demonstrated through Lyapunov stability theory. Eventually, extensive simulation results demonstrate the efficacy of the proposed control framework, confirming its robustness and performance in challenging underwater environments.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"342 ","pages":"Article 122877"},"PeriodicalIF":5.5,"publicationDate":"2025-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145204132","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Structural analysis of a 15 MW floating offshore wind turbine platform based on a novel fully-coupled framework 基于新型全耦合框架的15mw海上浮式风力发电平台结构分析

IF 5.5 2区工程技术

Ocean Engineering Pub Date : 2025-10-03 DOI: 10.1016/j.oceaneng.2025.123057

Debang Nie , Shuai Li , Yangtian Yan , Yandong Lou , Jiaqing Yin , Jungang Hao , Yajun Ren , Fuqiang Wang , Chuangchuang He , Yang Yang

{"title":"Structural analysis of a 15 MW floating offshore wind turbine platform based on a novel fully-coupled framework","authors":"Debang Nie , Shuai Li , Yangtian Yan , Yandong Lou , Jiaqing Yin , Jungang Hao , Yajun Ren , Fuqiang Wang , Chuangchuang He , Yang Yang","doi":"10.1016/j.oceaneng.2025.123057","DOIUrl":"10.1016/j.oceaneng.2025.123057","url":null,"abstract":"<div><div>The structural integrity of platform is a critical factor in ensuring the safety of floating offshore wind turbines (FOWTs). In order to address the limitations of existing research in considering the nonlinear coupling effects between wind, wave and current loadings, this study has proposed a novel fully-coupled framework (FAM) for structural analysis of FOWT platforms by integrating OpenFAST with ANSYS. The aero-hydro-servo-elastic analysis of the FOWT is first performed using OpenF2A that incorporates OpenFAST into ANSYS-AQWA. The loads acting on the tower-base, fairleads, and platform wet-surface are obtained and then imported to ANSYS-Mechanical for carrying out the structural analysis. The 15 MW VolturnUS-S platform is re-designed to detailing the compartment and internal structure for the case study. The structural dynamics of the platform under extreme conditions are examined to investigate the influence of mooring breakage and wind-wave misalignment. It is found that mooring breakage causes a 57.05 % increase in maximum stress near the fairlead. The maximum stress over the platform is significantly increased, which is consistent with the trend of platform motion. The misalignment between wind and wave loadings will enhance the stress in platform hotspots, including the connections between the offset-column and pontoon, heave plates and internal ribs. Compared to the results of aligned condition, the maximum stress over the platform is increased by 25.39 % and 29.84 %, respectively, for 90° and 180° wind-wave misalignment scenarios. The buckling analysis of the platform indicates that the proposed structure design has sufficiently high buckling factors to maintain the platform integrity. The relevant analysis has demonstrated that the FAM developed in this study can be used for structural analysis of steel-made platforms of FOWT.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"342 ","pages":"Article 123057"},"PeriodicalIF":5.5,"publicationDate":"2025-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145204405","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Development and validation of an NDEM-based numerical model for ship maneuverability in level ice 基于ndem的水平冰中船舶操纵性数值模型的开发与验证

IF 5.5 2区工程技术

Ocean Engineering Pub Date : 2025-10-03 DOI: 10.1016/j.oceaneng.2025.122956

Biye Yang , Borui Yang , Yinglong Song , Zhe Sun , Guiyong Zhang

{"title":"Development and validation of an NDEM-based numerical model for ship maneuverability in level ice","authors":"Biye Yang , Borui Yang , Yinglong Song , Zhe Sun , Guiyong Zhang","doi":"10.1016/j.oceaneng.2025.122956","DOIUrl":"10.1016/j.oceaneng.2025.122956","url":null,"abstract":"<div><div>A physics-based numerical model is developed to predict ship maneuverability in level ice by coupling the Non-smooth Discrete Element Method (NDEM) with the Maneuvering Modeling Group (MMG) framework. The model not only accounts for the key ice failure mechanisms of crushing and bending but also explicitly resolves the interaction between broken ice and ship hull. Meanwhile, it also incorporates fully dynamic, two-way coupling between ice-induced loads and ship motions. The model's accuracy in predicting ice forces and ice-induced moments was validated using two experiments: the straight-line motion of a cone-shaped structure and the constant-radius turning maneuver of the icebreaker <em>Terry Fox</em>. Following validation, the model is further applied to full-scale simulations of the <em>USCGC Healy</em> operating in level ice, where maneuvering coefficients are determined through a combination of CFD simulations and empirical methods. Parametric analysis of ice thickness, propeller revolution, and rudder angle reveals a strong dynamic coupling between ship kinematics and ice loads, and shows that propeller and rudder effects are markedly more pronounced in level ice than in calm water.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"342 ","pages":"Article 122956"},"PeriodicalIF":5.5,"publicationDate":"2025-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145204406","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Adaptive course keeping control for rudder angle constraint nonlinear ship systems with dead-zone input and uncertain control coefficients 具有死区输入和不确定控制系数的舵角约束非线性船舶系统自适应航向保持控制

IF 5.5 2区工程技术

Ocean Engineering Pub Date : 2025-10-03 DOI: 10.1016/j.oceaneng.2025.122994

Wenxin Wang , Tuotuo Wang , Daihui Zhang , Guoqing Zhang , Nan Wang , Zhenjun Hao

{"title":"Adaptive course keeping control for rudder angle constraint nonlinear ship systems with dead-zone input and uncertain control coefficients","authors":"Wenxin Wang , Tuotuo Wang , Daihui Zhang , Guoqing Zhang , Nan Wang , Zhenjun Hao","doi":"10.1016/j.oceaneng.2025.122994","DOIUrl":"10.1016/j.oceaneng.2025.122994","url":null,"abstract":"<div><div>This paper proposes an adaptive course keeping control algorithm based on Nussbaum functions and barrier Lyapunov function (BLF), targeting the complexity and uncertainty of ship navigation conditions and rudder angle constraints and dead-zone input existing in the course keeping process. Initially, the Nussbaum functions are incorporated into the control scheme to address the issue of direction-uncertain control coefficients, thereby avoiding the singularity problem of the controller. Subsequently, a BLF is utilized to constrain the rudder angle, reducing the steering frequency and energy consumption of the steering gear and making the control actions more consistent with the operational habits of the crew. Meanwhile, the radical basis function neural networks (RBF NNs) are employed to approximate uncertain parameters, while the dynamic surface control (DSC) is applied to simplify the computation process and reduce controller complexity. Then, rigorous mathematical proofs demonstrate that all system signals are semi-globally ultimately uniformly bounded (SGUUB) under the proposed control algorithm and the rudder angle constraints are maintained within a predefined compact set. Finally, simulation examples validate the effectiveness of the proposed scheme.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"342 ","pages":"Article 122994"},"PeriodicalIF":5.5,"publicationDate":"2025-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145227655","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Dynamic response of upper structures on 15 MW floating offshore wind turbine after mooring line failure 15mw浮式海上风电机组系泊索失效后上部结构动力响应

IF 5.5 2区工程技术

Ocean Engineering Pub Date : 2025-10-03 DOI: 10.1016/j.oceaneng.2025.123025

Yan Li , Yiting Feng , Yaliu Liu , Bin Wang , Guoyan Li , Ouming Su , Yiwen Cui , Haoran Li

{"title":"Dynamic response of upper structures on 15 MW floating offshore wind turbine after mooring line failure","authors":"Yan Li , Yiting Feng , Yaliu Liu , Bin Wang , Guoyan Li , Ouming Su , Yiwen Cui , Haoran Li","doi":"10.1016/j.oceaneng.2025.123025","DOIUrl":"10.1016/j.oceaneng.2025.123025","url":null,"abstract":"<div><div>Mooring systems are indispensable for preserving the motion behavior and structural integrity of FOWTs. Its failure may lead to dangerous incidents such as platform capsizing and collisions with additional offshore facilities. Hence, it is essential to study the FOWT behaviors after mooring failure and to explore effective mitigation strategies. In this study, we established a fully coupled model for the IEA 15 MW semi-submersible FOWT. The model is employed to analyze the influence of mooring system failure on the motion and structural responses of the upper structure, including blade tip displacement, blade root and tower base bending moment, as well as generator power. Particularly, the influence of nacelle yaw system behavior and blade pitch emergency feathering were also discussed. It can be observed from the results that the transient responses suddenly and significantly increase after the mooring line is broken. Blade tip oscillations, bending moments on the blade root and tower base, as well as the generator output power all exhibit strong fluctuations, accompanied by a notable concentration of high-frequency energy. After yaw system shutdown, the fore-aft bending moment on tower base decreases significantly. Blade feathering effectively reduces both the blade root and tower base bending moments.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"342 ","pages":"Article 123025"},"PeriodicalIF":5.5,"publicationDate":"2025-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145204124","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Entropy-based analysis of influential factors for underwater acoustic target recognition in passive sonar data 基于熵的被动声呐数据中水声目标识别影响因素分析

IF 5.5 2区工程技术

Ocean Engineering Pub Date : 2025-10-03 DOI: 10.1016/j.oceaneng.2025.122908

Junho Bae , Mingu Kang , Youngmin Choo

{"title":"Entropy-based analysis of influential factors for underwater acoustic target recognition in passive sonar data","authors":"Junho Bae , Mingu Kang , Youngmin Choo","doi":"10.1016/j.oceaneng.2025.122908","DOIUrl":"10.1016/j.oceaneng.2025.122908","url":null,"abstract":"<div><div>Underwater acoustic target recognition (UATR) using passive sonar frequently demonstrates significant performance degradation with unseen data, owing to discrepancies in data distributions between the training and test sets. In this study, four selected influential factors that meaningfully contribute to cluster formation within the dataset, namely, ship type, ship size, individual location, and combined location category distinguishing between port and canal, are systematically analyzed. Unsupervised deep embedded clustering is repeatedly applied to the ShipsEar dataset using four different numbers of clusters, each corresponding to the number of classes associated with a specific influential factor. We propose an entropy-based metric for evaluating the alignment between the results clusters and ground-truth classes in each case. Measurement location, which determines sound propagation conditions, is a dominant influential factor along with ship type and ship size, which are related to the inherent characteristics of sound sources. To enhance the influence of ship type or ship size in the corresponding classification tasks, we mitigate the effect of measurement location by training two separate classifiers (one for ports and one for canals) using the respective subsets of the dataset. With the location constraint, classification accuracy improves across various data-splitting methods during testing.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"342 ","pages":"Article 122908"},"PeriodicalIF":5.5,"publicationDate":"2025-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145204396","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Wave resonance within a narrow gap between twin rectangular boxes under wave-current actions 在波浪电流作用下，两个矩形盒子之间狭窄间隙内的波共振

IF 5.5 2区工程技术

Ocean Engineering Pub Date : 2025-10-03 DOI: 10.1016/j.oceaneng.2025.122961

C.Z. Wang, S.H. Yang, Y.Q. Zheng, H. Ge

引用次数: 0

Comparative numerical analysis of grooved, microbubble, and coupled surfaces for underwater vehicle drag reduction 沟槽面、微泡面和耦合面对水下航行器减阻的比较数值分析

IF 5.5 2区工程技术

Ocean Engineering Pub Date : 2025-10-03 DOI: 10.1016/j.oceaneng.2025.123040

Tianjian Li , Pengcheng Zhu , Qin Dong , Tao Wu , Ziqi Xu

{"title":"Comparative numerical analysis of grooved, microbubble, and coupled surfaces for underwater vehicle drag reduction","authors":"Tianjian Li , Pengcheng Zhu , Qin Dong , Tao Wu , Ziqi Xu","doi":"10.1016/j.oceaneng.2025.123040","DOIUrl":"10.1016/j.oceaneng.2025.123040","url":null,"abstract":"<div><div>Surface drag reduction technology has the potential to significantly decrease the frictional resistance in underwater vehicles, thereby improving their speed, propulsive efficiency, and operational flexibility under diverse conditions. In this paper, numerical simulations are utilized to explore the drag-reducing effects of grooved surfaces, microbubble-covered surfaces, and groove–microbubble coupled surfaces, with particular focus on the influence of microbubble diameter, flow rate, and the positioning of drag-reducing surfaces on underwater vehicles. The results reveal that the microbubble-covered surface offers the highest drag reduction, achieving up to 97.16 % reduction on the lower surface of the vehicle at a flow velocity of 1 m/s. When combined, the grooved and microbubble-covered surfaces interact in a way that limits the movement of microbubbles, reducing their coverage on the drag-reducing surface and resulting in a lower overall drag reduction compared to the microbubble-covered surface alone. Despite this, the groove structure enhances microbubble retention, particularly in areas where buoyancy effects lead to rapid gas depletion, thus reducing drag in adjacent surface. This comprehensive analysis highlights the potential of groove-microbubble coupled surfaces for optimizing drag reduction on underwater vehicles under various flow conditions.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"342 ","pages":"Article 123040"},"PeriodicalIF":5.5,"publicationDate":"2025-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145204129","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A data-driven approach for crack damage detection in ship plate structures utilizing stress field 基于应力场的数据驱动舰船板结构裂纹损伤检测方法

IF 5.5 2区工程技术

Ocean Engineering Pub Date : 2025-10-03 DOI: 10.1016/j.oceaneng.2025.123004

Quanhua Zhu , Mengtong Xu , Yalin Yue , Guocai Chen , Mengdan Sun , Xueliang Wang , Lei Ao , Jin Gan

{"title":"A data-driven approach for crack damage detection in ship plate structures utilizing stress field","authors":"Quanhua Zhu , Mengtong Xu , Yalin Yue , Guocai Chen , Mengdan Sun , Xueliang Wang , Lei Ao , Jin Gan","doi":"10.1016/j.oceaneng.2025.123004","DOIUrl":"10.1016/j.oceaneng.2025.123004","url":null,"abstract":"<div><div>Cracks are prevalent and safety-critical defects in ship hull structures, rendering real-time and accurate detection essential for the assurance of structural integrity. However, traditional crack detection methods are constrained by inefficiency, high costs, and vulnerability to human error. This study aims to develop a crack detection method based on stress field data and convolutional neural networks (CNNs) to improve detection accuracy and efficiency. The extended finite element method (XFEM) was utilized to simulate crack propagation and generate a comprehensive stress field dataset, whereas actual stress measurements were acquired via sensors. A sliding window technique was employed to preprocess the stress sequences, segmenting continuous data into ordered subsets. Subsequently, a multi-layer CNN model was developed to automatically identify crack types, lengths, and locations. Experimental results indicate that the proposed method achieves high accuracy across various crack features, with classification accuracies of 100 % for crack length and position, and over 96 % for crack angle, thereby validating its effectiveness and robustness. The findings suggest that this data-driven detection approach is applicable to ship hull plates, offering an efficient and reliable tool for crack diagnosis in marine engineering.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"342 ","pages":"Article 123004"},"PeriodicalIF":5.5,"publicationDate":"2025-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145204130","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Integrated improved ant colony optimization and Q-learning for ice navigation route planning 集成改进蚁群优化和q -学习的冰上导航路线规划

IF 5.5 2区工程技术

Ocean Engineering Pub Date : 2025-10-03 DOI: 10.1016/j.oceaneng.2025.122935

Jiaming Zhou , Xiuwen Liu , Hongshuai Xie , Yong Yin

{"title":"Integrated improved ant colony optimization and Q-learning for ice navigation route planning","authors":"Jiaming Zhou , Xiuwen Liu , Hongshuai Xie , Yong Yin","doi":"10.1016/j.oceaneng.2025.122935","DOIUrl":"10.1016/j.oceaneng.2025.122935","url":null,"abstract":"<div><div>Global warming has accelerated Arctic sea ice retreat and extended navigational windows, creating both opportunities and challenges for Arctic shipping. To enable safe and cost-effective route planning, this study presents an integrated method combining Improved Ant Colony Optimization and Q-Learning (IACO-QL). First, the Ant Colony Optimization (ACO) algorithm is enhanced using global distance guidance, cosine similarity, and a dynamic pheromone evaporation mechanism to improve convergence. The Improved Ant Colony Optimization (IACO) constructs a multi-objective solution space tailored to ice navigation. This solution space is used to prune the state space of Q-Learning (QL) and to initialize the Q-table. Second, QL refines the route using a composite reward function that balances distance, navigational safety, and icebreaking cost. Finally, the Bresenham line algorithm removes redundant nodes while preserving key turning points. Experimental results in representative Arctic scenarios show that IACO-QL improves navigation performance. Compared with traditional methods, it reduces route length by 9.84 % in sparse ice and 6.35 % in dense ice, while the number of turns is reduced by 59.57 % and 62.77 %, respectively. These improvements demonstrate the effectiveness and practical value of the proposed method for intelligent and efficient route planning in polar environments.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"342 ","pages":"Article 122935"},"PeriodicalIF":5.5,"publicationDate":"2025-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145204395","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0