Ocean EngineeringPub Date : 2025-04-21DOI: 10.1016/j.oceaneng.2025.121173
Fredrik Fogh Sørensen, Christian Mai, Malte von Benzon, Jesper Liniger, Simon Pedersen
{"title":"The localization problem for underwater vehicles: An overview of operational solutions","authors":"Fredrik Fogh Sørensen, Christian Mai, Malte von Benzon, Jesper Liniger, Simon Pedersen","doi":"10.1016/j.oceaneng.2025.121173","DOIUrl":"10.1016/j.oceaneng.2025.121173","url":null,"abstract":"<div><div>Autonomous unmanned underwater vehicles (UUVs) play a vital role in diverse underwater operations; localization is of great interest for UUVs mirroring the trend seen in self-driving surface and aerial vehicles. Unlike their land and aerial counterparts, underwater environments lack reliable Global Navigation Satellite Systems (GNSS) due to radio wave attenuation in water. Hence, alternative localization methods are imperative for both navigation and operational purposes. This study thoroughly reviews sensor technologies for underwater localization, including sonar, Doppler velocity log, cameras, and more. Different operations necessitate distinct localization accuracies and vehicle and sensor choices. Environmental factors, such as turbidity, waves, and sound disturbances, impact sensor performance. Conclusions are given on the coincidence between operational requirements and sensor specifications, with special attention to the open concerns. These considerations include aspects such as the line of sight for acoustic positioning systems and the requirement for a feature-rich environment for visual sensors. Lastly, a prediction for the future of underwater localization is given, where the tendencies indicate lower costs for sensors, making operation-specific vehicles more attractive, which aligns with an increased demand for cost-efficient autonomous offshore operations.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"330 ","pages":"Article 121173"},"PeriodicalIF":4.6,"publicationDate":"2025-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143854745","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}
{"title":"Research on path planning of deep-sea mining vehicles integrating improved theta∗ algorithm with dynamic window method","authors":"Yu Dai, Cheng Yu, Xin Huang, Zhuangzhi Li, Xiang Zhu","doi":"10.1016/j.oceaneng.2025.121281","DOIUrl":"10.1016/j.oceaneng.2025.121281","url":null,"abstract":"<div><div>Due to the complex and unpredictable environment of deep-sa mining areas, effective path planning algorithms can significantly enhance the operational efficiency of deep-sea mining vehicles (DSMVs). This paper proposes an improved Theta∗ algorithm, integrated with the dynamic window approach (DWA), specifically designed for path planning in deep-sea mining operations. The algorithm incorporates constraints on the vehicle's kinematic parameters, dynamically adjusts the neighborhood node expansion method and line-of-sight algorithm, and introduces acceleration and azimuth evaluation weights to improve search efficiency and ensure smooth vehicle motion. Furthermore, a path planning controller based on this algorithm is developed. To validate the effectiveness of the proposed method, a multi-body dynamics (MBD) model of the DSMV was constructed to perform co-simulation, taking into account factors such as water resistance and the interaction between the tracks and sediment. The simulation results and experimental tests demonstrate that the improved path planning algorithm satisfies the kinematic requirements for deep-sea mining operations and exhibits high precision in motion control.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"330 ","pages":"Article 121281"},"PeriodicalIF":4.6,"publicationDate":"2025-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143854748","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}
Ocean EngineeringPub Date : 2025-04-21DOI: 10.1016/j.oceaneng.2025.121209
Maria Gkougkoudi-Papaioannou , Yuri Pepi , Maximilian Streicher , Bruno Stuyts , Christof Devriendt , Peter Troch
{"title":"A 3D experimental study of the wave-induced seabed response around a monopile foundation based on pore pressure measurements under regular wave loading","authors":"Maria Gkougkoudi-Papaioannou , Yuri Pepi , Maximilian Streicher , Bruno Stuyts , Christof Devriendt , Peter Troch","doi":"10.1016/j.oceaneng.2025.121209","DOIUrl":"10.1016/j.oceaneng.2025.121209","url":null,"abstract":"<div><div>Pore pressures in the seabed soil around monopile foundations are critical for assessing seabed stability and optimising the design of offshore structures. This study presents the set-up, applied methodology and findings of 3D experiments on the wave-induced pore pressures around a scaled monopile foundation subjected to regular wave loading, under various wave conditions. Sand sediment from the Belgian part of the North Sea is used to resemble realistic seabed conditions, enhancing the practical relevance of the study. The experimental results are used to investigate the influence of varying wave conditions on the pore pressures around the monopile. A semi-empirical model is subsequently developed to predict the wave-induced pore pressures in the tested soil sediment under different wave scenarios. The model accounts for the presence of the monopile structure while maintaining a connection to the underlying theoretical principles. The experimental results indicate that the common design assumption of undrained soil behaviour may be overly conservative for the type of sand tested, as significant pore pressure accumulation was not observed during the experiments.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"330 ","pages":"Article 121209"},"PeriodicalIF":4.6,"publicationDate":"2025-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143852105","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}
Ocean EngineeringPub Date : 2025-04-21DOI: 10.1016/j.oceaneng.2025.121285
Dongdong Han , Xin Li , Wenhua Wang , Xiaohui Su
{"title":"Vibration suppression performance comparison of floating offshore wind turbines using a tuned liquid column damper and a tuned mass damper","authors":"Dongdong Han , Xin Li , Wenhua Wang , Xiaohui Su","doi":"10.1016/j.oceaneng.2025.121285","DOIUrl":"10.1016/j.oceaneng.2025.121285","url":null,"abstract":"<div><div>Floating offshore wind turbines (FOWTs) are exposed to the combined effects of wind and waves for a long time, and the additional floating platform motion often leads to excessive vibrations in the tower structure, which in turn affects the safety and reliability of the whole system. Effective vibration suppression of these vibrations has always been a key issue in research. In this study, two of the most commonly used passive structural control devices used to mitigate vibration in FOWTs are considered: tuned mass dampers (TMDs) and tuned liquid column dampers (TLCDs). A comparative evaluation of their vibration mitigation performance applied to the FOWT is carried out. First, to implement the optimal design of parameters for the TMD and TLCD, simplified 3-degree-of-freedom (DOF) mathematical models for the FOWT with the TMD/TLCD are derived and established. The simplified mathematical model is further validated, and the optimal design and parameter study of the TMD and TLCD are investigated using the 5 MW barge FOWT as the benchmark research object. Evaluations and comparisons of the vibration control performance of TMD and TLCD are performed on the basis of fully coupled time domain analysis in OpenFAST, considering the FOWT in operational, nonoperational, and extreme conditions. The results reveal a significant difference in the performance of the TMD and TLCD for tower vibration suppression under various conditions, with more prominent performance under nonoperational and extreme conditions. In addition, the stroke limitation condition of the TMD has a greater influence on performance. The TMD with a large stroke has the most prominent performance, whereas TLCD effectively mitigates tower vibration under different conditions through small liquid column motion.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"330 ","pages":"Article 121285"},"PeriodicalIF":4.6,"publicationDate":"2025-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143854451","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}
Ocean EngineeringPub Date : 2025-04-21DOI: 10.1016/j.oceaneng.2025.121288
Qiuya Tu, Shui Ji, Xiao Li, Xin Zhang, Shanshan Wu, Hao Liu
{"title":"Performance evaluation of a pilot-scale two-stage Savonius turbine for low-speed flow","authors":"Qiuya Tu, Shui Ji, Xiao Li, Xin Zhang, Shanshan Wu, Hao Liu","doi":"10.1016/j.oceaneng.2025.121288","DOIUrl":"10.1016/j.oceaneng.2025.121288","url":null,"abstract":"<div><div>The Savonius hydrokinetic turbine offers a promising method for harnessing low-speed oceanic flow energy due to its self-starting capability. In this study, a pilot-scale, two-stage Savonius turbine with two semi-circular blades per stage, offset by 90° was designed. The turbine's hydrokinetic performance was first evaluated in a flume. A complete turbine system was assembled by integrating a customized generator, then tested in the flume to measure start-up velocity and power output. Based on the flume test results, the generator was optimized for higher efficiency before real-seal deployment and evaluation. The results demonstrated the system achieved successful start-up at minimum flow velocities of 0.3 m/s (flume) and 0.26 m/s (sea). Both torque and power output increased with higher flow velocities, and the maximum power coefficient at each flow velocity was achieved at a specific Tip Speed Ratio (TSR) between 0.7 and 0.8. The upgraded generator significantly improved the system's electrical power output efficiency, from 15 % at 0.3 m/s in the flume to 43 % at 0.26 m/s in the sea. Design challenges identified during testing were discussed for further optimization. These findings underscore the potential of the Savonius turbine system as a viable option for capturing low-speed flow energy in marine environments.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"330 ","pages":"Article 121288"},"PeriodicalIF":4.6,"publicationDate":"2025-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143854452","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}
Ocean EngineeringPub Date : 2025-04-21DOI: 10.1016/j.oceaneng.2025.121217
Ying Han , Ruihan Zhao , Fangjue Wu , Jianing Yan , Changming Dong
{"title":"A two channel optimized SWH deep learning forecast model coupled with dimensionality reduction scheme and attention mechanism","authors":"Ying Han , Ruihan Zhao , Fangjue Wu , Jianing Yan , Changming Dong","doi":"10.1016/j.oceaneng.2025.121217","DOIUrl":"10.1016/j.oceaneng.2025.121217","url":null,"abstract":"<div><div>In recent years, significant wave height (SWH) prediction based on deep learning has become a research hotspot. Input of related meteorological factors and time-frequency decomposition technology can effectively improve the SWH prediction accuracy. But at the same time, it is prone to cause dimensional catastrophe. Considering different characteristics, two dimensionality reduction schemes adapted to the related meteorological factors and time-frequency decomposed components are presented, which can effectively reduce the input dimensionality by about 70 %. A frequency-aware two-channel architecture that utilizes permutation entropy to classify components into high-frequency and low-frequency groups, achieving 60 % improvement in prediction accuracy (minimum mean absolute error (MAE) of two-channel model is about 0.01). Through the integration of Bayesian optimization and attention mechanisms, our optimized framework delivers a substantial 35 % increase in prediction accuracy. The proposed model maintains high prediction accuracy even under extreme wave conditions. Specifically, for SWH values exceeding 4 m, the model achieves MAE of less than 0.04 in 1-h-ahead prediction, demonstrating its robustness in challenging scenarios.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"330 ","pages":"Article 121217"},"PeriodicalIF":4.6,"publicationDate":"2025-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143854746","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}
Ocean EngineeringPub Date : 2025-04-21DOI: 10.1016/j.oceaneng.2025.121279
Ying Qin , Haiwei Lv , Xuanling Zhang , Xiao Li
{"title":"Post-buckling behaviors of a spinning composite thin-walled pipe conveying fluid considering thermal effects","authors":"Ying Qin , Haiwei Lv , Xuanling Zhang , Xiao Li","doi":"10.1016/j.oceaneng.2025.121279","DOIUrl":"10.1016/j.oceaneng.2025.121279","url":null,"abstract":"<div><div>For some fluid-conveying pipes with spinning motion, buckling is a necessary subject owing to the post-buckling deformation and vibration caused by the pressure at the end of the pipes under some complex working conditions such as improper pipeline design, pipeline aging, temperature change, etc. To understand the post-buckling behaviors of the pipes, this work proposes a mathematical model for the post-buckling static deformation and post-buckling vibration of a spinning composite thin-walled beam conveying fluid under thermal effects. The out-of-plane warping deformation and von Kármán geometric nonlinearity are considered to model the beam, and the nonlinear equations of extension-bending coupled motion are established using Hamilton's principle. Afterwards, the generalized differential quadrature method (GDQM) and pseudo arclength continuation technique are adopted to obtain the post-buckling paths and vibration characteristics around the buckled configuration. The influence mechanisms of spinning angular velocity, fluid velocity and design parameters on the post-buckling behaviors with the coupled motion is paid to special attention, and the mode veering phenomenon of the coupled vibration in the post-buckling domain is also detected. Results show that the static displacement, vibration frequency and mode shape in post-buckling domain exhibit a prominent change with the effects of spinning motion and conveying fluid.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"330 ","pages":"Article 121279"},"PeriodicalIF":4.6,"publicationDate":"2025-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143852218","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}
Ocean EngineeringPub Date : 2025-04-21DOI: 10.1016/j.oceaneng.2025.121171
Xiang Wang , Jiaxin Gao , Kaichen An , Hongtian Suo , Jiaxing Chen
{"title":"Unsupervised learning based multi-AUV task allocation in 3-D underwater environments with ocean currents and obstacles","authors":"Xiang Wang , Jiaxin Gao , Kaichen An , Hongtian Suo , Jiaxing Chen","doi":"10.1016/j.oceaneng.2025.121171","DOIUrl":"10.1016/j.oceaneng.2025.121171","url":null,"abstract":"<div><div>A current and obstacle adaptive self-organizing map (COA-SOM) algorithm is proposed for solving the challenges of uneven task distribution, high energy consumption, and slow convergence in multi-task assignment algorithms for Autonomous Underwater Vehicles (AUVs) in complex marine environments. Firstly, the competitive rule of SOM algorithm has been improved by incorporating the obstacle avoidance distance and ocean current influences factors. This improvement allows COA-SOM to select the optimal winner neuron in complex marine environments. Secondly, during the neuron weight update phase, an environmental influence function is introduced to enhance SOM algorithm’s adaptability to its environment. This environmental influence function employs the artificial potential field method to assess the impact of obstacle repulsion, current influence, and attraction of the target point on each weight update. Additionally, to expedite the algorithm’s convergence, an S-shaped dynamic acceleration factor is incorporated. This factor could expedite the update speed of neurons when obstacles are absent. Finally, the effectiveness of the COA-SOM algorithm is evaluated under different task sizes through comparisons with the SOM, PSO, DLBSOM, and GA algorithms in simulated and real ocean environments.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"330 ","pages":"Article 121171"},"PeriodicalIF":4.6,"publicationDate":"2025-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143852104","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}
Ocean EngineeringPub Date : 2025-04-21DOI: 10.1016/j.oceaneng.2025.121301
Jinliang Wu , Pengxiang Zhao , Xin Lan , Jinsong Leng , Yanju Liu
{"title":"Analysis and active control of vortex-induced vibration of hydrofoil","authors":"Jinliang Wu , Pengxiang Zhao , Xin Lan , Jinsong Leng , Yanju Liu","doi":"10.1016/j.oceaneng.2025.121301","DOIUrl":"10.1016/j.oceaneng.2025.121301","url":null,"abstract":"<div><div>Vortex-induced vibration (VIV) of hydrofoils poses significant challenges to underwater equipment and marine engineering, involving the coordinated optimization of structural safety and acoustic performance. This study proposes an active control strategy based on piezoelectric materials to effectively suppress vibration and noise through vortex shedding frequency modulation under fluid-structure interaction conditions. By establishing a bidirectional fluid-structure coupling simulation model, we systematically investigated the torsional vibration response and resonance mechanisms of hydrofoils under various flow velocities, revealing dynamic influence patterns of velocity variations on wake vortex shedding and acoustic field characteristics. The mechanism of active control on structural vibration energy dissipation and flow field pressure distribution was elucidated through excitation amplitude and frequency regulation. Experimental studies employing Macro Fiber Composite (MFC) and particle image velocimetry (PIV) validated the active modulation characteristics of wake vortex shedding. Results demonstrate that piezoelectric excitation can significantly alter boundary layer evolution on hydrofoil surfaces, adjust vortex shedding frequencies, mitigate resonance risks, and optimize acoustic field distribution. This research provides a novel technical approach for vibration control in complex fluid-structure coupling systems and active acoustic signature regulation.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"330 ","pages":"Article 121301"},"PeriodicalIF":4.6,"publicationDate":"2025-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143852106","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}
Ocean EngineeringPub Date : 2025-04-21DOI: 10.1016/j.oceaneng.2025.121227
Xinkai Ding , Lintao Wang , Xiyuan Fan , Xin Liu , Zhexin Zhang , Bing Xue
{"title":"The synergistic effects of material aging and surface texture on the performance and reliability of marine sealing systems","authors":"Xinkai Ding , Lintao Wang , Xiyuan Fan , Xin Liu , Zhexin Zhang , Bing Xue","doi":"10.1016/j.oceaneng.2025.121227","DOIUrl":"10.1016/j.oceaneng.2025.121227","url":null,"abstract":"<div><div>This study examines the synergistic effects of surface texture and material aging on the sealing reliability of marine sealing systems. By analyzing the structural characteristics of the seals, it explores how surface texture enhances sealing reliability. Accelerated thermal aging tests were performed to assess changes in sealing performance and reliability under various aging conditions of PTFE (Polytetrafluoroethylene) materials. The results show that long-term aging significantly deteriorates sealing performance, with notable reductions in contact pressure and Von Mises stress, ultimately affecting system reliability. To mitigate this degradation, the study proposes optimizing contact pressure distribution on the sealing surface by incorporating surface textures, thereby improving long-term stability. Finite element simulations indicate that surface texture not only enhances sealing performance in unaged seals but also slows down degradation under aging conditions, improving reliability. Additionally, the study identifies the relationship between surface texture parameters and sealing performance. Finally, it provides a comprehensive assessment of sealing performance under different pre-tightening force conditions and extreme pre-tightening scenarios, offering valuable theoretical insights for the design and optimization of marine sealing systems.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"330 ","pages":"Article 121227"},"PeriodicalIF":4.6,"publicationDate":"2025-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143854453","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}