Effect of rudder angle on propeller wash velocities at a seabed

This paper deals with an experimental investigation into the velocity distribution downstream of a propeller, operating at bollard pull conditions and in the presence of a mobile sediment bed. Previous investigations either ignored the effect of a rudder in the wash or considered only its influence on an unconfined jet. The velocity profiles within the jet produced by a rotating propeller with a rudder present were measured at a mobile bed and compared to currently available predictive equations. The velocity distribution profiles in the jet, influenced by bed proximity, were found not to comply with current predictive methods. The velocity distributions measured within the jet were found to be complex and non-symmetrical. To provide a basic velocity predictive tool, a neural network analysis toolbox within Matlab was utilised and trained using the experimental data.

Estimating propeller scour at quays alongside a berthing ship.

This paper presents the findings from a experimental investigation in to the nature and extent of the scouring that occurs when a ship berths alongside a quay wall within the confines of a harbour. It examines the interaction between the relative position of the quay wall to the central axis of the ship and the influence that angle of the vessel’s rudder on the magnitude of the scouring produced. The experimental programme covered a range of sediment sizes and methods for calculating the depth of expected scour are presented both in terms semi empirical equations and through the use of trained artificial neural networks. This paper has been selected by the ICE publishing as one of their Best in Research and Practice papers. ICE Martime Engineering is the forefront UK publication for Civil Engineers working in this area.

Observations of the initial 3D flow from a ship's propeller

The present paper was aimed at presenting the time-averaged velocity and turbulence intensity at the initial plane from a ship’s propeller. The flow characteristics of a ship’s propeller jet are of particular interest for the researchers investigating the jet induced seabed damage as documented in the previous studies. Laser Doppler Anemometry (LDA) measurements show that the axial component of velocity is the main contributor to the velocity magnitude at the initial plane of a ship’s propeller jet. The tangential component contributes to the rotation while the radial component which contributes to the diffusion, are the second and third largest contributors to the velocity magnitude. The maximum tangential and radial velocity components at the initial plane are approximately 82% and 14% of the maximum axial velocity component, respectively. The axial velocity distribution at the initial plane shows two peaked ridges with a low velocity core at the rotation axis. The turbulence intensity distribution shows a three-peaked profile at the initial plane.

Determining Propeller Erosion at the Stern of a Berthing Ship

This paper presents the findings from an experimental investigation in to the nature and extent of the scouring that occurs when a ship berths in front of a perpendicular quay wall within the confines of a harbor. It examines the interaction between the relative position of the quay wall to the central axis of the ship and the influence of angle of the vessel's rudder on the magnitude of the scouring produced. The experimental programme covered a range of sediment sizes, propeller diameters and speeds of rotation and rudder angles. Also, methods for calculating the depth of expected scour are presented in terms of initial semi-empirical equations for the data range under investigation.

A Description of the Stationary Wave Pattern of a Marine Craft in Shallow and Intermediate Water Depths

A stationary phase model is used to study supercritical waves generated by high speed ferries. Some general relationships in terms of wave angle, propagation direction, dispersion relationship and depth wavelength relationship are explored and discussed. In particular, it is shown that the wave pattern generated by high speed craft at supercritical speeds depends mainly on the relationship of water depth and ship speed and that the wave patterns are similar in terms of location of crests and troughs for a given depth Froude number. In addition it is found that the far field wave pattern can be described adequately using a single moving point source. The theoretical model compares well with towing tank measurements and full scale data over a range of parameters and hull shapes. The paper also demonstrates that the far field wave pattern at supercritical speeds should be non-dimensionalised by water depth and not hull length unlike it is usually done for subcritical speeds.

A review of the equations used to predict the velocity distribution within a ship’s propeller jet

Predicting the velocity within the ship’s propeller jet is the initial step to investigate the scouring made by the propeller jet. Albertson et al. (1950) suggested the investigation of a submerged jet can be undertaken through observation of the plain water jet from an orifice. The plain water jet investigation of Albertson et al. (1950) was based on the axial momentum theory. This has been the basis of all subsequent work with propeller jets. In reality, the velocity characteristic of a ship’s propeller jet is more complicated than a plain water jet. Fuehrer and Römisch (1977), Blaauw and van de Kaa (1978), Berger et al. (1981), Verhey (1983) and Hamill (1987) have carried out investigations using physical model. This paper reviews the state-of-art of the equations used to predict the time-averaged axial, tangential and radial components of velocity within the zone of flow establishment and the zone of established flow of a ship’s propeller jet.

An integrated multi-sensor data fusion algorithm and autopilot iImplementation in an uninhabited surface craft

Unmanned surface vehicles (USVs) are able to accomplish difficult and challenging tasks both in civilian and defence sectors without endangering human lives. Their ability to work round the clock makes them well-suited for matters that demand immediate attention. These issues include but not limited to mines countermeasures, measuring the extent of an oil spill and locating the source of a chemical discharge. A number of USV programmes have emerged in the last decade for a variety of aforementioned purposes. Springer USV is one such research project highlighted in this paper. The intention herein is to report results emanating from data acquired from experiments on the Springer vessel whilst testing its advanced navigation, guidance and control (NGC) subsystems. The algorithms developed for these systems are based on soft-computing methodologies. A novel form of data fusion navigation algorithm has been developed and integrated with a modified optimal controller. Experimental results are presented and analysed for various scenarios including single and multiple waypoints tracking and fixed and time-varying reference bearings. It is demonstrated that the proposed NGC system provides promising results despite the presence of modelling uncertainty and external disturbances.

An Autopilot Based on a Local Control Network Design for an Unmanned Surface Vehicle

Over recent years, a number of marine autopilots designed using linear techniques have underperformed owing to their inability to cope with nonlinear vessel dynamics. To this end, a new design framework for the development of nonlinear autopilots is proposed herein. Local control networks (LCNs) can be used in the design of nonlinear control systems. In this paper, a LCN approach is taken in the design of a nonlinear autopilot for controlling the nonlinear yaw dynamics of an unmanned surface vehicle known as Springer. It is considered the approach is the first of its kind to be used in marine control systems design. Simulation results are presented and the performance of the nonlinear autopilot is compared with that of an existing Springer linear quadratic Gaussian (LQG) autopilot using standard system performance criteria. From the results it can be concluded the LCN autopilot out performed that based on LQG techniques in terms of the selected criteria. Also it provided more energy saving control strategies and would thereby increase operational duration times for the vehicle during real-time missions.

Semi-empirical methods for determining the efflux velocity from a ship's propeller

The present study proposed the semi-empirical methods for determining the efflux velocity from a ship's propeller. Ryan [1] defined the efflux velocity as the maximum velocity taken from a time-averaged velocity distribution along the initial propeller plane. The Laser Doppler Anemometry (LDA) and Computational Fluid Dynamics (CFD) were used to acquire the efflux velocity from the two propellers with different geometrical characteristics. The LDA and CFD results were compared in order to investigate the equation derived from the axial momentum theory. The study confirmed the validation of the axial momentum theory and its linear relationship between the efflux velocity and the multiplication of the rotational speed, propeller diameter and the square root of thrust coefficient. The linear relationship of these two terms is connected by an efflux coefficient and the value of this efflux coefficient reduced when the blade number increased.

Determining propeller induced erosion alongside quay walls in harbours using Artificial Neural Networks

In shallow waters, such as those found close to berth structures, the wash from a manoeuvring ship’s propeller can cause erosion of the seabed. This erosion can be increased if the wash intersects a berth structure. A number of researchers have undertaken model studies and used regression analysis to develop predictive relationships for the scouring action. This paper presents an experimental investigation with Artificial Neural Networks (ANN’s), used to analyse the results. The purpose of using ANN’s was to examine the prediction accuracy of the Networks in comparison with previous regression analysis methods. ANN’s were found to provide a more accurate method of predicting propeller wash scour than the equations presented by previous investigators.

An effective method for comparing the turbulence intensity from LDA measurements and CFD predictions within a ship propeller jet

The mean velocity and turbulence intensity are the two main inputs to investigate the ship propeller induced seabed scouring resulting from a vessel is manoeuvring within a port where the underkeel clearances are low. More accurate data including the turbulence intensity is now available by using the laser doppler anemometry (LDA) measurement system and computational fluid dynamics (CFD) approach. Turbulence intensity has a loose definition, which is the velocity fluctuation as the root mean square (RMS) referenced to a mean flow velocity. However, the velocity fluctuation and mean velocity can be the overall value includingx, y and z directions or the value of a single component. LDA and CFD results were obtained from two different acquisition systems (Dantec LDA system and Fluent CFD package) and therefore the outputs cannot be compared directly. An effective method is proposed for comparing the turbulence intensity between the experimental measurements and the computational predictions within a ship propeller jet. The flow patterns of turbulence intensity within a ship propeller jet are presented by using the LDA measurements and CFD results from turbulence models of standard k-e, RNG k-e, realizable k–e, standard k–?, SST k–?and Reynolds stresses.

Time-averaged velocity and turbulence intensity at the initial downstream flow from a six-bladed propeller

The current study investigated the time-averaged velocity and turbulence intensity at the initial downstream flow from a six-bladed ship propeller. The six-bladed propeller provided the rapid periodical pulses of thrust in one revolution due to the blades leading to a complex downstream jet. The six-bladed propeller is popular as a boat racing propeller, but the presentation of its flow structure was rarely found in the previous studies. In this study, the experiments were carried out in a water tank to measure the time-averaged velocity and turbulence intensity by using a Laser Doppler Anemometry (LDA) system. The jet was produced by rotating the propeller at a constant speed powered by an electric motor. The maximum tangential and radial velocities of the six-bladed propeller were of 76% and 17% of the maximum axial velocity respectively. The study found that the six-bladed propeller has a lower tangential velocity, but a higher radial velocity with its own diffusing mechanism when comparing to the three-bladed propeller.

Influence of a boundary on the development of a propeller wash

When vessels operate within harbours or over a density interface in an estuary, the seabed or interface may be close to the tip of the propeller blades. The presence of this boundary will have an effect on the propeller wash and this can affect the erosion of the boundary. The influence of such a boundary on the characteristics of a propeller wash was studied in experiments using a horizontal fixed boundary to confine a propeller jet. Detailed velocity measurements within the jet were obtained using a 3D Particle Image Velocimetry (PIV) system. The bottom stream of a propeller jet was found to expand at a faster rate due to the reduction in pressure beneath the jet caused by the suppression of the replacement fluid. The boundary was found to significantly increase the axial velocities close to it, and reduce the rate of decay of the maximum axial velocity due to the confinement, reducing the height of the jet. Three zones within the propeller wash were identified, the first being before the jet impacted the boundary, the second in which the boundary layer developed at the fixed boundary, followed by a fully developed boundary layer region. Predictive equations to estimate the influence of the boundary have been developed and are presented.