Les navires vikings : conception géométrique et architecture traditionnelle au Moyen Âge scandinave.

Selon l’image reçue des Vikings, ce peuple incarne l'esprit d’une immense solidarité primitive ayant su résister rudement au joug du christianisme et à la domination du Latin en Europe occidentale. Cette image n’est pas sans ses contradictions et, s’il est vrai que l’écriture était encore inconnue en Scandinavie durant les premiers siècles de l’expansion viking, on sait maintenant que le commerce et la colonisation, autant que les célèbres raids, motivèrent l’irruption des peuples scandinaves sur la scène médiévale. Quant aux navires de ces marchands, colonisateurs, pêcheurs et guerriers, ils apparaissent, un peu à l’image des Vikings eux-mêmes, sur le grand tableau de l’histoire nautique sous l’enseigne d’une originalité et d’une technicité sans parallèle. Comment les Vikings construisaient-ils leurs navires, en leur donnant une symétrie, un équilibre et une finesse si achevés? Les premiers ethnologues qui se sont intéressés à cette question ont privilégié les idées issues d'une tradition acquise par des générations de constructeurs, et d'astuces simples pour équilibrer tribord et bâbord. Puis, ils se sont rapidement tournés vers les techniques inhérentes à la construction à clin : utilisation de planches fendues et non sciées et de rivets abondants témoignant d’une sidérurgie acquise depuis peu. Le problème que présentent ces navires, est que leur construction artisanale demeure conforme à l’image reçue des Vikings, mais que leur conception architecturale, réalisée selon des connaissances théoriques très exactes, brise la notion d’une Scandinavie médiévale illettrée et coupée des grands centres du savoir. Ce travail s’intéresse précisément à la conception architecturale des navires scandinaves du VIIIe au XIe siècle pour montrer comment ils s’insèrent dans un haut savoir européen dès leur apparition. Il explore ensuite les liens qui unissent ce savoir théorique aux aspects véritablement originaux des navires vikings, en l’occurrence leur construction à clin et leur homogénéité sur une grande région à travers plus de cinq siècles. Au terme de cette recherche, l'analyse réalisée sur le maître-couple de trois épaves vikings, une épave antique et une épave scandinave pré-viking, a permis de mettre en évidence plusieurs indices de l'utilisation du système de conception géométrique apparaissant pour la première fois dans les traités d'architecture navale de la Renaissance, et ce, sur chacune de ces épaves. Les résultats obtenus démontrent qu'il est possible d'employer un système transversal de conception pour des navires vraisemblablement construits bordé premier et assemblés à clin.

Parametric Generation of Planing Hulls with NURBS Surfaces

This article presents a mathematical method for producing hard-chine ship hulls based on a set of numerical parameters that are directly related to the geometric features of the hull and uniquely define a hull form for this type of ship. The term planing hull is used generically to describe the majority of hard-chine boats being built today. This article is focused on unstepped, single-chine hulls. B-spline curves and surfaces were combined with constraints on the significant ship curves to produce the final hull design. The hard-chine hull geometry was modeled by decomposing the surface geometry into boundary curves, which were defined by design constraints or parameters. In planing hull design, these control curves are the center, chine, and sheer lines as well as their geometric features including position, slope, and, in the case of the chine, enclosed area and centroid. These geometric parameters have physical, hydrodynamic, and stability implications from the design point of view. The proposed method uses two-dimensional orthogonal projections of the control curves and then produces three-dimensional (3-D) definitions using B-spline fitting of the 3-D data points. The fitting considers maximum deviation from the curve to the data points and is based on an original selection of the parameterization. A net of B-spline curves (stations) is then created to match the previously defined 3-D boundaries. A final set of lofting surfaces of the previous B-spline curves produces the hull surface.

Modelo computacional para avaliação do desempenho hidrodinâmico de embarcações de planeio em águas calmas.

Em geral, uma embarcação de planeio é projetada para atingir elevados níveis de velocidade. Esse atributo de desempenho está diretamente relacionado ao porte da embarcação e à potência instalada em sua planta propulsiva. Tradicionalmente, durante o projeto de uma embarcação, as análises de desempenho são realizadas através de resultados de embarcações já existentes, retirados de séries sistemáticas ou de embarcações já desenvolvidas pelo estaleiro e/ou projetista. Além disso, a determinação dos atributos de desempenho pode ser feita através de métodos empíricos e/ou estatísticos, onde a embarcação é representada através de seus parâmetros geométricos principais; ou a partir de testes em modelos em escala reduzida ou protótipos. No caso específico de embarcações de planeio, o custo dos testes em escala reduzida é muito elevado em relação ao custo de projeto. Isso faz com que a maioria dos projetistas não opte por ensaios experimentais das novas embarcações em desenvolvimento. Ao longo dos últimos anos, o método de Savitsky foi largamente utilizado para se realizar estimativas de potência instalada de uma embarcação de planeio. Esse método utiliza um conjunto de equações semi-empíricas para determinar os esforços atuantes na embarcação, a partir dos quais é possível determinar a posição de equilíbrio de operação e a força propulsora necessária para navegar em uma dada velocidade. O método de Savitsky é muito utilizado nas fases iniciais de projeto, onde a geometria do casco ainda não foi totalmente definida, pois utiliza apenas as características geométricas principais da embarcação para realização das estimativas de esforços. À medida que se avança nas etapas de projeto, aumenta o detalhamento necessário das estimativas de desempenho. Para a realização, por exemplo, do projeto estrutural é necessária uma estimativa do campo de pressão atuante no fundo do casco, o qual não pode ser determinado pelo método de Savitsky. O método computacional implementado nesta dissertação, tem o objetivo de determinar as características do escoamento e o campo de pressão atuante no casco de uma embarcação de planeio navegando em águas calmas. O escoamento é determinado através de um problema de valor de contorno, no qual a superfície molhada no casco é considerada um corpo esbelto. Devido ao uso da teoria de corpo esbelto o problema pode ser tratado, separadamente, em cada seção, onde as condições de contorno são forçadamente respeitadas através de uma distribuição de vórtices.

L’épave du Machault, 1760 : entre tradition et innovation.

Cette étude s’intéresse à l’industrie de la construction navale pour le milieu du XVIIIe siècle en France dans la région de Bayonne. L’objectif est de documenter la relation qu’entretiennent les pratiques de construction traditionnelles et innovatrices à cette période. L’architecture de la frégate le Machault est au cœur de cette analyse. Construit en 1757 à Bayonne et perdu en 1760, le Machault a été fouillé, documenté et parallèlement récupéré par les archéologues de Parcs Canada entre 1969 et 1972 à Ristigouche dans la baie des Chaleurs, Québec. Cette étude constitue la première analyse architecturale approfondie menée sur ces vestiges. L’analyse est réalisée en trois temps qui correspondent aux trois grandes étapes de la chaine opératoire de la construction du navire. Tout d’abord, il est question d’aborder l’aspect de la foresterie afin de saisir la nature de la ressource forestière mobilisée pour la construction de la frégate. Ensuite, ce mémoire se penche sur la conception architecturale des navires qui renvoie à un aspect plus théorique, car il relève de la façon dont les formes du navire ont été « pensées ». Enfin, la charpenterie est abordée afin de saisir la séquence d’assemblage du navire. Ensemble, ces trois grands aspects dressent un portrait général de la construction navale pour la région de Bayonne au milieu du XVIIIe siècle.

L’épave du Machault, 1760 : entre tradition et innovation

Cette étude s’intéresse à l’industrie de la construction navale pour le milieu du XVIIIe siècle en France dans la région de Bayonne. L’objectif est de documenter la relation qu’entretiennent les pratiques de construction traditionnelles et innovatrices à cette période. L’architecture de la frégate le Machault est au cœur de cette analyse. Construit en 1757 à Bayonne et perdu en 1760, le Machault a été fouillé, documenté et parallèlement récupéré par les archéologues de Parcs Canada entre 1969 et 1972 à Ristigouche dans la baie des Chaleurs, Québec. Cette étude constitue la première analyse architecturale approfondie menée sur ces vestiges. L’analyse est réalisée en trois temps qui correspondent aux trois grandes étapes de la chaine opératoire de la construction du navire. Tout d’abord, il est question d’aborder l’aspect de la foresterie afin de saisir la nature de la ressource forestière mobilisée pour la construction de la frégate. Ensuite, ce mémoire se penche sur la conception architecturale des navires qui renvoie à un aspect plus théorique, car il relève de la façon dont les formes du navire ont été « pensées ». Enfin, la charpenterie est abordée afin de saisir la séquence d’assemblage du navire. Ensemble, ces trois grands aspects dressent un portrait général de la construction navale pour la région de Bayonne au milieu du XVIIIe siècle.

A design strategy in the propulsion system attachment to a submarine hull to minimise radiated noise

Vibration modes of a submerged hull are excited by fluctuating forces generated at the propeller and transmitted to the hull via the propeller-shafting system. The low frequency hull vibrational modes result in significant sound radiation. This work investigates the reduction of the far-field radiated sound pressure by optimising the connection point of the shafting system to the hull. The submarine hull is modelled as a fluid loaded cylindrical hull with truncated conical shells at each end. The propeller-shafting system consists of the propeller, shaft, thrust bearing and foundation, and is modelled in a modular approach using a combination of spring-mass-damper elements and continuous systems (beams, plates, shells). The foundation is attached to the stern side end plate of the hull, which is modelled as a circular plate coupled to an annular plate. By tuning the connection radius of the foundation to the end plate, the maximum radiated noise in a given frequency range can be minimised.

Design and analysis of hull configurations for a low-cost, autonomous underwater robot as an enabling technology for system of system applications

The objective of this research is to model and analyze candidate hull configurations for a low-cost, modular, autonomous underwater robot. As the computational power and speed of microprocessors continue to progress, we are seeing a growth in the research, development, and the utilization of underwater robots. The number of applications is broadening in the R&D and science communities, especially in the area of multiple, collaborative robots. These underwater collaborative robots represent an instantiation of a System of Systems (SoS). While each new researcher explores a unique application, control method, etc. a new underwater robot vehicle is designed, developed, and deployed. This sometimes leads to one-off designs that are costly. One limit to the wide-scale utilization of underwater robotics is the cost of development. Another limit is the ability to modify the configuration for new applications and evolving requirements. Consequently, we are exploring autonomous underwater vehicle (AUV) hull designs towards the goal of modularity, vehicle dexterity, and minimizing the cost. In our analysis, we have employed 3D solid modeling tools and finite element methods. In this paper we present our initial results and discuss ongoing work.

A geometric approach to trajectory design for an autonomous underwater vehicle : surveying the bulbous bow of a ship

In this paper, we present a control strategy design technique for an autonomous underwater vehicle based on solutions to the motion planning problem derived from differential geometric methods. The motion planning problem is motivated by the practical application of surveying the hull of a ship for implications of harbor and port security. In recent years, engineers and researchers have been collaborating on automating ship hull inspections by employing autonomous vehicles. Despite the progresses made, human intervention is still necessary at this stage. To increase the functionality of these autonomous systems, we focus on developing model-based control strategies for the survey missions around challenging regions, such as the bulbous bow region of a ship. Recent advances in differential geometry have given rise to the field of geometric control theory. This has proven to be an effective framework for control strategy design for mechanical systems, and has recently been extended to applications for underwater vehicles. Advantages of geometric control theory include the exploitation of symmetries and nonlinearities inherent to the system. Here, we examine the posed inspection problem from a path planning viewpoint, applying recently developed techniques from the field of differential geometric control theory to design the control strategies that steer the vehicle along the prescribed path. Three potential scenarios for surveying a ship?s bulbous bow region are motivated for path planning applications. For each scenario, we compute the control strategy and implement it onto a test-bed vehicle. Experimental results are analyzed and compared with theoretical predictions.

Control of an underactuated-slender-hull unmanned underwater vehicle using Port-Hamiltonian theory

This paper presents a control design for tracking of attitude and speed of an underactuated slender-hull unmanned underwater vehicle (UUV). The control design is based on Port-Hamiltonian theory. The target dynamics (desired dynamic response) is shaped with particular attention to the target mass matrix so that the influence of the unactuated dynamics on the controlled system is suppressed. This results in achievable dynamics independent of uncontrolled states. Throughout the design, insight of the physical phenomena involved is used to propose the desired target dynamics. The performance of the design is demonstrated through simulation with a high-fidelity model.

Energy-based motion control of a slender hull unmanned underwater vehicle

This paper presents a motion control system for tracking of attitude and speed of an underactuated slender-hull unmanned underwater vehicle. The feedback control strategy is developed using the Port-Hamiltonian theory. By shaping of the target dynamics (desired dynamic response in closed loop) with particular attention to the target mass matrix, the influence of the unactuated dynamics on the controlled system is suppressed. This results in achievable dynamics independent of stable uncontrolled states. Throughout the design, the insight of the physical phenomena involved is used to propose the desired target dynamics. Integral action is added to the system for robustness and to reject steady disturbances. This is achieved via a change of coordinates that result in input-to-state stable (ISS) target dynamics. As a final step in the design, an anti-windup scheme is implemented to account for limited actuator capacity, namely saturation. The performance of the design is demonstrated through simulation with a high-fidelity model.

The Annual Economic Survey of Federal Gulf Shrimp Permit Holders: Report on the Design, Implementation, and Descriptive Results for 2006

This technical memorandum documents the design, implementation, data preparation, and descriptive results for the 2006 Annual Economic Survey of Federal Gulf Shrimp Permit Holders. The data collection was designed by the NOAA Fisheries Southeast Fisheries Science Center Social Science Research Group to track the financial and economic status and performance by vessels holding a federal moratorium permit for harvesting shrimp in the Gulf of Mexico. A two page, self-administered mail survey collected total annual costs broken out into seven categories and auxiliary economic data. In May 2007, 580 vessels were randomly selected, stratified by state, from a preliminary population of 1,709 vessels with federal permits to shrimp in offshore waters of the Gulf of Mexico. The survey was implemented during the rest of 2007. After many reminder and verification phone calls, 509 surveys were deemed complete, for an ineligibility-adjusted response rate of 90.7%. The linking of each individual vessel’s cost data to its revenue data from a different data collection was imperfect, and hence the final number of observations used in the analyses is 484. Based on various measures and tests of validity throughout the technical memorandum, the quality of the data is high. The results are presented in a standardized table format, linking vessel characteristics and operations to simple balance sheet, cash flow, and income statements. In the text, results are discussed for the total fleet, the Gulf shrimp fleet, the active Gulf shrimp fleet, and the inactive Gulf shrimp fleet. Additional results for shrimp vessels grouped by state, by vessel characteristics, by landings volume, and by ownership structure are available in the appendices. The general conclusion of this report is that the financial and economic situation is bleak for the average vessels in most of the categories that were evaluated. With few exceptions, cash flow for the average vessel is positive while the net revenue from operations and the “profit” are negative. With negative net revenue from operations, the economic return for average shrimp vessels is less than zero. Only with the help of government payments does the average owner just about break even. In the short-term, this will discourage any new investments in the industry. The financial situation in 2006, especially if it endures over multiple years, also is economically unsustainable for the average established business. Vessels in the active and inactive Gulf shrimp fleet are, on average, 69 feet long, weigh 105 gross tons, are powered by 505 hp motor(s), and are 23 years old. Three-quarters of the vessels have steel hulls and 59% use a freezer for refrigeration. The average market value of these vessels was $175,149 in 2006, about a hundred-thousand dollars less than the average original purchase price. The outstanding loans averaged $91,955, leading to an average owner equity of $83,194. Based on the sample, 85% of the federally permitted Gulf shrimp fleet was actively shrimping in 2006. Of these 386 active Gulf shrimp vessels, just under half (46%) were owner-operated. On average, these vessels burned 52,931 gallons of fuel, landed 101,268 pounds of shrimp, and received $2.47 per pound of shrimp. Non-shrimp landings added less than 1% to cash flow, indicating that the federal Gulf shrimp fishery is very specialized. The average total cash outflow was $243,415 of which $108,775 was due to fuel expenses alone. The expenses for hired crew and captains were on average $54,866 which indicates the importance of the industry as a source of wage income. The resulting average net cash flow is $16,225 but has a large standard deviation. For the population of active Gulf shrimp vessels we can state with 95% certainty that the average net cash flow was between $9,500 and $23,000 in 2006. The median net cash flow was $11,843. Based on the income statement for active Gulf shrimp vessels, the average fixed costs accounted for just under a quarter of operating expenses (23.1%), labor costs for just over a quarter (25.3%), and the non-labor variable costs for just over half (51.6%). The fuel costs alone accounted for 42.9% of total operating expenses in 2006. It should be noted that the labor cost category in the income statement includes both the actual cash payments to hired labor and an estimate of the opportunity cost of owner-operators’ time spent as captain. The average labor contribution (as captain) of an owner-operator is estimated at about $19,800. The average net revenue from operations is negative $7,429, and is statistically different and less than zero in spite of a large standard deviation. The economic return to Gulf shrimping is negative 4%. Including non-operating activities, foremost an average government payment of $13,662, leads to an average loss before taxes of $907 for the vessel owners. The confidence interval of this value straddles zero, so we cannot reject, with 95% certainty, that the population average is zero. The average inactive Gulf shrimp vessel is generally of a smaller scale than the average active vessel. Inactive vessels are physically smaller, are valued much lower, and are less dependent on loans. Fixed costs account for nearly three quarters of the total operating expenses of $11,926, and only 6% of these vessels have hull insurance. With an average net cash flow of negative $7,537, the inactive Gulf shrimp fleet has a major liquidity problem. On average, net revenue from operations is negative $11,396, which amounts to a negative 15% economic return, and owners lose $9,381 on their vessels before taxes. To sustain such losses and especially to survive the negative cash flow, many of the owners must be subsidizing their shrimp vessels with the help of other income or wealth sources or are drawing down their equity. Active Gulf shrimp vessels in all states but Texas exhibited negative returns. The Alabama and Mississippi fleets have the highest assets (vessel values), on average, yet they generate zero cash flow and negative $32,224 net revenue from operations. Due to their high (loan) leverage ratio the negative 11% economic return is amplified into a negative 21% return on equity. In contrast, for Texas vessels, which actually have the highest leverage ratio among the states, a 1% economic return is amplified into a 13% return on equity. From a financial perspective, the average Florida and Louisiana vessels conform roughly to the overall average of the active Gulf shrimp fleet. It should be noted that these results are averages and hence hide the variation that clearly exists within all fleets and all categories. Although the financial situation for the average vessel is bleak, some vessels are profitable. (PDF contains 101 pages)

Design Study of a Heavily Loaded Ice Class Propeller Using an Advance Panel Method

A design and optimization procedure developed and used for a propeller installed on a twin-semitunnel-hull ship navigating in very shallow and icy water under heavy load conditions is presented. The base propeller for this vessel was first determined using classic design routines under open-water condition with existing model test data. In the optimization process, a panel method code (PROPELLA) was used to vary the pitch values and distributions and take into account the inflow wake distribution, tunnel gap, and cavitation effects. The optimized propeller was able to improve a ship speed of 0.02 knots higher than the desired speed and 0.06 knots higher than the classic B-series propeller. The analysis of the effect of inflow wake, hull tunnel, cavitation, and blade rake angle on propulsive performance is the focus of this paper.

Design and Programming of Cathodic Protection for SHIPS

In order to minimize the risk of failures or major renewals of hull structures during the ship's expected life span, it is imperative that the precaution must be taken with regard to an adequate margin of safety against any one or combination of failure modes including excessive yielding, buckling, brittle fracture, fatigue and corrosion. The most efficient system for combating underwater corrosion is 'cathodic protection'. The basic principle of this method is that the ship's structure is made cathodic, i.e. the anodic (corrosion) reactions are suppressed by the application of an opposing current and the ship is there by protected. This paper deals with state of art in cathodic protection and its programming in ship structure